mo mo / Mbed 2 deprecated F3RC2019_HAND_USE

memo

Dependencies:   mbed PS_PAD

Files at this revision

API Documentation at this revision

Revision 0:5feeeb404a6a, committed 2021-08-09

Comitter:
imoha
Date:
Mon Aug 09 13:37:22 2021 +0000
Commit message:

Changed in this revision

PS_PAD.lib Show annotated file Show diff for this revision Revisions of this file
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 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PS_PAD.lib	Mon Aug 09 13:37:22 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/okini3939/code/PS_PAD/#840370e1dcce

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Aug 09 13:37:22 2021 +0000
@@ -0,0 +1,112 @@
+#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;
+        }
+
+    }
+
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Aug 09 13:37:22 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file