kouhei umezawa
2022交流ロボコン用 バージョン2
Dependencies: mbed 2021Bcon ikarashiMDC_2byte_ver
Revision 0:ca9732a3ae5c, committed 2022-03-27
- Comitter:
- umekou
- Date:
- Sun Mar 27 02:33:51 2022 +0000
- Commit message:
- first commit;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/2021Bcon.lib Sun Mar 27 02:33:51 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/2021Bcon/#a8f5f13b0840
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ikarashiMDC_2byte_ver.lib Sun Mar 27 02:33:51 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/ikarashiMDC_2byte_ver/#97bb662f1e1f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Mar 27 02:33:51 2022 +0000
@@ -0,0 +1,92 @@
+#include "mbed.h"
+#include "ikarashiMDC.h"
+#include "controller.h"
+#include <math.h>
+
+DigitalOut stop(D13);
+Bcon mycon(PA_9,PA_10,004);//FEP004はコントローラーについてる方の番号
+Serial serial(PC_10,PC_11,115200);
+Serial pc(USBTX,USBRX,115200);
+
+ikarashiMDC motor[] = {
+ ikarashiMDC(0,0,SM,&serial),
+ ikarashiMDC(0,1,SM,&serial),
+ ikarashiMDC(0,2,SM,&serial),
+ ikarashiMDC(0,3,SM,&serial),
+ ikarashiMDC(1,0,SM,&serial),
+ ikarashiMDC(1,1,SM,&serial),
+ ikarashiMDC(1,2,SM,&serial)
+ //ikarashiMDC(1,3,SM,&serial)
+};
+
+
+int main()
+{
+ mycon.StartReceive();
+ stop=1;
+ uint8_t b[8];//ボタン b[0]~b[7]の順に 左 黄色 青 赤 緑 右 赤 青 黄色 緑
+ int16_t stick[4];//スティック
+ double speed[7] = {0,0,0,0,0,0,0};//モータースピード
+ double x,y;
+ int i;
+ while(1) {
+ for (i=0; i<8; i++) b[i] = mycon.getButton(i);
+ for (i=0; i<4; i++) stick[i] = mycon.getStick(i);
+ x=stick[0];
+ y=stick[1];
+ if(x>20||x<-20||y>20||y<-20){
+ for(i=0; i < 4; i++){
+ speed[i] = sin(atan2(y,x)-3.14*(i*2-1) / 4);
+ }
+ } else {
+ for(i=0; i < 4; i++){
+ speed[i] = 0;
+ }
+ }
+ //ここまでが全方位移動
+
+ if(b[0]){
+ speed[4] = 1.0;
+ }else if(b[1]){
+ speed[4] = -1.0;
+ }else{
+ speed[4] = 0.0;
+ }
+ //左 黄色と青
+
+ if(b[2]){
+ speed[5] = 1.0;
+ }else if(b[3]){
+ speed[5] = -1.0;
+ }else{
+ speed[5] = 0.0;
+ }
+ //左 赤と緑
+
+ if(b[4]){
+ speed[6] = 1.0;
+ }else if(b[5]){
+ speed[6] = -1.0;
+ }else{
+ speed[6] = 0.0;
+ }
+ //右 赤と青
+
+ for(i=0; i < 4; i++){
+ motor[i].setSpeed(speed[i]*0.5);
+ }//足回り
+ motor[4].setSpeed(speed[4]*0.3);
+ motor[5].setSpeed(speed[5]);
+ motor[6].setSpeed(speed[6]*0.5);
+ //モータースピードの上げ下げは*0.5を大きくしたり小さくしたりで調整
+
+ for (int i=0; i<8; i++) pc.printf("%d ", b[i]);
+ pc.printf(" | ");
+ for (int i=0; i<4; i++) pc.printf("%3d ", stick[i]);
+ pc.printf(" | ");
+ if (mycon.status) pc.printf("received\r\n");
+ else pc.printf("anything error...\r\n");
+ //コントローラーの状態を表示
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Mar 27 02:33:51 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file