masayoshi saito / Mbed 2 deprecated test

キャタピラ用

Dependencies:   2342L012CR HCSR04 L6470 test_test MMA8451Q TSI mbed

main.cpp@0:049054ab53f0, 2013-11-02 (annotated)

Committer:
e00nagog
Date:
Sat Nov 02 05:01:36 2013 +0000
Revision:
0:049054ab53f0
???????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
e00nagog 0:049054ab53f0 1 //DC_Moter
e00nagog 0:049054ab53f0 2 //2013.11.02
e00nagog 0:049054ab53f0 3 //Ver 0.0.001
e00nagog 0:049054ab53f0 4 //m.saito
e00nagog 0:049054ab53f0 5
e00nagog 0:049054ab53f0 6 #include "mbed.h"
e00nagog 0:049054ab53f0 7 #include "TSISensor.h"
e00nagog 0:049054ab53f0 8
e00nagog 0:049054ab53f0 9 int main() {
e00nagog 0:049054ab53f0 10 PwmOut M1IN1(PTD4);
e00nagog 0:049054ab53f0 11 PwmOut M1IN2(PTA12);
e00nagog 0:049054ab53f0 12 PwmOut M2IN1(PTA4);
e00nagog 0:049054ab53f0 13 PwmOut M2IN2(PTA5);
e00nagog 0:049054ab53f0 14 TSISensor tsi;
e00nagog 0:049054ab53f0 15
e00nagog 0:049054ab53f0 16 while(1){
e00nagog 0:049054ab53f0 17 M1IN1 = 0;
e00nagog 0:049054ab53f0 18 M1IN2 = 0;
e00nagog 0:049054ab53f0 19 M2IN1 = 1.0;
e00nagog 0:049054ab53f0 20 M2IN2 = 0;
e00nagog 0:049054ab53f0 21 }
e00nagog 0:049054ab53f0 22 }
e00nagog 0:049054ab53f0 23
e00nagog 0:049054ab53f0 24
e00nagog 0:049054ab53f0 25
e00nagog 0:049054ab53f0 26
e00nagog 0:049054ab53f0 27 /*
e00nagog 0:049054ab53f0 28 //step_Moter
e00nagog 0:049054ab53f0 29 //2013.10.19
e00nagog 0:049054ab53f0 30 //Ver 0.0.001
e00nagog 0:049054ab53f0 31 //m.saito
e00nagog 0:049054ab53f0 32
e00nagog 0:049054ab53f0 33 #include "mbed.h"
e00nagog 0:049054ab53f0 34 #include "L6470.h"
e00nagog 0:049054ab53f0 35
e00nagog 0:049054ab53f0 36 //Serial pc(USBTX, USBRX);
e00nagog 0:049054ab53f0 37 L6470 step1(PTD2, PTD3, PTD1,PTC0); // mosi, miso, sclk
e00nagog 0:049054ab53f0 38 //L6470 step2(p5, p6, p7,p11); // mosi, miso, sclk
e00nagog 0:049054ab53f0 39
e00nagog 0:049054ab53f0 40
e00nagog 0:049054ab53f0 41 int main()
e00nagog 0:049054ab53f0 42 {
e00nagog 0:049054ab53f0 43 step1.Resets();
e00nagog 0:049054ab53f0 44 //step2.Resets();
e00nagog 0:049054ab53f0 45
e00nagog 0:049054ab53f0 46 step1.Run(1,0x800);
e00nagog 0:049054ab53f0 47 //step2.Run(1,0x800);
e00nagog 0:049054ab53f0 48
e00nagog 0:049054ab53f0 49
e00nagog 0:049054ab53f0 50 wait_us(1);
e00nagog 0:049054ab53f0 51 }
e00nagog 0:049054ab53f0 52 */
e00nagog 0:049054ab53f0 53
e00nagog 0:049054ab53f0 54
e00nagog 0:049054ab53f0 55
e00nagog 0:049054ab53f0 56
e00nagog 0:049054ab53f0 57 /*
e00nagog 0:049054ab53f0 58
e00nagog 0:049054ab53f0 59
e00nagog 0:049054ab53f0 60 //DC_Moter(G-sensor,touchpad)
e00nagog 0:049054ab53f0 61 //Ultrasonic
e00nagog 0:049054ab53f0 62 //2013.10.12
e00nagog 0:049054ab53f0 63 //Ver 0.0.001
e00nagog 0:049054ab53f0 64 //m.saito
e00nagog 0:049054ab53f0 65
e00nagog 0:049054ab53f0 66 #include "mbed.h"
e00nagog 0:049054ab53f0 67 #include "TSISensor.h"
e00nagog 0:049054ab53f0 68 #include "MMA8451Q.h"
e00nagog 0:049054ab53f0 69 #include "LCD.h"
e00nagog 0:049054ab53f0 70 #include "HCSR04.h"
e00nagog 0:049054ab53f0 71
e00nagog 0:049054ab53f0 72 #define MMA8451_I2C_ADDRESS (0x1d<<1)
e00nagog 0:049054ab53f0 73
e00nagog 0:049054ab53f0 74 int main(void) {
e00nagog 0:049054ab53f0 75
e00nagog 0:049054ab53f0 76 //class-object
e00nagog 0:049054ab53f0 77 HCSR04 sensor(PTC10, PTC11); //Ultrasonic
e00nagog 0:049054ab53f0 78 LCD lcd(PTE0,PTE1); //LCD
e00nagog 0:049054ab53f0 79 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS); //G-sensor
e00nagog 0:049054ab53f0 80 PwmOut mtr(PTA12); //cw-only
e00nagog 0:049054ab53f0 81 TSISensor tsi; //touchpad-sensor
e00nagog 0:049054ab53f0 82
e00nagog 0:049054ab53f0 83 //variable
e00nagog 0:049054ab53f0 84 float g = 0; //G-sensor
e00nagog 0:049054ab53f0 85 char g_str[20];
e00nagog 0:049054ab53f0 86 float tp=0; //touchpad
e00nagog 0:049054ab53f0 87 char tp_str[20];
e00nagog 0:049054ab53f0 88 long length; //Ultrasonic-length
e00nagog 0:049054ab53f0 89 char lg_str[20];
e00nagog 0:049054ab53f0 90
e00nagog 0:049054ab53f0 91 mtr = 1; //Duty Ratio
e00nagog 0:049054ab53f0 92
e00nagog 0:049054ab53f0 93 while (1)
e00nagog 0:049054ab53f0 94 {
e00nagog 0:049054ab53f0 95 g = acc.getAccX()*90; //kakudo hyouji
e00nagog 0:049054ab53f0 96 tp = tsi.readPercentage();
e00nagog 0:049054ab53f0 97 mtr = (tsi.readPercentage()==0)?(1-abs(acc.getAccX())):tp;
e00nagog 0:049054ab53f0 98 wait(0.1);
e00nagog 0:049054ab53f0 99
e00nagog 0:049054ab53f0 100 length = sensor.distance(1); //cm-hyouji
e00nagog 0:049054ab53f0 101
e00nagog 0:049054ab53f0 102 lcd.cls();
e00nagog 0:049054ab53f0 103 lcd.locate(0,0);
e00nagog 0:049054ab53f0 104 sprintf (g_str,"%+5.1f",g);
e00nagog 0:049054ab53f0 105 lcd.printf("%s%s",g_str,"do");
e00nagog 0:049054ab53f0 106 lcd.locate(0,1);
e00nagog 0:049054ab53f0 107 sprintf (tp_str,"%+5.3f",tp);
e00nagog 0:049054ab53f0 108 lcd.printf("%s%s",tp_str,"tp");
e00nagog 0:049054ab53f0 109 wait (0.5);
e00nagog 0:049054ab53f0 110 lcd.cls();
e00nagog 0:049054ab53f0 111 sprintf (lg_str,"%5d",length);
e00nagog 0:049054ab53f0 112 lcd.printf("%s%s",lg_str,"cm");
e00nagog 0:049054ab53f0 113 wait (0.5);
e00nagog 0:049054ab53f0 114 }
e00nagog 0:049054ab53f0 115 }
e00nagog 0:049054ab53f0 116
e00nagog 0:049054ab53f0 117 */