Revision 0:7867a12554f6, committed 2013-09-11

Comitter:

yusuke_robocup

Date:

Wed Sep 11 02:35:01 2013 +0000

Commit message:

hitotu_ver

Changed in this revision

diff -r 000000000000 -r 7867a12554f6 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 11 02:35:01 2013 +0000
@@ -0,0 +1,103 @@
+#include "mbed.h"
+
+#define PING_ERR    0xFFFF
+
+Timer timer1;
+Timer ping_t;
+DigitalOut myled(LED1);
+
+
+uint16_t readPing (void)
+{
+    
+    DigitalOut PingPinOut(p10);
+    PingPinOut = 1;
+    wait_us(10);
+    PingPinOut = 0;
+    DigitalIn PingPin(p10);
+    //PingPin.mode(PullUp);
+    timer1.reset();
+    while(PingPin == 0){
+        if(timer1.read_us() > 1000){   //1ms以上応答なし
+            //pc.printf("1ms\n");
+            return PING_ERR;
+        }
+    } 
+    timer1.reset();
+    while(PingPin == 1){
+        if(timer1.read_us() > 18500){  //18.5ms以上のパルス
+            //printf("18.5ms\n");
+            return PING_ERR;
+        }
+    } 
+    
+    return timer1.read_us() / 1000000.0 / 2.0 * 340.0 * 1000.0; //mm  MAX:3145;
+}
+/*
+int ulutrasonic_time(int data){
+    sum -= value[9];
+    sum += data;
+    value[9] = value[8];
+    value[8] = value[7];
+    value[7] = value[6];
+    value[6] = value[5];
+    value[5] = value[4];
+    value[4] = value[3];
+    value[3] = value[2];
+    value[2] = value[1];
+    value[1] = value[0];
+    value[0] = data;
+    
+    return sum/10;
+}*/
+
+int ping_button(int ping,int button){
+    static int continue_flag = 0;
+    static int change_flag = 0;
+
+    if(continue_flag == 0){
+        if(ping <= 700){
+            ping_t.start();
+            continue_flag = 1;
+        }
+    }    
+    
+    if(continue_flag == 1){
+        //agatterutoki
+        if(ping <= 700){
+            if(change_flag == 0){
+                if(ping_t.read_ms() >= 300){
+                    button = !button;
+                    change_flag = 1;
+                }
+            }
+        }
+        //tatisagari
+        if(ping >= 900){
+            ping_t.stop();
+            ping_t.reset();
+            continue_flag = 0;
+            change_flag = 0;
+        }       
+    }
+    return button;    
+}
+
+
+int main(void)
+{
+    timer1.start();
+    ping_t.start();
+    
+    int button;
+    
+    for(;;){
+        button = ping_button(readPing(),button);
+        
+        if(button){
+            myled = 1;
+        }else{
+            myled = 0;
+        }
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 7867a12554f6 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Sep 11 02:35:01 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/e3affc9e7238
\ No newline at end of file