Diff: main.cpp

Revision:

0:48dbc1f972f1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Sep 29 09:41:46 2019 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+#include "rori.h"
+
+DigitalIn ins(D12);
+DigitalIn intt(D5);
+PwmOut outs(D6);
+PwmOut outt(D3);
+DigitalOut outs_admin(D9);
+DigitalOut outt_admin(D4);
+//RORI roris(PA_0_ALT1,PA_1_ALT1);
+RORI rorit(PA_4_ALT0,PB_0_ALT0);
+Serial serial(USBTX,USBRX);
+
+/*
+DigitalIn ins(D13);
+DigitalIn intt(D11);
+PwmOut outs(D5);
+PwmOut outt(D3);
+DigitalOut outs_admin(D12);
+DigitalOut outt_admin(D10);
+RORI roris(PA_0_ALT1,PA_1_ALT1);
+RORI rorit(PA_4_ALT0,PB_0_ALT0);
+Serial serial(USBTX,USBRX);
+*/
+long roris_l = 0;
+long rorit_l = 0;
+int bunkais = 1024;
+int bunkait = 1024;
+float angs = 0;
+float angt = 0;
+int counts = 1;
+int countt = 1;
+bool start_lock = false;
+long lasts= 0;
+long lastt = 0;
+
+DigitalIn inlock_f(D2);
+PwmOut lock(D11);
+/*
+DigitalIn inlock_f(D15);
+PwmOut lock(D14);
+*/
+DigitalOut leds(D0);
+DigitalOut ledt(D1);
+bool flags = false;
+bool flagt = false;
+/*
+DigitalIn discr1(D14);
+DigitalIn discr2(D15);
+DigitalOut fieldColor(D13);
+DigitalOut cloth(D12);
+*/
+
+
+int main(){
+    ins.mode(PullDown);
+    intt.mode(PullDown);
+    inlock_f.mode(PullDown);
+
+    outs.period_ms(1);
+    lock.period_ms(1);
+    while(1){
+        if(start_lock){
+            serial.printf("%s","start");
+            serial.printf("%d",inlock_f.read());
+            while(!inlock_f.read()){
+                lock = 0.2;
+                serial.printf("%s\n","while");
+            }
+            serial.printf("%s\n","out");
+            lock = 0;
+            start_lock = false;
+            }
+        if(ins.read()){
+            outs = 0.1f;
+            //roris.read(&roris_l);//
+            if(roris_l == lasts){
+                flags = !flags;
+                leds = (flags)?1:0;
+            }
+            angs = (float)roris_l/bunkais;//ang
+            angs *= 360;//deg
+            //serial.printf("%s",":");
+            //serial.printf("%f\n",angs);
+            if(abs(angs) > 90*counts){
+                counts++;
+                outs = 0;
+                outs_admin = 1;
+                wait(1);
+                outs_admin = 0;
+                }
+            lasts = roris_l;
+            
+        }else{
+            outs = 0;
+            }
+        
+        if(intt.read()){
+            outt = 0.1f;
+            rorit.read(&rorit_l);
+            if(rorit_l == lastt){
+                flagt = !flagt;
+                ledt = (flagt)?:0;
+            }
+            angt = (float)rorit_l/bunkait;
+            angt *= 360;
+            if(abs(angt) > 120*countt){
+                countt++;
+                outt = 0;
+                outt_admin = 1;
+                wait(0.5f);
+                outt_admin = 0;
+                }
+            lastt = rorit_l;
+        }else{
+            outt = 0;
+            }
+            
+        }
+    }
+/*
+    int Discrimination(bool hoge){
+        bool discColor;
+        bool discMode;
+        discColor=discr1;
+        discMode=discr2;
+        if(hoge){
+            fieldColor=discr1;
+            cloth=discr2;
+            }else{
+                return 0;
+                }
+                return 1;
+        }
+*/
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