yusei sugimoeo / Mbed OS controllerForMbed_test_Re

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Files at this revision

API Documentation at this revision

Revision 3:59ace4ccc91d, committed 2022-09-12

Comitter:
phianel
Date:
Mon Sep 12 08:55:17 2022 +0000
Parent:
2:507b31207449
Child:
4:d91aa84213fd
Commit message:
air

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Sep 06 06:07:56 2022 +0000
+++ b/main.cpp	Mon Sep 12 08:55:17 2022 +0000
@@ -5,6 +5,12 @@
 #define INT_TIME 0.001
 #define INT_TIME_MS INT_TIME*1000
 
+PwmOut lfP(p21);//左前　出力
+PwmOut rfP(p22);//右前　出力
+PwmOut lbP(p23);//左後　出力
+PwmOut rbP(p24);//右後　出力
+DigitalOut air(p25);//エアシリンダーのつもり
+
 Serial pc(USBTX, USBRX,115200);
 Controller con(p9,p10,115200); //TXpin, RXpin, baudrateを設定
 //Controller con(p13,p14,115200); //TXpin, RXpin, baudrateを設定
@@ -51,17 +57,44 @@
             if(con.available())
             {
                 int buttonState = con.getButtonState();
-                uint8_t joyRx = con.readJoyRXbyte();
                 uint8_t joyRy = con.readJoyRYbyte();
                 uint8_t joyLx = con.readJoyLXbyte();
                 uint8_t joyLy = con.readJoyLYbyte();
                 
                 pc.printf("%u\t", buttonState);
-                pc.printf("%u\t", joyRx);
                 pc.printf("%u\t", joyRy);
                 pc.printf("%u\t", joyLx);
-                pc.printf("%u\r\n", joyLy);
+                pc.printf("%u\r", joyLy);
+                
+                switch(buttonState)
+                {
+                    case 8:
+                        air.write(1);
+                        break;
+                    default:
+                        air.write(0);
+                        break;
+                }
                 
+                double LF=0;
+                double RF=0;
+                double LB=0;
+                double RB=0;
+                
+                LF=joyLx-joyLy-joyRy+128;//上と左が正　下と右が負 Yがスティック左右方向　Xがスティック上下方向
+                RF=-joyLx-joyLy-joyRy+384;
+                LB=joyLx+joyLy-joyRy-128;
+                RB=-joyLx+joyLy-joyRy+128;
+                
+                lfP.write(LF);
+                rfP.write(RF);
+                lbP.write(LB);
+                rbP.write(RB);
+                
+                pc.printf("%lf\t", LF);
+                pc.printf("%lf\t", RF);
+                pc.printf("%lf\t", LB);
+                pc.printf("%lf\r\n", RB);
                 //led_red.write(1);
                 //pin_emergency.write(1); //非常停止を解除する
             }