Ryu Anzawa
adachi
Revision 0:7f57e6c08ff7, committed 2019-09-02
- Comitter:
- piroro4560
- Date:
- Mon Sep 02 01:49:00 2019 +0000
- Commit message:
- adachi
Changed in this revision
diff -r 000000000000 -r 7f57e6c08ff7 PS3.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PS3.lib Mon Sep 02 01:49:00 2019 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/PS3/#78827486d24f
diff -r 000000000000 -r 7f57e6c08ff7 ikarashiMDC.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ikarashiMDC.lib Mon Sep 02 01:49:00 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/ikarashiMDC/#ea34af94e90c
diff -r 000000000000 -r 7f57e6c08ff7 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Sep 02 01:49:00 2019 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "PS3.h"
+#include "pinconfig_main.h"
+#include "ikarashiMDC.h"
+
+DigitalOut led1(LED1);
+PS3 ps3(FEPTX, FEPRX);
+DigitalOut serialcontrol(D10);
+Serial serial(mdTX, mdRX, 115200);
+Serial pc(USBTX, USBRX,115200);
+
+ikarashiMDC motor[]=
+{
+ ikarashiMDC(&serialcontrol,1,0,SM,&serial),
+ ikarashiMDC(&serialcontrol,1,1,SM,&serial),
+ ikarashiMDC(&serialcontrol,1,2,SM,&serial),
+// ikarashiMDC(&serialcontrol,0,3,SM,&serial)
+};
+
+int main() {
+
+ int b[12], stick[4], trigger[2];
+ double value[2];
+
+ while (1) {
+ /*ボタンスイッチ*/
+ for(int i = 0; i < 12; i++) {
+ b[i] = ps3.getButton(i);
+ }
+// for(int i = 0; i < 4; i++) pc.printf("%2d",b[i]);
+// pc.printf(" | ");
+// for(int i = 4; i < 6; i++) pc.printf("%2d",b[i]);
+// pc.printf(" | ");
+// for(int i = 6; i < 10; i++) pc.printf("%2d",b[i]);
+// pc.printf(" | ");
+// for(int i = 10; i < 12; i++) pc.printf("%2d",b[i]);
+// pc.printf(" | ");
+ /*ジョイスティック*/
+ for(int i = 0; i < 2; i++) {
+ stick[2*i] = ps3.getStick(2*i) - 125;
+ stick[2*i+1] = -1*ps3.getStick(2*i+1) + 125;
+ }
+// for(int i=0; i<4; i++) pc.printf("%4d",stick[i]);
+ /*トリガースイッチ*/
+ for(int i = 0; i < 2; i++) {
+ trigger[i] = ps3.getTrigger(i);
+// pc.printf("%4d",trigger[i]);
+ }
+ if (b[4]) {
+ value[0] = 0.3;
+ } else if (b[5]) {
+ value[0] = -0.3;
+ } else {
+ value[0] = 0;
+ }
+ if (b[0]) {
+ value[1] = 0.6;
+ } else if (b[1]) {
+ value[1] = -0.7;
+ } else {
+ value[1] = 0;
+ }
+ motor[0].setSpeed(value[0]);
+ motor[1].setSpeed(value[1])*(10.0/7.0);//このモーターだけ遅いのではやくしている
+ motor[2].setSpeed(value[1]);
+ //pc.printf("\r\n");
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 7f57e6c08ff7 mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Mon Sep 02 01:49:00 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#a8e5a4cb0f4facb615c32306d9b509aec07a0b5a
diff -r 000000000000 -r 7f57e6c08ff7 pinconfig_main.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pinconfig_main.h Mon Sep 02 01:49:00 2019 +0000 @@ -0,0 +1,36 @@ +#ifndef PINCONFIG_H +#define PINCONFIG_H +const PinName switchTX = PA_9; +const PinName switchRX = PB_7; +const PinName schmitt_trigger_0 = PB_5; +const PinName schmitt_trigger_1 = PB_4; +const PinName schmitt_trigger_2 = PB_10; +const PinName schmitt_trigger_3 = PB_8; +const PinName schmitt_trigger_4 = PB_9; +const PinName schmitt_trigger_5 = PA_6; +const PinName schmitt_trigger_6 = PA_4; +const PinName schmitt_trigger_7 = PB_0; +const PinName schmitt_trigger_8 = PC_1 +; +const PinName schmitt_trigger_9 = PB_12; +const PinName schmitt_trigger_10 = PA_11; +const PinName schmitt_trigger_11 = PB_6; +const PinName schmitt_trigger_12 = PC_3; +const PinName schmitt_trigger_13 = PC_2; +const PinName schmitt_trigger_14 = PC_0; +const PinName mdTX = PC_10; +const PinName mdRX = PC_11; +const PinName solenoid_0 = PB_2; +const PinName solenoid_1 = PB_8; +const PinName solenoid_2 = PC_8; +const PinName solenoid_3 = PA_7; +const PinName solenoid_4 = PC_5; +const PinName solenoid_5 = PA_12; +const PinName FEPTX = PA_0; +const PinName FEPRX = PA_1; +const PinName main_0TX = PC_6; +const PinName main_0RX = PC_7; +const PinName main_1TX = PC_12; +const PinName main_1RX = PD_2; +const PinName Esbutton = PB_1; +#endif \ No newline at end of file