Umemura Runa / Mbed 2 deprecated minirobo_honban

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Dependencies:   mbed

main.cpp@0:fabee0295f0e, 2020-10-09 (annotated)

Committer:
rumemura
Date:
Fri Oct 09 16:02:19 2020 +0000
Revision:
0:fabee0295f0e
ume_

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rumemura 0:fabee0295f0e 1 #include "mbed.h"
rumemura 0:fabee0295f0e 2 #include "string"
rumemura 0:fabee0295f0e 3
rumemura 0:fabee0295f0e 4 RawSerial con(p28,p27,115200);
rumemura 0:fabee0295f0e 5 RawSerial saber1(p13,p14,115200);
rumemura 0:fabee0295f0e 6 RawSerial pc (USBTX,USBRX,115200);
rumemura 0:fabee0295f0e 7 Ticker tras;
rumemura 0:fabee0295f0e 8 string tras_str = "";
rumemura 0:fabee0295f0e 9 string USBtx_str = "";
rumemura 0:fabee0295f0e 10
rumemura 0:fabee0295f0e 11 DigitalOut Ben1(p23); // 電磁弁
rumemura 0:fabee0295f0e 12 DigitalOut Ben2(p24); //電磁弁
rumemura 0:fabee0295f0e 13 DigitalOut LSwitch(p26); //リミットスイッチ
rumemura 0:fabee0295f0e 14 DigitalIn DS1(p28); //モーター
rumemura 0:fabee0295f0e 15 DigitalIn DS2(p27); //モーター
rumemura 0:fabee0295f0e 16 DigitalOut ledG(p17); //LEDgreen
rumemura 0:fabee0295f0e 17 DigitalOut ledR(p20); //LEDred
rumemura 0:fabee0295f0e 18 Ticker timer;
rumemura 0:fabee0295f0e 19
rumemura 0:fabee0295f0e 20 int speed;
rumemura 0:fabee0295f0e 21 int muki;
rumemura 0:fabee0295f0e 22
rumemura 0:fabee0295f0e 23 char button;
rumemura 0:fabee0295f0e 24 void atras()
rumemura 0:fabee0295f0e 25 {
rumemura 0:fabee0295f0e 26 char con_c = con.getc();
rumemura 0:fabee0295f0e 27 tras_str += con_c;
rumemura 0:fabee0295f0e 28 if(con_c == '\n') {
rumemura 0:fabee0295f0e 29 USBtx_str = tras_str;
rumemura 0:fabee0295f0e 30 button = tras_str[0];
rumemura 0:fabee0295f0e 31 tras_str = "";
rumemura 0:fabee0295f0e 32 }
rumemura 0:fabee0295f0e 33 }
rumemura 0:fabee0295f0e 34 void aUSBtx()
rumemura 0:fabee0295f0e 35 {
rumemura 0:fabee0295f0e 36 //con.printf("LPCtras41\n");
rumemura 0:fabee0295f0e 37 //pc.printf(USBtx_str.c_str());
rumemura 0:fabee0295f0e 38 pc.printf("%d\n",int(button));
rumemura 0:fabee0295f0e 39
rumemura 0:fabee0295f0e 40 }
rumemura 0:fabee0295f0e 41 int main()
rumemura 0:fabee0295f0e 42 {
rumemura 0:fabee0295f0e 43 tras.attach(&aUSBtx,0.5);
rumemura 0:fabee0295f0e 44
rumemura 0:fabee0295f0e 45 con.attach(&atras,RawSerial::RxIrq);
rumemura 0:fabee0295f0e 46 while(1) {
rumemura 0:fabee0295f0e 47 if(button == 1) {
rumemura 0:fabee0295f0e 48 muki = 1;
rumemura 0:fabee0295f0e 49 speed = 100;
rumemura 0:fabee0295f0e 50
rumemura 0:fabee0295f0e 51 saber1.putc(132);
rumemura 0:fabee0295f0e 52 saber1.putc(muki);
rumemura 0:fabee0295f0e 53 saber1.putc(speed);
rumemura 0:fabee0295f0e 54 saber1.putc( ( 132 + muki + speed ) & 127 );
rumemura 0:fabee0295f0e 55 }
rumemura 0:fabee0295f0e 56 if(button == 2) {
rumemura 0:fabee0295f0e 57 muki = 0;
rumemura 0:fabee0295f0e 58 speed = 100;
rumemura 0:fabee0295f0e 59
rumemura 0:fabee0295f0e 60 saber1.putc(132);
rumemura 0:fabee0295f0e 61 saber1.putc(muki);
rumemura 0:fabee0295f0e 62 saber1.putc(speed);
rumemura 0:fabee0295f0e 63 saber1.putc( ( 132 + muki + speed ) & 127 );
rumemura 0:fabee0295f0e 64 }
rumemura 0:fabee0295f0e 65 }
rumemura 0:fabee0295f0e 66 if(button == 8) {
rumemura 0:fabee0295f0e 67 pc.printf("8!!!!!!!!!!!");
rumemura 0:fabee0295f0e 68 }
rumemura 0:fabee0295f0e 69
rumemura 0:fabee0295f0e 70
rumemura 0:fabee0295f0e 71 if(button == 4) {
rumemura 0:fabee0295f0e 72 Ben1 = 1;
rumemura 0:fabee0295f0e 73 ledR = 1;
rumemura 0:fabee0295f0e 74 wait(0.1);
rumemura 0:fabee0295f0e 75 pc.printf("4!!!!!!!!!!!");
rumemura 0:fabee0295f0e 76 }
rumemura 0:fabee0295f0e 77
rumemura 0:fabee0295f0e 78
rumemura 0:fabee0295f0e 79 if(button == 16) {
rumemura 0:fabee0295f0e 80 Ben2 = 1;
rumemura 0:fabee0295f0e 81 ledG = 1;
rumemura 0:fabee0295f0e 82 wait(0.1);
rumemura 0:fabee0295f0e 83 pc.printf("16!!!!!!!!!!!");
rumemura 0:fabee0295f0e 84 }
rumemura 0:fabee0295f0e 85 }
rumemura 0:fabee0295f0e 86