Ryu Kaz / Mbed 2 deprecated Are_you_kiddng_me

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Dependencies:   mbed LidarLitev2

main.cpp@0:48dbc1f972f1, 2019-09-29 (annotated)

Committer:
kazuryu
Date:
Sun Sep 29 09:41:46 2019 +0000
Revision:
0:48dbc1f972f1
areyoukiddingme;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kazuryu 0:48dbc1f972f1 1 #include "mbed.h"
kazuryu 0:48dbc1f972f1 2 #include "rori.h"
kazuryu 0:48dbc1f972f1 3
kazuryu 0:48dbc1f972f1 4 DigitalIn ins(D12);
kazuryu 0:48dbc1f972f1 5 DigitalIn intt(D5);
kazuryu 0:48dbc1f972f1 6 PwmOut outs(D6);
kazuryu 0:48dbc1f972f1 7 PwmOut outt(D3);
kazuryu 0:48dbc1f972f1 8 DigitalOut outs_admin(D9);
kazuryu 0:48dbc1f972f1 9 DigitalOut outt_admin(D4);
kazuryu 0:48dbc1f972f1 10 //RORI roris(PA_0_ALT1,PA_1_ALT1);
kazuryu 0:48dbc1f972f1 11 RORI rorit(PA_4_ALT0,PB_0_ALT0);
kazuryu 0:48dbc1f972f1 12 Serial serial(USBTX,USBRX);
kazuryu 0:48dbc1f972f1 13
kazuryu 0:48dbc1f972f1 14 /*
kazuryu 0:48dbc1f972f1 15 DigitalIn ins(D13);
kazuryu 0:48dbc1f972f1 16 DigitalIn intt(D11);
kazuryu 0:48dbc1f972f1 17 PwmOut outs(D5);
kazuryu 0:48dbc1f972f1 18 PwmOut outt(D3);
kazuryu 0:48dbc1f972f1 19 DigitalOut outs_admin(D12);
kazuryu 0:48dbc1f972f1 20 DigitalOut outt_admin(D10);
kazuryu 0:48dbc1f972f1 21 RORI roris(PA_0_ALT1,PA_1_ALT1);
kazuryu 0:48dbc1f972f1 22 RORI rorit(PA_4_ALT0,PB_0_ALT0);
kazuryu 0:48dbc1f972f1 23 Serial serial(USBTX,USBRX);
kazuryu 0:48dbc1f972f1 24 */
kazuryu 0:48dbc1f972f1 25 long roris_l = 0;
kazuryu 0:48dbc1f972f1 26 long rorit_l = 0;
kazuryu 0:48dbc1f972f1 27 int bunkais = 1024;
kazuryu 0:48dbc1f972f1 28 int bunkait = 1024;
kazuryu 0:48dbc1f972f1 29 float angs = 0;
kazuryu 0:48dbc1f972f1 30 float angt = 0;
kazuryu 0:48dbc1f972f1 31 int counts = 1;
kazuryu 0:48dbc1f972f1 32 int countt = 1;
kazuryu 0:48dbc1f972f1 33 bool start_lock = false;
kazuryu 0:48dbc1f972f1 34 long lasts= 0;
kazuryu 0:48dbc1f972f1 35 long lastt = 0;
kazuryu 0:48dbc1f972f1 36
kazuryu 0:48dbc1f972f1 37 DigitalIn inlock_f(D2);
kazuryu 0:48dbc1f972f1 38 PwmOut lock(D11);
kazuryu 0:48dbc1f972f1 39 /*
kazuryu 0:48dbc1f972f1 40 DigitalIn inlock_f(D15);
kazuryu 0:48dbc1f972f1 41 PwmOut lock(D14);
kazuryu 0:48dbc1f972f1 42 */
kazuryu 0:48dbc1f972f1 43 DigitalOut leds(D0);
kazuryu 0:48dbc1f972f1 44 DigitalOut ledt(D1);
kazuryu 0:48dbc1f972f1 45 bool flags = false;
kazuryu 0:48dbc1f972f1 46 bool flagt = false;
kazuryu 0:48dbc1f972f1 47 /*
kazuryu 0:48dbc1f972f1 48 DigitalIn discr1(D14);
kazuryu 0:48dbc1f972f1 49 DigitalIn discr2(D15);
kazuryu 0:48dbc1f972f1 50 DigitalOut fieldColor(D13);
kazuryu 0:48dbc1f972f1 51 DigitalOut cloth(D12);
kazuryu 0:48dbc1f972f1 52 */
kazuryu 0:48dbc1f972f1 53
kazuryu 0:48dbc1f972f1 54
kazuryu 0:48dbc1f972f1 55 int main(){
kazuryu 0:48dbc1f972f1 56 ins.mode(PullDown);
kazuryu 0:48dbc1f972f1 57 intt.mode(PullDown);
kazuryu 0:48dbc1f972f1 58 inlock_f.mode(PullDown);
kazuryu 0:48dbc1f972f1 59
kazuryu 0:48dbc1f972f1 60 outs.period_ms(1);
kazuryu 0:48dbc1f972f1 61 lock.period_ms(1);
kazuryu 0:48dbc1f972f1 62 while(1){
kazuryu 0:48dbc1f972f1 63 if(start_lock){
kazuryu 0:48dbc1f972f1 64 serial.printf("%s","start");
kazuryu 0:48dbc1f972f1 65 serial.printf("%d",inlock_f.read());
kazuryu 0:48dbc1f972f1 66 while(!inlock_f.read()){
kazuryu 0:48dbc1f972f1 67 lock = 0.2;
kazuryu 0:48dbc1f972f1 68 serial.printf("%s\n","while");
kazuryu 0:48dbc1f972f1 69 }
kazuryu 0:48dbc1f972f1 70 serial.printf("%s\n","out");
kazuryu 0:48dbc1f972f1 71 lock = 0;
kazuryu 0:48dbc1f972f1 72 start_lock = false;
kazuryu 0:48dbc1f972f1 73 }
kazuryu 0:48dbc1f972f1 74 if(ins.read()){
kazuryu 0:48dbc1f972f1 75 outs = 0.1f;
kazuryu 0:48dbc1f972f1 76 //roris.read(&roris_l);//
kazuryu 0:48dbc1f972f1 77 if(roris_l == lasts){
kazuryu 0:48dbc1f972f1 78 flags = !flags;
kazuryu 0:48dbc1f972f1 79 leds = (flags)?1:0;
kazuryu 0:48dbc1f972f1 80 }
kazuryu 0:48dbc1f972f1 81 angs = (float)roris_l/bunkais;//ang
kazuryu 0:48dbc1f972f1 82 angs *= 360;//deg
kazuryu 0:48dbc1f972f1 83 //serial.printf("%s",":");
kazuryu 0:48dbc1f972f1 84 //serial.printf("%f\n",angs);
kazuryu 0:48dbc1f972f1 85 if(abs(angs) > 90*counts){
kazuryu 0:48dbc1f972f1 86 counts++;
kazuryu 0:48dbc1f972f1 87 outs = 0;
kazuryu 0:48dbc1f972f1 88 outs_admin = 1;
kazuryu 0:48dbc1f972f1 89 wait(1);
kazuryu 0:48dbc1f972f1 90 outs_admin = 0;
kazuryu 0:48dbc1f972f1 91 }
kazuryu 0:48dbc1f972f1 92 lasts = roris_l;
kazuryu 0:48dbc1f972f1 93
kazuryu 0:48dbc1f972f1 94 }else{
kazuryu 0:48dbc1f972f1 95 outs = 0;
kazuryu 0:48dbc1f972f1 96 }
kazuryu 0:48dbc1f972f1 97
kazuryu 0:48dbc1f972f1 98 if(intt.read()){
kazuryu 0:48dbc1f972f1 99 outt = 0.1f;
kazuryu 0:48dbc1f972f1 100 rorit.read(&rorit_l);
kazuryu 0:48dbc1f972f1 101 if(rorit_l == lastt){
kazuryu 0:48dbc1f972f1 102 flagt = !flagt;
kazuryu 0:48dbc1f972f1 103 ledt = (flagt)?:0;
kazuryu 0:48dbc1f972f1 104 }
kazuryu 0:48dbc1f972f1 105 angt = (float)rorit_l/bunkait;
kazuryu 0:48dbc1f972f1 106 angt *= 360;
kazuryu 0:48dbc1f972f1 107 if(abs(angt) > 120*countt){
kazuryu 0:48dbc1f972f1 108 countt++;
kazuryu 0:48dbc1f972f1 109 outt = 0;
kazuryu 0:48dbc1f972f1 110 outt_admin = 1;
kazuryu 0:48dbc1f972f1 111 wait(0.5f);
kazuryu 0:48dbc1f972f1 112 outt_admin = 0;
kazuryu 0:48dbc1f972f1 113 }
kazuryu 0:48dbc1f972f1 114 lastt = rorit_l;
kazuryu 0:48dbc1f972f1 115 }else{
kazuryu 0:48dbc1f972f1 116 outt = 0;
kazuryu 0:48dbc1f972f1 117 }
kazuryu 0:48dbc1f972f1 118
kazuryu 0:48dbc1f972f1 119 }
kazuryu 0:48dbc1f972f1 120 }
kazuryu 0:48dbc1f972f1 121 /*
kazuryu 0:48dbc1f972f1 122 int Discrimination(bool hoge){
kazuryu 0:48dbc1f972f1 123 bool discColor;
kazuryu 0:48dbc1f972f1 124 bool discMode;
kazuryu 0:48dbc1f972f1 125 discColor=discr1;
kazuryu 0:48dbc1f972f1 126 discMode=discr2;
kazuryu 0:48dbc1f972f1 127 if(hoge){
kazuryu 0:48dbc1f972f1 128 fieldColor=discr1;
kazuryu 0:48dbc1f972f1 129 cloth=discr2;
kazuryu 0:48dbc1f972f1 130 }else{
kazuryu 0:48dbc1f972f1 131 return 0;
kazuryu 0:48dbc1f972f1 132 }
kazuryu 0:48dbc1f972f1 133 return 1;
kazuryu 0:48dbc1f972f1 134 }
kazuryu 0:48dbc1f972f1 135 */