Soma Takahashi
This program used in the tournament of club I belong to.
Revision 0:14ecdafa55eb, committed 2019-02-28
- Comitter:
- ec30109b
- Date:
- Thu Feb 28 05:10:23 2019 +0000
- Commit message:
- Don't look this code!!
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 14ecdafa55eb main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Feb 28 05:10:23 2019 +0000
@@ -0,0 +1,144 @@
+#include "mbed.h"
+#include"PS3.h"
+#include "ikarashiMDC.h"
+
+Serial serial(PC_6, PC_7);
+DigitalOut serialcontrol(D2);
+DigitalOut led1(LED1);
+PS3 ps3(PC_12, PD_2);
+Serial pc(USBTX, USBRX,115200);
+
+ikarashiMDC ikarashi[] {
+ ikarashiMDC(&serialcontrol,2,3,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,0,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,1,SM,&serial),
+ ikarashiMDC(&serialcontrol,2,2,SM,&serial),
+ ikarashiMDC(&serialcontrol,3,0,SM,&serial),
+ ikarashiMDC(&serialcontrol,3,1,SM,&serial)
+};
+PwmOut pwm(LED1);
+
+int main()
+{
+ serial.baud(115200);
+ float i = -1;
+ ikarashi[0].braking = true;
+ float pwm = 0;
+ while(1) {
+
+ int b[12], stick[4],X,Y,M;
+ double SPe[4];
+
+ /*ボタンスイッチ*/
+ for(int i = 0; i < 12; i++) {
+ b[i] = ps3.getButton(i);
+ pc.printf("%2d", b[i] );
+ }
+ /*ジョイスティック*/
+ for(int i = 0; i < 4; i++) {
+ stick[i] = ps3.getStick(i);
+ pc.printf("%4d", stick[i] );
+ }
+
+ //ベルト機構
+ if(b[6] == 0 || b[7] == 0){
+ ikarashi[5].setSpeed(0);
+ }
+ if(b[6] == 1){
+ ikarashi[4].setSpeed(0.08);
+ ikarashi[5].setSpeed(-0.45);
+ }
+ if(b[7] == 1){
+ ikarashi[4].setSpeed(-0.08);
+ ikarashi[5].setSpeed(0.45);
+ }
+
+
+ //バケット機構
+ if(b[0] == 0 || b[1] == 0){
+ ikarashi[4].setSpeed(0);
+ }
+ if(b[0] == 1){
+ ikarashi[4].setSpeed(0.08);
+ }
+ if(b[1] == 1){
+ ikarashi[4].setSpeed(-0.08);
+ }
+
+
+ //足回り
+ X = stick[0];
+ Y = stick[1];
+ M = stick[2];
+
+ if(X > 100 && X < 155 && Y > 100 && Y < 155) { //停止
+ SPe[0] = 0;
+ SPe[1] = 0;
+ SPe[2] = 0;
+ SPe[3] = 0;
+
+ pc.printf(" 停止 ");
+ }
+ if(X > 100 && Y <= 100) { //右前方向
+ SPe[0] = -0.45;
+ SPe[1] = ((127.5 - Y) - (X - 127.5)) * 0.004;
+ SPe[2] = 0.45;
+ SPe[3] = ((X - 127.5) - (127.5 - Y)) * 0.004;
+
+ pc.printf(" 右前方向 ");
+ }
+ if(X <= 100 && Y < 155) { //左前方向
+ SPe[0] = ((127.5 - X) - (127.5 - Y)) * 0.004;
+ SPe[1] = 0.45;
+ SPe[2] = ((127.5 - X) - (127.5 - Y)) * -0.004;
+ SPe[3] = -0.45;
+
+ pc.printf(" 左前方向 ");
+ }
+ if(X >= 155 && Y > 100) { //右後ろ方向
+ SPe[0] = ((X - 127.5) - (Y - 127.5)) * -0.004;
+ SPe[1] = -0.45;
+ SPe[2] = ((X - 127.5) - (Y - 127.5)) * 0.004;
+ SPe[3] = 0.45;
+
+ pc.printf(" 右後ろ方向 ");
+ }
+ if(X < 155 && Y >= 155) { //左後ろ方向
+ SPe[0] = 0.45;
+ SPe[1] = ((X - 127.5) + (127.5 - Y)) * 0.004;
+ SPe[2] = -0.45;
+ SPe[3] = ((X - 127.5) - (127.5 - Y)) * 0.004;
+
+ pc.printf(" 左後ろ方向 ");
+ }
+ if(M < 10) { //左回転
+ SPe[0] = 0.4;
+ SPe[1] = 0.4;
+ SPe[2] = 0.4;
+ SPe[3] = 0.4;
+
+ pc.printf(" 左回転 ");
+ }
+ if(M > 245) { //右回転
+ SPe[0] = -0.4;
+ SPe[1] = -0.4;
+ SPe[2] = -0.4;
+ SPe[3] = -0.4;
+
+ pc.printf(" 右回転 ");
+
+ }
+
+
+ ikarashi[0].setSpeed(SPe[0]);
+ ikarashi[1].setSpeed(SPe[1]);
+ ikarashi[2].setSpeed(SPe[2]);
+ ikarashi[3].setSpeed(SPe[3]);
+
+ pc.printf("%.2f ",SPe[0]);
+ pc.printf("%.2f ",SPe[1]);
+ pc.printf("%.2f ",SPe[2]);
+ pc.printf("%.2f ",SPe[3]);
+
+ pc.printf("\r\n");
+ }
diff -r 000000000000 -r 14ecdafa55eb mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Feb 28 05:10:23 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file