main.cpp

00001 /* 
00002  * Copyright (c) 2012-2016 Sagawa Electronics,inc.
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020  * THE SOFTWARE.
00021  */
00022 
00023 #include "mbed.h"
00024 #include "TB6612.h"
00025 #include "SoftPWM.h"
00026 
00027 DigitalOut led1(P2_11);     // LDE1 setting.
00028 DigitalOut led2(P0_2);      // LDE2 setting.
00029 DigitalOut led3(P0_7);      // LDE3 setting.
00030 DigitalOut led4(P0_3);      // LDE4 setting.
00031 
00032 AnalogIn ad0(P0_11);        //AD0port setting.
00033 AnalogIn ad1(P1_0);         //AD1port setting.
00034 AnalogIn ad2(P1_1);         //AD2port setting.
00035 AnalogIn ad3(P1_2);         //AD3port setting.
00036 AnalogIn ad5(P1_4);         //AD5port setting.
00037 AnalogIn ad7(P1_11);        //AD7port setting.
00038 
00039 TB6612 motor1a(P2_7,P2_9,P2_8);  //TB6612 setting.
00040 TB6612 motor1b(P2_4,P2_6,P2_5);  //TB6612 setting.
00041 
00042 Serial pc(P1_7, P1_6);
00043 
00044 
00045 int main() {
00046     pc.baud(19200);
00047     
00048     led1 = 0;
00049     led2 = 0;
00050     led3 = 0;
00051     led4 = 0;
00052     motor1a = 0.0;
00053     motor1b = 0.0;
00054     
00055     while(1) {
00056         
00057         led1 = 1;         // LDE1 enable.
00058         motor1a = 0.2;    // Motor1A forward.
00059         wait(1.0);        //wait 1 second.
00060         led1 = 0;         // LDE1 disable.
00061         
00062         led2 = 1;         // LDE2 enable.
00063         motor1a = -0.2;   // Motor1A reversal.
00064         wait(1.0);        //wait 1 second.
00065         led2 = 0;         // LDE1 disable.
00066 
00067         motor1a = 0.0;    // Motor1A brake.
00068         
00069         led3 = 1;         // LDE3 enable.
00070         motor1b = 0.2;    // Motor1B forward.
00071         wait(1.0);        //wait 1 second.
00072         led3 = 0;         // LDE1 disable.
00073         
00074         led4 = 1;         // LDE4 enable.
00075         motor1b = -0.2;   // Motor1B reversal.
00076         wait(1.0);        //wait 1 second.
00077         led4 = 0;         // LDE1 disable.
00078         
00079         motor1b = 0.0;    // Motor1B brake.
00080         
00081         pc.printf("check_ok \r\n");
00082     }
00083 }