Diff: main.cpp

Revision:

9:215d94939bc9

Parent:

8:3eb58ae94a93

diff -r 3eb58ae94a93 -r 215d94939bc9 main.cpp
--- a/main.cpp	Thu Jan 23 05:39:20 2014 +0000
+++ b/main.cpp	Thu Jan 30 05:24:48 2014 +0000
@@ -1,139 +1,11 @@
-#include "mbed.h"
-#include "rtos.h"
-
-Serial pc(USBTX, USBRX);
-PwmOut Dou1(p21);
-PwmOut Asi1(p23);
-PwmOut Dou2(p22);
-PwmOut Asi2(p24);
-
-char c;
-
-
-int zen1=0;
-int go1=0;
-int zen2=0;
-int go2=0;
-int dou1=0;
-
-void HANTEI(void const *argument) {
- while(true){
-        if(pc.readable()==1){
-        c=pc.getc();
-        switch(c){
-        case'g':
-            zen1=1;
-            c=0;
-            pc.printf("go\n");
-            break;
-            
-        case'n':
-            zen1=0;
-            go1=0;
-            c=0;
-            pc.printf("stop\n");
-            break;
-            
-        case'z':
-            go1=1;
-            c=0;
-            pc.printf("zen\n");
-            break;
-            
-       case'c':
-            zen2=1;
-            c=0;
-            pc.printf("go\n");
-            break;
-            
-        case'p':
-            zen2=0;
-            go2=0;
-            c=0;
-            pc.printf("stop\n");
-            break;
-            
-        case'x':
-            go2=1;
-            c=0;
-            pc.printf("zen\n");
-            break;
-            
-        case'd':
-            dou1=1;
-            c=0;
-            pc.printf("dou\n");
-            break;       
-        }
-    }
-}
-}
-
-
- void ZENGO1(void const *argument) {
-  Asi1.period(0.00001); 
- while(true){
-     if(go1==1){
-            Asi1.pulsewidth(0.00000f);
-        }
-    else if(zen1==1){
-            Asi1.pulsewidth(0.00001f);
-        }
-    else{
-        Asi1.pulsewidth(0.000005f);
-        }
-    }
-}
-
- void ZENGO2(void const *argument) {
-  Asi2.period(0.00001); 
- while(true){
-     if(zen2==1){
-            Asi2.pulsewidth(0.000006f);
-        }
-    else if(go2==1){
-            Asi2.pulsewidth(0.000004f);
-        }
-    else{
-        Asi2.pulsewidth(0.000005f);
-        }
-    }
-}
- 
- void DOU1(void const *argument) {
-  Dou1.period(0.00001); 
-  int i=1;
-  int d=1;
- while(true){
-     if(dou1==1){
-        switch(d){
-            case 1:
-            Dou1.pulsewidth(0.000004f);
-            i=i++;
-            wait(0.02);
-            if(i>50)d=2;
-            break;
-            
-            case 2:
-            Dou1.pulsewidth(0.000006f);
-            i=i--;
-            wait(0.02);
-            if(i>2){
-                d=1;
-                dou1=0;
-                }
-            break;
-            }
-        }
-    }
-}
- 
- 
+#include "ASI.h"
 int main() {
     Thread t1(HANTEI);
     Thread t2(ZENGO1);
     Thread t3(ZENGO2);
     Thread t4(DOU1);
+    Thread t5(DOU2);
+    Thread t6(HIROSE);
 
     pc.printf("start\n");