Revision 0:d5bcb9684f1e, committed 2014-10-29

Comitter:

moyashi620

Date:

Wed Oct 29 04:27:02 2014 +0000

Commit message:

Robot_Prog

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 29 04:27:02 2014 +0000
@@ -0,0 +1,163 @@
+#include "mbed.h"
+
+// Machine UP/DOWN (LEFT)
+DigitalOut UP_DOWN_1(P0_8);   //8
+DigitalOut UP_DOWN_2(P1_25);  //25
+
+// Belt Combare Rolling (C_LEFT)
+DigitalOut BELT_ROLL_1(P0_2);  //2
+DigitalOut BELT_ROLL_2(P1_24);  //24
+
+// Belt Combare Moving (Upper M/C)
+DigitalOut BELT_MOVE_1(P0_0);
+DigitalOut BELT_MOVE_2(P1_4);
+
+// Machine Move FW/CFW (C_RIGHT / RIGHT)
+DigitalOut FW_CFW_1(P1_27);
+DigitalOut FW_CFW_2(P1_18);
+
+// Catch Action (Upper M/C)
+DigitalOut CATCH_1(P0_10);
+DigitalOut CATCH_2(P0_15);
+
+// LED 
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+DigitalOut led5(P0_9);
+
+// Sensor Input
+AnalogIn Sensor_read(P0_22);
+
+// Switch Input
+DigitalIn UP(P0_12);
+DigitalIn DOWN(P0_13);
+DigitalIn BELT_ROLL_FW(P0_18);
+DigitalIn BELT_ROLL_CFW(P0_19);
+DigitalIn BELT_MOVE_FW(P0_17);
+DigitalIn BELT_MOVE_CFW(P1_17);
+DigitalIn FW(P0_16);
+DigitalIn CFW(P0_14);
+
+Ticker wari;
+Ticker moto;
+
+char flag = 1;
+unsigned char times = 0;
+
+void stop(){                                // Interrupt Routine
+    float sens = Sensor_read;
+    flag = 1;
+    if(sens > 0.6){
+        UP_DOWN_1 = 1;
+        UP_DOWN_2 = 1;
+        led1 = 0;
+        flag = 0;
+    }
+}
+
+void rev(){
+    BELT_ROLL_1 = 0;
+    BELT_ROLL_2 = 1;
+    led5 = 1;
+}
+
+void matsu(){
+    times++;
+}
+
+
+void jikan_1(){
+    FW_CFW_2 = 0;
+    FW_CFW_1 = 1;
+    led2 = 1;
+    wait(0.0003);
+    
+    FW_CFW_1 = 0;
+    wait(0.001);
+}
+
+void jikan_2(){
+    FW_CFW_2 = 1;
+    FW_CFW_1 = 0;
+    led2 = 1;
+    wait(0.0003);
+    FW_CFW_2 = 0;
+    wait(0.001);
+}
+    
+int main() {
+    wari.attach_us(&stop,100000);
+    moto.attach(&matsu,1);
+    
+    // rolling
+    BELT_ROLL_1 = 1;
+    BELT_ROLL_2 = 0;
+    
+    while(1){
+        if(times == 10){
+            rev();
+        }else if(times > 11){
+            BELT_ROLL_1 = 1;
+            BELT_ROLL_2 = 0;
+            led5 = 0;
+            times = 0;
+        }
+        if(flag == 1){
+            if(UP == 0 && DOWN == 1){
+              UP_DOWN_1 = 1;
+              UP_DOWN_2 = 0;
+              led1 = 1;
+            }
+        }
+        
+        if(UP == 1 && DOWN == 0){
+            UP_DOWN_1 = 0;
+            UP_DOWN_2 = 1;
+            led1 = 1;
+        }else if(UP == 0 && DOWN == 0){
+            UP_DOWN_1 = 1;
+            UP_DOWN_2 = 1;
+            led1 = 0;
+        }
+        
+        if(FW == 1 && CFW == 0){
+            jikan_1();
+        }else if(FW == 0 && CFW == 1){
+            jikan_2();
+        }else if(FW == 0 && CFW == 0){
+            FW_CFW_1 = 0;
+            FW_CFW_2 = 0;
+            led2 = 0;
+        }
+        
+        if(BELT_ROLL_FW == 1 && BELT_ROLL_CFW == 0){
+            CATCH_1 = 1;
+            CATCH_2 = 0;
+            led4 = 1;
+        }else if(BELT_ROLL_FW == 0 && BELT_ROLL_CFW == 1){
+            CATCH_1 = 0;
+            CATCH_2 = 1;
+            led4 = 1;
+        }else if(BELT_ROLL_FW == 0 && BELT_ROLL_CFW == 0){
+            CATCH_1 = 1;
+            CATCH_2 = 1;
+            led4 = 0;
+        }
+        
+        if(BELT_MOVE_FW == 1 && BELT_MOVE_CFW == 0){
+            BELT_MOVE_1 = 1;
+            BELT_MOVE_2 = 0;
+            led3 = 1;
+        }else if(BELT_MOVE_FW == 0 && BELT_MOVE_CFW == 1){
+            BELT_MOVE_1 = 0;
+            BELT_MOVE_2 = 1;
+            led3 = 1;
+        }else if(BELT_MOVE_FW == 0 && BELT_MOVE_CFW == 0){
+            BELT_MOVE_1 = 1;
+            BELT_MOVE_2 = 1;
+            led3 = 0;
+        }
+        }
+    }
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Oct 29 04:27:02 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9327015d4013
\ No newline at end of file