広田 勇斗 / Mbed 2 deprecated 2017_Bteam_alpha_master_ashi

2017_Bteam_alpha_master_ashi

Dependencies:   Alpha_Movements BoolProcess DataCaller MD_PID mbed angle

Fork of 2017_Bteam_alpha_master by taiyou komazawa

main.cpp@0:7318c0dde997, 2017-09-08 (annotated)

Committer:
Komazawa_sun
Date:
Fri Sep 08 03:58:36 2017 +0000
Revision:
0:7318c0dde997
Child:
1:12e4c91a3b04
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:7318c0dde997 1 #include "mbed.h"
Komazawa_sun 0:7318c0dde997 2
Komazawa_sun 0:7318c0dde997 3 #include "DataPool.h"
Komazawa_sun 0:7318c0dde997 4 #include "AlphaTransporter.h"
Komazawa_sun 0:7318c0dde997 5 #include "BoolProcess.h"
Komazawa_sun 0:7318c0dde997 6
Komazawa_sun 0:7318c0dde997 7 #include "ArrowShooter.h"
Komazawa_sun 0:7318c0dde997 8
Komazawa_sun 0:7318c0dde997 9
Komazawa_sun 0:7318c0dde997 10 #define SDA PB_7
Komazawa_sun 0:7318c0dde997 11 #define SCL PB_6
Komazawa_sun 0:7318c0dde997 12
Komazawa_sun 0:7318c0dde997 13 I2C *master;
Komazawa_sun 0:7318c0dde997 14 DataPool *alpha;
Komazawa_sun 0:7318c0dde997 15
Komazawa_sun 0:7318c0dde997 16 Serial pc(USBTX, USBRX);
Komazawa_sun 0:7318c0dde997 17
Komazawa_sun 0:7318c0dde997 18 double fire_work_time;
Komazawa_sun 0:7318c0dde997 19 int fire_work_allow = 0;
Komazawa_sun 0:7318c0dde997 20
Komazawa_sun 0:7318c0dde997 21 int main()
Komazawa_sun 0:7318c0dde997 22 {
Komazawa_sun 0:7318c0dde997 23 master = new I2C(SDA, SCL);
Komazawa_sun 0:7318c0dde997 24 alpha = new AlphaTransporter(master);
Komazawa_sun 0:7318c0dde997 25 ArrowShooter shooter(master);
Komazawa_sun 0:7318c0dde997 26 while(1)
Komazawa_sun 0:7318c0dde997 27 {
Komazawa_sun 0:7318c0dde997 28 alpha->set();
Komazawa_sun 0:7318c0dde997 29 if(alpha->read(3) == 1)
Komazawa_sun 0:7318c0dde997 30 {
Komazawa_sun 0:7318c0dde997 31 fire_work_allow = 1;
Komazawa_sun 0:7318c0dde997 32 }
Komazawa_sun 0:7318c0dde997 33
Komazawa_sun 0:7318c0dde997 34 if(fire_work_allow == 1)
Komazawa_sun 0:7318c0dde997 35 {
Komazawa_sun 0:7318c0dde997 36 fire_work_time = shooter.fire();
Komazawa_sun 0:7318c0dde997 37 fire_work_allow = 1;
Komazawa_sun 0:7318c0dde997 38 }
Komazawa_sun 0:7318c0dde997 39 if(fire_work_time >= 3.7)
Komazawa_sun 0:7318c0dde997 40 fire_work_allow = 0;
Komazawa_sun 0:7318c0dde997 41
Komazawa_sun 0:7318c0dde997 42 //printf("%f\r\n", fire_work_time);
Komazawa_sun 0:7318c0dde997 43 }
Komazawa_sun 0:7318c0dde997 44 }