広田 勇斗 / Mbed 2 deprecated 2017_Bteam_beta_master_ashi

2017_Bteam_beta_master_ashi

Dependencies:   Alpha_Movements BoolProcess DataCaller_beta MD_PID mbed

Fork of 2017_Bteam_beta_master by taiyou komazawa

main.cpp@6:26b8a8130839, 2017-09-16 (annotated)

Committer:
hirotayamato
Date:
Sat Sep 16 05:21:46 2017 +0000
Revision:
6:26b8a8130839
Parent:
5:da391f9d2152
Child:
8:c2631b1eff73
2017_Bteam_beta_master_ashi

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Komazawa_sun 0:847a475cf9a0 1 #include "mbed.h"
Komazawa_sun 0:847a475cf9a0 2
Komazawa_sun 0:847a475cf9a0 3 #include "DataPool.h"
Komazawa_sun 0:847a475cf9a0 4 #include "AlphaTransporter.h"
Komazawa_sun 0:847a475cf9a0 5 #include "BoolProcess.h"
Komazawa_sun 0:847a475cf9a0 6
hirotayamato 1:ebb68f50a49d 7 #include "2017_3_h.h"
Komazawa_sun 0:847a475cf9a0 8
Komazawa_sun 0:847a475cf9a0 9 #define SDA PB_7
Komazawa_sun 0:847a475cf9a0 10 #define SCL PB_6
Komazawa_sun 0:847a475cf9a0 11
Komazawa_sun 0:847a475cf9a0 12 I2C *master;
Komazawa_sun 0:847a475cf9a0 13 DataPool *beta;
Komazawa_sun 0:847a475cf9a0 14
hirotayamato 6:26b8a8130839 15 Omni_3 Omni(PB_4, PB_0, PA_7, PA_12, PB_5, PB_1, PA_5, PA_6, PA_11, PF_0, PA_3, PA_4, 1);
Komazawa_sun 0:847a475cf9a0 16 Serial pc(USBTX, USBRX);
Komazawa_sun 0:847a475cf9a0 17
Komazawa_sun 0:847a475cf9a0 18 int main()
Komazawa_sun 0:847a475cf9a0 19 {
Komazawa_sun 0:847a475cf9a0 20 master = new I2C(SDA, SCL);
Komazawa_sun 0:847a475cf9a0 21 beta = new AlphaTransporter(master);
hirotayamato 1:ebb68f50a49d 22
hirotayamato 1:ebb68f50a49d 23 Omni.Drive(0, 0, 0);
hirotayamato 1:ebb68f50a49d 24 float x, y, t;
Komazawa_sun 0:847a475cf9a0 25 while(1)
Komazawa_sun 0:847a475cf9a0 26 {
hirotayamato 1:ebb68f50a49d 27 beta->set();
hirotayamato 1:ebb68f50a49d 28
hirotayamato 5:da391f9d2152 29 x = beta->read(0) / 128.00 * -1.00;
hirotayamato 5:da391f9d2152 30 y = beta->read(1) / 128.00 * -1.00;
hirotayamato 5:da391f9d2152 31 t = beta->read(2) / 128.00 * -1.00;
hirotayamato 1:ebb68f50a49d 32 Omni.Drive(x, y, t);
hirotayamato 2:d836267af023 33 wait(0.1);
Komazawa_sun 0:847a475cf9a0 34 }
Komazawa_sun 0:847a475cf9a0 35 }