Diff: main.cpp

Revision:

0:aac18d44e877

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 30 08:21:15 2015 +0000
@@ -0,0 +1,90 @@
+#include "mbed.h"
+#include "potensyon.h"
+#include "rtos.h"
+
+#define h 3600
+#define hani 4
+#define fr 2
+#define fb 1
+#define syokikaku 1770
+
+BusIn touch(dp4,dp28);
+AnalogIn ain1(dp13);
+AnalogIn ain2(dp9);
+BusOut motor1(dp10,dp14,dp11);
+BusOut motor2(dp15,dp17,dp16);
+//BusOut motor[2] = {BusOut(dp10,dp14,dp11),BusOut(dp15,dp17,dp16)};
+SPISlave device(dp2,dp1,dp6,dp25);
+potensyon poten1(&ain1);
+DigitalOut denji(dp26); 
+PwmOut pwmPin(dp24);
+Timer m;
+
+void rotation(BusOut &r , int seigyo)
+{
+    r = 0;
+    wait_ms(1);
+    if(seigyo == 4)pwmPin = 1;
+    else pwmPin = 0.8;
+    r = seigyo;
+}
+
+int main()
+{
+    int data = 0;
+    int flagkaku = 0;
+    double kaku = 0;  
+    double k = 0;  
+    device.format(16,3);
+    device.frequency(400000);
+    
+    poten1 = h;
+    pwmPin.period(0.02);
+    pwmPin = 0.8f;
+    motor1 = 0;
+    motor2 = 4;
+    denji = 1;
+    device.reply(10);
+    while (1)  
+    {    
+        if(device.receive()) 
+        {   
+            data = device.read();
+        }
+        if(flagkaku == 0)
+        {
+            if(data >= 130 && data <= 190)
+            {
+                kaku = (syokikaku + 30) - ((data-130)*20);
+                flagkaku = 1;
+            }
+        }
+        k = poten1.angle();
+        if(flagkaku == 1 || flagkaku == 2)
+        {
+            if(kaku + hani > k && kaku - hani < k)
+            {
+                if(flagkaku == 2)
+                    flagkaku = 0;     
+                rotation(motor2,4); 
+                if(flagkaku == 1){
+                    denji = 0;                
+                    wait_ms(1000);
+                    denji = 1;
+                    kaku = syokikaku;
+                    flagkaku = 2;
+                    }  
+            }
+            if(kaku + hani < k)
+            {
+                rotation(motor2,fr);
+            } 
+            if(kaku - hani > k)
+            {
+                rotation(motor2,fb);
+            } 
+        }
+        data = 0;
+        wait_ms(10);
+    }
+}