yuto kawamura / Mbed 2 deprecated cat18_operate_last

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Dependencies:   interface mbed enc_1multi calPID motorout KondoServoLibrary

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hand/hand.cpp@2:4515e8cc6b60, 2018-08-05 (annotated)

Committer:
shimizuta
Date:
Sun Aug 05 03:32:55 2018 +0000
Revision:
2:4515e8cc6b60
Parent:
1:cc056c41ae30 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 1:cc056c41ae30 1 #include "hand.h"
shimizuta 0:c3a72fe24137 2 #include <mbed.h>
shimizuta 0:c3a72fe24137 3 #include "debug.h"//DEBUG("",変数);でデバッグ。
shimizuta 0:c3a72fe24137 4 #include "pinnames.h"
shimizuta 2:4515e8cc6b60 5 #include "KondoServo.h"
shimizuta 2:4515e8cc6b60 6 KondoServo servo1(pin_serial_servo_tx, pin_serial_servo_rx);//サーボID:0,1,2
shimizuta 0:c3a72fe24137 7
shimizuta 2:4515e8cc6b60 8 void Open();
shimizuta 2:4515e8cc6b60 9 void FORWARD();
shimizuta 2:4515e8cc6b60 10 void REVERSE();
shimizuta 2:4515e8cc6b60 11
shimizuta 2:4515e8cc6b60 12 int HandSet(WorkState &params)
shimizuta 1:cc056c41ae30 13 {
shimizuta 2:4515e8cc6b60 14 switch(params.areaname) {
shimizuta 2:4515e8cc6b60 15 case COMMONAREA:
shimizuta 2:4515e8cc6b60 16 Open();
shimizuta 2:4515e8cc6b60 17 FORWARD();
shimizuta 2:4515e8cc6b60 18 break;
shimizuta 2:4515e8cc6b60 19 case WORKAREA:
shimizuta 2:4515e8cc6b60 20 Open();
shimizuta 2:4515e8cc6b60 21 switch(params.color) {
shimizuta 2:4515e8cc6b60 22 case RED:
shimizuta 2:4515e8cc6b60 23 FORWARD();
shimizuta 2:4515e8cc6b60 24 break;
shimizuta 2:4515e8cc6b60 25 case YELLOW:
shimizuta 2:4515e8cc6b60 26 REVERSE();
shimizuta 2:4515e8cc6b60 27 break;
shimizuta 2:4515e8cc6b60 28 }
shimizuta 2:4515e8cc6b60 29 //少し下へ降りる
shimizuta 2:4515e8cc6b60 30 break;
shimizuta 2:4515e8cc6b60 31 case BOX:
shimizuta 2:4515e8cc6b60 32 FORWARD();
shimizuta 2:4515e8cc6b60 33 break;
shimizuta 2:4515e8cc6b60 34 }
shimizuta 2:4515e8cc6b60 35 return 1;
shimizuta 2:4515e8cc6b60 36 }
shimizuta 2:4515e8cc6b60 37
shimizuta 2:4515e8cc6b60 38
shimizuta 2:4515e8cc6b60 39
shimizuta 2:4515e8cc6b60 40 void Close()
shimizuta 2:4515e8cc6b60 41 {
shimizuta 2:4515e8cc6b60 42 servo1.set_degree(1,135.43875);
shimizuta 2:4515e8cc6b60 43 }
shimizuta 2:4515e8cc6b60 44 void ArmHorizon()
shimizuta 2:4515e8cc6b60 45 {
shimizuta 2:4515e8cc6b60 46 servo1.set_degree(3,172.125);
shimizuta 2:4515e8cc6b60 47 armstate = HORIZON;
shimizuta 1:cc056c41ae30 48 };
shimizuta 2:4515e8cc6b60 49 void ArmVertical()
shimizuta 2:4515e8cc6b60 50 {
shimizuta 2:4515e8cc6b60 51 servo1.set_degree(3,262.125);
shimizuta 2:4515e8cc6b60 52 armstate = VERTICAL;
shimizuta 1:cc056c41ae30 53 };
shimizuta 0:c3a72fe24137 54
shimizuta 2:4515e8cc6b60 55 void Open()
shimizuta 2:4515e8cc6b60 56 {
shimizuta 2:4515e8cc6b60 57 servo1.set_degree(1,182.7225);
shimizuta 2:4515e8cc6b60 58 }
shimizuta 2:4515e8cc6b60 59
shimizuta 2:4515e8cc6b60 60 void FORWARD()
shimizuta 2:4515e8cc6b60 61 {
shimizuta 2:4515e8cc6b60 62 servo1.set_degree(2,13.5); //手先を正方向に回転
shimizuta 2:4515e8cc6b60 63 }
shimizuta 2:4515e8cc6b60 64 void REVERSE()
shimizuta 2:4515e8cc6b60 65 {
shimizuta 2:4515e8cc6b60 66 servo1.set_degree(2,193.5); //手先を逆方向に回転
shimizuta 2:4515e8cc6b60 67 }