shinnosuke hanamura
今入ってるやつです。
Revision 0:e9aeba51adef, committed 2016-09-29
- Comitter:
- hanashin
- Date:
- Thu Sep 29 07:34:34 2016 +0000
- Commit message:
- a
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 e9aeba51adef main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 29 07:34:34 2016 +0000
@@ -0,0 +1,203 @@
+#include "mbed.h"
+
+BusOut l1(PTB11);
+BusOut l2(PTB10);
+BusOut l3(PTB9);
+BusOut l4(PTB8);
+
+AnalogIn sensor1(PTB1);
+AnalogIn sensor2(PTB3);
+AnalogIn sensor3(PTB2);
+AnalogIn sensor4(PTB0);
+
+BusOut i1(PTA1,PTA2);
+PwmOut p1(PTD4);
+BusOut i2(PTC0,PTC7);
+PwmOut p2(PTA12);
+BusOut i3(PTC5,PTC6);
+PwmOut p3(PTA4);
+
+int main(){
+float analog1,analog2,analog3,analog4;
+int count=0;
+ while(1){
+ analog1 = sensor1.read();
+ analog2 = sensor2.read();
+ analog3 = sensor3.read();
+ analog4 = sensor4.read();
+/*dousakakunin*/
+ if(analog1 > 0.2){
+ l1 = 1;
+ }
+ if(analog1 < 0.2){
+ l1=0;
+ }
+ if(analog2 > 0.2){
+ l2=1;
+ }
+ if(analog2 < 0.2){
+ l2=0;
+ }
+ if(analog3 > 0.2){
+ l3=1;
+ }
+ if(analog3 < 0.2){
+ l3=0;
+ }
+ if(analog4 > 0.2){
+ l4=1;
+ }
+ if(analog4 < 0.2){
+ l4=0;
+ }
+ if(count == 0) {
+/*usetu dai*/
+ if(analog1 > 0.2 && analog2 > 0.2 && analog3 < 0.2){
+ i1=1;
+ i2=0;
+ p1=0.0045f;
+ p2=0.0f;
+
+ }
+/*center*/
+ else if(analog1 > 0.2 && analog2 < 0.2 && analog3 > 0.2 && analog4 > 0.2){
+ i1=1;
+ i2=1;
+ p1=0.0055f;
+ p2=0.0055f;
+
+ }
+/*sasetu dai*/
+ else if(analog1 < 0.2 && analog2 > 0.2 && analog3 > 0.2 ){
+ i1=0;
+ i2=1;
+ p1=0.0f;
+ p2=0.0045f;
+ }
+/*usetu syou*/
+ else if(analog1 < 0.2 && analog2 < 0.2 && analog3 > 0.2){
+ i1=1;
+ i2=1;
+ p1=0.0045f;
+ p2=0.0055f;
+
+ }
+/* sasetu syou*/
+ else if(analog1 > 0.2 && analog2 < 0.2 && analog3 < 0.2){
+ i1=1;
+ i2=1;
+ p1=0.0055f;
+ p2=0.0045f;
+ }
+/*lift up */
+ else if(analog1 > 0.2 && analog2 < 0.2 && analog3 > 0.2 && analog4 < 0.2){
+ if(count==0){
+ i1=1;
+ i2=1;
+ i3=1;
+ p1=0.0f;
+ p2=0.0f;
+ p3=1.0f;
+ wait(3.5);
+ i3=0;
+ i1=1;
+ i2=1;
+ p1=0.2f;
+ p2=0.2f;
+ p3=0.0f;
+ wait(1.0);
+ count++;
+ }
+
+ }
+ else if(analog1 < 0.2 && analog2 < 0.2 && analog3 < 0.2){
+ p1=0.005f;
+ p2=0.005f;
+ }
+ else{
+ i1=1;
+ i2=1;
+ p1=0.0045f;
+ p2=0.0f;
+ }
+ }
+
+
+else if(count == 1){
+ /*usetu dai*/
+ if(analog1 > 0.2 && analog2 > 0.2 && analog3 < 0.2){
+ i1=1;
+ i2=0;
+ p1=0.006f;
+ p2=0.0f;
+
+ }
+/*center*/
+ else if(analog1 > 0.2 && analog2 < 0.2 && analog3 > 0.2 && analog4 > 0.2){
+ i1=1;
+ i2=1;
+ p1=0.006f;
+ p2=0.006f;
+
+ }
+/*sasetu dai*/
+ else if(analog1 < 0.2 && analog2 > 0.2 && analog3 > 0.2 ){
+ i1=0;
+ i2=1;
+ p1=0.0f;
+ p2=0.006f;
+ }
+/*usetu syou*/
+ else if(analog1 < 0.2 && analog2 < 0.2 && analog3 > 0.2){
+ i1=1;
+ i2=1;
+ p1=0.006f;
+ p2=0.008f;
+
+ }
+/* sasetu syou*/
+ else if(analog1 > 0.2 && analog2 < 0.2 && analog3 < 0.2){
+ i1=1;
+ i2=1;
+ p1=0.008f;
+ p2=0.006f;
+ }
+ /* lift down*/
+ else if(analog1 > 0.2 && analog2 < 0.2 && analog3 > 0.2 && analog4 < 0.2){
+ if(count==1){
+ i1=1;
+ i2=1;
+ i3=2;
+ p1=0.0f;
+ p2=0.0f;
+ p3=1.0f;
+ wait(3.0);
+ i1=2;
+ i2=2;
+ i3=1;
+ p3=0.0f;
+ p1=1.0f;
+ p2=1.0f;
+ wait(1.5);
+ i1=1;
+ i2=1;
+ p1=0.0f;
+ p2=0.0f;
+ count=0;
+ }
+
+ }
+ else if(analog1 < 0.2 && analog2 < 0.2 && analog3 < 0.2){
+ p1=0.005f;
+ p2=0.005f;
+ }
+ else{
+ i1=1;
+ i2=1;
+ p1=0.0045f;
+ p2=0.0f;
+ }
+ }
+
+ }
+}
diff -r 000000000000 -r e9aeba51adef mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Sep 29 07:34:34 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/2e9cc70d1897 \ No newline at end of file