Revision 1:5f5d47a593bc, committed 2019-09-10

Comitter:

kenboh

Date:

Tue Sep 10 09:30:41 2019 +0000

Parent:

0:2a0c62e53e9c

Commit message:

SRC2018Auto

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PinName.h	Tue Sep 10 09:30:41 2019 +0000
@@ -0,0 +1,74 @@
+//二重インクルードの防止。未定義の時のみ以下を読み込む
+#ifndef _INCLUDED_PINNAME 
+#define _INCLUDED_PINNAME
+
+#include "mbed.h"
+
+
+//これ以下エクセルからコピペ
+
+//CN7   名前決める   ピン名
+#define ctrTX    PC_10
+#define subTX    PC_12  //送信
+//      
+//        
+#define odo1A   PA_13
+#define odo1B   PA_14
+#define odo2A   PC_14
+#define odo2B   PC_15
+#define photo   PH_0
+#define MD1_CW1 PH_1
+//      
+#define MD1_DIS1    PC_2
+#define MD1_CW2 PC_3
+
+//CN6,8 名前決める   ピン名
+#define ctrRX    PC_11
+#define subRX    PD_2    //受信
+//      
+//          
+//      
+#define MD1_PWM1    PA_1
+#define MD1_CCW1    PA_4
+#define MD1_PWM2    PB_0
+#define MD1_CCW2    PC_1
+#define MD1_DIS2    PC_0
+
+//CN5,9 名前決める   ピン名
+#define limit1  PC_9
+#define enc1    D15
+#define enc2    D14
+//      AVDD
+//      GND
+#define kyuuban D9
+#define MD2_DIS1    D8
+#define LED1    D7
+#define LED2    D6
+#define MD2_CW2 D5
+#define MD2_DIS2    D4
+#define MD2_PWM2    D3
+#define MD2_CCW2    D2
+#define MD2_PWM1    D1
+#define MD2_CCW1    D0
+
+
+//CN10  名前決める   ピン名
+#define limit2  PC_8
+#define limit3  PC_6
+#define limit4  PC_5
+//      
+//      
+#define MD3_CW2 PA_12
+#define MD3_DIS1    PA_11
+#define MD3_CW1 PB_12
+//      NC
+#define MD3_PWM1    PB_2
+#define MD3_CCW1    PB_1
+#define MD3_PWM2    PB_15
+#define MD3_CCW2    PB_14
+#define MD3_DIS2    PB_13
+//      AGND
+#define MD2_CW1 PC_4
+//      
+//      
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI2.lib	Tue Sep 10 09:30:41 2019 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/kikoaac/code/QEI2/#49fa8827718d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kyuuban.cpp	Tue Sep 10 09:30:41 2019 +0000
@@ -0,0 +1,50 @@
+#if 1
+#include "kyuuban.h"
+#include "QEI.h" 
+
+Timer enc_tim;  //Timerクラスのインスタンス（実体）
+QEI qei(D15,D14,D10,800,&enc_tim);  //class宣言
+// qei.getPulses(); //Pulsesを返す
+
+void KyuubanINIT() {
+//    pc.printf("morter init ... ");
+    kyuuban_pwm.period_us(100);    //PWM信号を出し始める
+    kyuuban_pwm.pulsewidth_ms(20);
+    kyuuban_up = 0;   //正転も逆転もしない状態
+    kyuuban_down = 0;
+    kyuuban_dis = 0;    //dis=1だとフリー回転
+    kyuubanMOVE = 0;
+    int K1 = kyuuban_lim;
+    while(K1 == 0){    //反応してる状態が0？
+        kyuuban_down = 1;             //下降開始
+        K1 = kyuuban_lim;    //代入しなおし
+        wait_ms(0.5);
+    }
+    kyuuban_down = 0;             //下降停止
+//    pc.printf("END\n\r");
+//    return 0;
+} 
+
+void KyuubanLIFT(){
+//    pc.printf("Lyuuban LIFT...");
+    kyuuban_up = 1;
+    while(qei.getPulses() < kyuubanUPlimit){
+        wait_ms(0.5);
+    }
+    kyuuban_up = 0;
+//    return 0;
+}
+
+void KyuubanEND(){
+    kyuuban_down = 1;
+    while(qei.getPulses() < kyuubanDOWN){
+        wait_ms(0.5);
+    }
+    kyuuban_down = 0;
+    kyuubanMOVE = 0;
+    wait(2);
+//    return 0;
+}
+
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kyuuban.h	Tue Sep 10 09:30:41 2019 +0000
@@ -0,0 +1,15 @@
+#ifndef KYUUBAN_H_
+#define KYUUBAN_H_
+
+#include "mbed.h"
+//#include "PinName.h"
+DigitalOut kyuubanMOVE(D9);
+PwmOut kyuuban_pwm(PB_0);
+DigitalOut kyuuban_up(PC_3);
+DigitalOut kyuuban_down(PC_1);
+DigitalOut kyuuban_dis(PC_0);
+DigitalIn kyuuban_lim(PC_13);
+#define kyuubanUPlimit 50
+#define kyuubanDOWN 20
+
+#endif
\ No newline at end of file

--- a/main.cpp	Wed Sep 12 09:07:30 2018 +0000
+++ b/main.cpp	Tue Sep 10 09:30:41 2019 +0000
@@ -4,6 +4,17 @@
 #include "User.h"
 #include "DualShockMod.h"
 
+//永井ここから
+//#include "kyuuban.h"
+//#include "QEI.h"
+
+//Timer enc_tim;  //Timerクラスのインスタンス（実体）
+//QEI qei(enc1,enc2,D10,800,&enc_tim);  //class宣言
+// qei.getPulses(); //Pulsesを返す
+
+//ここまで
+
+
 //serial通信
 Serial pc(SERIAL_TX, SERIAL_RX);
 Serial tsuushin(PC_12,PD_2);  
@@ -116,7 +127,7 @@
 
 
 
-int main(void){
+int main(void){    
     motor_init();           //cwなどの初期化
     while(1){
         //エンコーダーの値
@@ -283,7 +294,4 @@
         
         }
     }
-}
-        
-    
-
+}
\ No newline at end of file