mo mo
/
F3RC2019_HAND_USE
memo
main.cpp
- Committer:
- imoha
- Date:
- 2021-08-09
- Revision:
- 0:5feeeb404a6a
File content as of revision 0:5feeeb404a6a:
#include "mbed.h" #include "PS_PAD.h" //入力pin設定 PS_PAD vsc3(PA_7,PA_6,PA_5,PB_6); //出力pin設定 //RIGHT PwmOut MRA (PA_11); PwmOut MRB (PB_13); //LEFT PwmOut MLA (PB_14); PwmOut MLB (PB_15); //SERVO PwmOut s1 (PC_9);//raise PwmOut s2 (PB_8);//grab PwmOut s3 (PB_9);//table //joystick int RY; int LY; double du; int main() { vsc3.init(); MRA.period(0.002); MRB.period(0.002); MLA.period(0.002); MLB.period(0.002); s1.period_us(20000); s2.period_us(20000); s3.period_us(20000); while(1) { vsc3.poll(); RY = vsc3.read(PS_PAD::ANALOG_RY); LY = vsc3.read(PS_PAD::ANALOG_LY); //サーボ操作 if(vsc3.read(PS_PAD::PAD_TOP)) { s1.pulsewidth_us(400); } else if(vsc3.read(PS_PAD::PAD_BOTTOM)) { s1.pulsewidth_us(1550); } else if(vsc3.read(PS_PAD::PAD_RIGHT)) { s2.pulsewidth_us(1700); } else if(vsc3.read(PS_PAD::PAD_LEFT)) { s2.pulsewidth_us(1350); } else if(vsc3.read(PS_PAD::PAD_TRIANGLE)) { s3.pulsewidth_us(1550); } else if(vsc3.read(PS_PAD::PAD_X)) { s3.pulsewidth_us(1900); } else; //速度設定 if(vsc3.read(PS_PAD::PAD_L1)) { du = 0.2; } else if(vsc3.read(PS_PAD::PAD_R1)) { du = 0.99; } else { du = 0.4; } wait(0.05); //右車輪 if (-25 < RY < 25) { MRA = 0; MRB = 0; } if(RY < -25) { MRA = du; MRB = 0; } if(25 < RY) { MRA = 0; MRB = du; } //左車輪 if (-25 < LY < 25) { MLA = 0; MLB = 0; } if(LY < -25) { MLA = du; MLB = 0; } if(25 < LY) { MLA = 0; MLB = du; } } }