Revision 0:e725da167cba, committed 2015-10-30

Comitter:

japanet

Date:

Fri Oct 30 08:24:09 2015 +0000

Commit message:

b(`m');

Changed in this revision

diff -r 000000000000 -r e725da167cba main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 30 08:24:09 2015 +0000
@@ -0,0 +1,108 @@
+#include "mbed.h"
+
+#define m1 50
+#define m2 55
+#define m3 60
+#define ue 2
+#define st 1
+BusOut motor1(dp10,dp14,dp11);
+BusOut motor2(dp15,dp17,dp16);
+DigitalOut d(dp26);
+DigitalIn d1(dp13);
+DigitalIn d2(dp9);
+PwmOut pwmPin(dp24);
+void rotation(BusOut &r , int seigyo)
+{
+    r = 0;
+    wait_ms(1);
+    r = seigyo;
+}    
+void m(int x)
+{
+    pwmPin = 1;
+    rotation(motor1,x);
+    while(d1 != 1);
+    while(d1 == 1);
+    while(d1 != 1);
+    pwmPin = 1;
+    rotation(motor1,4);
+    wait_ms(500);
+    if(d1 != 1)
+    {
+        while(1){
+            if(x == ue)x = st;
+            else x = ue;
+            pwmPin = 0.3;
+            rotation(motor1,x);
+            while(d1 != 1);
+            pwmPin = 1;
+            rotation(motor1,4);
+            wait_ms(500);
+            if(d1 == 1)break;
+        }
+    }
+}
+void t()
+{
+    pwmPin = 0.7;
+    rotation(motor2,1);
+    while(d2 != 1);
+    while(d2 == 1);
+    pwmPin = 1;
+    rotation(motor2,4);
+}
+void ht()
+{
+    pwmPin = 0.2;
+    rotation(motor2,2);
+    while(d2 != 1);
+    while(d2 == 1);
+    pwmPin = 1;
+    rotation(motor2,4);
+}
+int main() 
+{
+    int data = 0;
+    int flag = 0;
+    SPISlave device(dp2,dp1,dp6,dp25);
+    device.format(16,3);
+    device.reply(0x11);
+    device.frequency(400000);
+    motor1 = 4;
+    motor2 = 4;
+    pwmPin = 1;
+    d = 0;
+    while(1)
+    { 
+        if(device.receive()) 
+        {
+            data = device.read();
+        }
+        else continue;
+    
+        if(data == m1)
+        {
+            if(flag == 1){
+                m(ue);
+            }
+            m(ue);
+            d = 1;
+            wait_ms(300);
+            m(st);
+            t();
+            wait_ms(1000);
+            d = 0;
+            ht();
+            flag = 1;
+        }  
+        if(data == m2)
+        {
+            m(ue);
+        }
+        if(data == m3)
+        {
+            m(st);
+        }
+        data = 0;
+    }
+}

diff -r 000000000000 -r e725da167cba mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Oct 30 08:24:09 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/ba1f97679dad
\ No newline at end of file