test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: servo_and_movefunc.cpp
- Revision:
- 50:36741e8ab197
- Parent:
- 43:2ed84f3558c1
--- a/servo_and_movefunc.cpp Mon Mar 11 06:36:56 2019 +0000 +++ b/servo_and_movefunc.cpp Mon Mar 11 10:38:07 2019 +0000 @@ -6,6 +6,7 @@ #include "KondoServo.h" #include "pinnames.h" #include "can.h" +#include "hcsr04.h" #define USE_CAN //can通信するならdefine.しないなら切らないとエラー出る #endif FILE *fp; @@ -33,6 +34,7 @@ KondoServo(pin_serial_servo_tx[1], pin_serial_servo_rx[1]), }; DigitalOut led[4] = {DigitalOut(LED1), DigitalOut(LED2), DigitalOut(LED3), DigitalOut(LED4)}; +HCSR04 usensor(p25, p24); // Trigger(DO), Echo(PWMIN) #endif //一サイクル分進む.return 1:異常終了 int MoveOneCycle(Walk walkway, OneLeg leg[4]) @@ -114,3 +116,8 @@ fprintf(fp, "time[s],x[0],y[0],x[1],y[1],x[2],y[2],x[3],y[3]\r\n"); return 0; } +unsigned int GetDist_cm() +{ + usensor.start(); + return usensor.get_dist_cm(); +} \ No newline at end of file