main.cpp

00001 #include "mbed.h"
00002 
00003 // Machine UP/DOWN (LEFT)
00004 DigitalOut UP_DOWN_1(P0_8);   //8
00005 DigitalOut UP_DOWN_2(P1_25);  //25
00006 
00007 // Belt Combare Rolling (C_LEFT)
00008 DigitalOut BELT_ROLL_1(P0_2);  //2
00009 DigitalOut BELT_ROLL_2(P1_24);  //24
00010 
00011 // Belt Combare Moving (Upper M/C)
00012 DigitalOut BELT_MOVE_1(P0_0);
00013 DigitalOut BELT_MOVE_2(P1_4);
00014 
00015 // Machine Move FW/CFW (C_RIGHT / RIGHT)
00016 DigitalOut FW_CFW_1(P1_27);
00017 DigitalOut FW_CFW_2(P1_18);
00018 
00019 // Catch Action (Upper M/C)
00020 DigitalOut CATCH_1(P0_10);
00021 DigitalOut CATCH_2(P0_15);
00022 
00023 // LED 
00024 DigitalOut led1(LED1);
00025 DigitalOut led2(LED2);
00026 DigitalOut led3(LED3);
00027 DigitalOut led4(LED4);
00028 DigitalOut led5(P0_9);
00029 
00030 // Sensor Input
00031 AnalogIn Sensor_read(P0_22);
00032 
00033 // Switch Input
00034 DigitalIn UP(P0_12);
00035 DigitalIn DOWN(P0_13);
00036 DigitalIn BELT_ROLL_FW(P0_18);
00037 DigitalIn BELT_ROLL_CFW(P0_19);
00038 DigitalIn BELT_MOVE_FW(P0_17);
00039 DigitalIn BELT_MOVE_CFW(P1_17);
00040 DigitalIn FW(P0_16);
00041 DigitalIn CFW(P0_14);
00042 
00043 Ticker wari;
00044 Ticker moto;
00045 
00046 char flag = 1;
00047 unsigned char times = 0;
00048 
00049 void stop(){                                // Interrupt Routine
00050     float sens = Sensor_read;
00051     flag = 1;
00052     if(sens > 0.6){
00053         UP_DOWN_1 = 1;
00054         UP_DOWN_2 = 1;
00055         led1 = 0;
00056         flag = 0;
00057     }
00058 }
00059 
00060 void rev(){
00061     BELT_ROLL_1 = 0;
00062     BELT_ROLL_2 = 1;
00063     led5 = 1;
00064 }
00065 
00066 void matsu(){
00067     times++;
00068 }
00069 
00070 
00071 void jikan_1(){
00072     FW_CFW_2 = 0;
00073     FW_CFW_1 = 1;
00074     led2 = 1;
00075     wait(0.0003);
00076     
00077     FW_CFW_1 = 0;
00078     wait(0.001);
00079 }
00080 
00081 void jikan_2(){
00082     FW_CFW_2 = 1;
00083     FW_CFW_1 = 0;
00084     led2 = 1;
00085     wait(0.0003);
00086     FW_CFW_2 = 0;
00087     wait(0.001);
00088 }
00089     
00090 int main() {
00091     wari.attach_us(&stop,100000);
00092     moto.attach(&matsu,1);
00093     
00094     // rolling
00095     BELT_ROLL_1 = 1;
00096     BELT_ROLL_2 = 0;
00097     
00098     while(1){
00099         if(times == 10){
00100             rev();
00101         }else if(times > 11){
00102             BELT_ROLL_1 = 1;
00103             BELT_ROLL_2 = 0;
00104             led5 = 0;
00105             times = 0;
00106         }
00107         if(flag == 1){
00108             if(UP == 0 && DOWN == 1){
00109               UP_DOWN_1 = 1;
00110               UP_DOWN_2 = 0;
00111               led1 = 1;
00112             }
00113         }
00114         
00115         if(UP == 1 && DOWN == 0){
00116             UP_DOWN_1 = 0;
00117             UP_DOWN_2 = 1;
00118             led1 = 1;
00119         }else if(UP == 0 && DOWN == 0){
00120             UP_DOWN_1 = 1;
00121             UP_DOWN_2 = 1;
00122             led1 = 0;
00123         }
00124         
00125         if(FW == 1 && CFW == 0){
00126             jikan_1();
00127         }else if(FW == 0 && CFW == 1){
00128             jikan_2();
00129         }else if(FW == 0 && CFW == 0){
00130             FW_CFW_1 = 0;
00131             FW_CFW_2 = 0;
00132             led2 = 0;
00133         }
00134         
00135         if(BELT_ROLL_FW == 1 && BELT_ROLL_CFW == 0){
00136             CATCH_1 = 1;
00137             CATCH_2 = 0;
00138             led4 = 1;
00139         }else if(BELT_ROLL_FW == 0 && BELT_ROLL_CFW == 1){
00140             CATCH_1 = 0;
00141             CATCH_2 = 1;
00142             led4 = 1;
00143         }else if(BELT_ROLL_FW == 0 && BELT_ROLL_CFW == 0){
00144             CATCH_1 = 1;
00145             CATCH_2 = 1;
00146             led4 = 0;
00147         }
00148         
00149         if(BELT_MOVE_FW == 1 && BELT_MOVE_CFW == 0){
00150             BELT_MOVE_1 = 1;
00151             BELT_MOVE_2 = 0;
00152             led3 = 1;
00153         }else if(BELT_MOVE_FW == 0 && BELT_MOVE_CFW == 1){
00154             BELT_MOVE_1 = 0;
00155             BELT_MOVE_2 = 1;
00156             led3 = 1;
00157         }else if(BELT_MOVE_FW == 0 && BELT_MOVE_CFW == 0){
00158             BELT_MOVE_1 = 1;
00159             BELT_MOVE_2 = 1;
00160             led3 = 0;
00161         }
00162         }
00163     }