昂汰 高橋
/
souten
b
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
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 |
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