Diff: main.cpp

Revision:

0:9aec4ef78a5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jun 01 03:06:00 2019 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+/*
+DigitalIn l1(PA_7,PullUp);
+DigitalIn l2(PA_6,PullUp);
+DigitalIn r1(PF_1,PullUp);
+DigitalIn r2(PA_0,PullUp);
+DigitalIn s1(PA_4,PullUp);
+DigitalIn s2(PA_1,PullUp);
+DigitalIn horyuu(PA_3,PullUp);
+*/
+
+PwmOut left1(PA_12);
+PwmOut left2(PB_0);
+PwmOut right1(PA_8);
+PwmOut right2(PF_0);
+/*
+PwmOut servo1(PA_11);
+PwmOut servo2(PB_5);
+*/
+float max=0.7;
+
+int main()
+{
+    while(1) {
+
+        right1=0.6;
+        right2=0;
+        left1=0.6;
+        left2=0;
+    
+        /*if(l1.read()==0){
+            wait(0.05);
+            if(l1.read()==0){
+            left1=max;
+            left2=0;
+            }
+        }
+        if(l2.read()==0){
+            wait(0.05);
+            if(l2.read()==0){
+            left1=0;
+            left2=max;
+            }
+        }
+        if(r1.read()==0){
+            wait(0.05);
+            if(r1.read()==0){
+            right1=max;
+            right2=0;
+            }
+        }
+        if(r2.read()==0){
+            wait(0.05);
+            if(r2.read()==0){
+            right1=0;
+            right2=max;
+            }
+        }
+
+        int count1=0;
+        int old1=1;
+        int now1=1;
+
+        if(s1.read()==0){
+            old1=now1;
+            now1=s1.read();
+            if(now1 == 0 && old1 == 1) {
+                wait(0.05);
+                now1 = s1.read();
+                if(now1 == 0){
+                    count1++;
+                    }
+            }
+            if(count1 == 1){
+                    servo1.pulsewidth_us(500);
+                }else{
+                    servo1.pulsewidth_us(2400);
+                    count1=0;
+                    }
+         }
+
+         int count2=0;
+         int old2=1;
+         int now2=1;
+
+        if(s2.read()==0){
+            old2=now2;
+            now2=s2.read();
+            if(now2 == 0 && old2 == 1) {
+                wait(0.05);
+                now2 = s2.read();
+                if(now2 == 0){
+                    count2++;
+                    }
+                }
+                if(count2 == 1){
+                        servo2.pulsewidth_us(500);
+                    }else{
+                        servo2.pulsewidth_us(2400);
+                        count2=0;
+                        }
+                }
+
+            printf("motor=%f,%f,%f,%f\r\n",left1.read(),left2.read(),right1.read(),right2.read());
+        */
+    }
+}
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