ibuki kaburagi
/
20190601
aaa
Revision 0:9aec4ef78a5a, committed 2019-06-01
- Comitter:
- turnip
- Date:
- Sat Jun 01 03:06:00 2019 +0000
- Commit message:
- a
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 9aec4ef78a5a main.cpp --- /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()); + */ + } +} \ No newline at end of file
diff -r 000000000000 -r 9aec4ef78a5a mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Jun 01 03:06:00 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file