mbedを用いた制御学生の制御 / Mbed 2 deprecated Boku-Transmit

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Dependencies:   ACM1602NI mbed

main.cpp@1:6ba905bf8eb1, 2015-09-30 (annotated)

Committer:
WAT34
Date:
Wed Sep 30 07:37:28 2015 +0000
Revision:
1:6ba905bf8eb1
Parent:
0:bbaf8033ed44 
bugs were fixed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eil4nyqn 0:bbaf8033ed44 1 #include "mbed.h"
eil4nyqn 0:bbaf8033ed44 2 #include "ACM1602NI.h"
WAT34 1:6ba905bf8eb1 3 BusIn sw(p22,p29,p21,p10,p23,p12,p24,p22);
eil4nyqn 0:bbaf8033ed44 4 BusIn t(p9,p11);
eil4nyqn 0:bbaf8033ed44 5 BusIn ajust(p29,p30);
WAT34 1:6ba905bf8eb1 6 DigitalIn paul1(p5,PullUp);
WAT34 1:6ba905bf8eb1 7 DigitalIn paul2(p6,PullUp);
WAT34 1:6ba905bf8eb1 8 DigitalIn paul3(p7,PullUp);
WAT34 1:6ba905bf8eb1 9 DigitalIn paul4(p8,PullUp);
eil4nyqn 0:bbaf8033ed44 10 AnalogIn r(p17);
eil4nyqn 0:bbaf8033ed44 11 AnalogIn l(p15);
eil4nyqn 0:bbaf8033ed44 12 //BusOut led(LED1,LED2);
eil4nyqn 0:bbaf8033ed44 13 BusOut led(p25,p26);
eil4nyqn 0:bbaf8033ed44 14 Serial robo(p13,p14);
eil4nyqn 0:bbaf8033ed44 15 ACM1602NI lcd(p28,p27);
eil4nyqn 0:bbaf8033ed44 16 int main() {
eil4nyqn 0:bbaf8033ed44 17 char data,ro,lo;
eil4nyqn 0:bbaf8033ed44 18 int8_t tilt = 0,ajst = 0;
eil4nyqn 0:bbaf8033ed44 19 double dt,ra,la;
eil4nyqn 0:bbaf8033ed44 20 t.mode(PullUp);
eil4nyqn 0:bbaf8033ed44 21 sw.mode(PullUp);
eil4nyqn 0:bbaf8033ed44 22 ajust.mode(PullUp);
eil4nyqn 0:bbaf8033ed44 23 while(1) {
eil4nyqn 0:bbaf8033ed44 24 ra = r;
eil4nyqn 0:bbaf8033ed44 25 la = l;
eil4nyqn 0:bbaf8033ed44 26 ro = ((ra-0.20)/0.65)*254;
eil4nyqn 0:bbaf8033ed44 27 lo = ((la-0.14)/0.68)*254;
eil4nyqn 0:bbaf8033ed44 28 ajst = ajust;
eil4nyqn 0:bbaf8033ed44 29
eil4nyqn 0:bbaf8033ed44 30 if(t == 2){
eil4nyqn 0:bbaf8033ed44 31 dt = dt+0.02;
eil4nyqn 0:bbaf8033ed44 32 led = 1;
eil4nyqn 0:bbaf8033ed44 33 }
eil4nyqn 0:bbaf8033ed44 34 if(t == 1){
eil4nyqn 0:bbaf8033ed44 35 dt = dt-0.02;
eil4nyqn 0:bbaf8033ed44 36 led = 2;
eil4nyqn 0:bbaf8033ed44 37 }
WAT34 1:6ba905bf8eb1 38 if (paul1 == 0){
eil4nyqn 0:bbaf8033ed44 39 dt = 10;
eil4nyqn 0:bbaf8033ed44 40 }
eil4nyqn 0:bbaf8033ed44 41 if (paul2 == 0){
eil4nyqn 0:bbaf8033ed44 42 dt = 20;
eil4nyqn 0:bbaf8033ed44 43 }
eil4nyqn 0:bbaf8033ed44 44 if (paul3 == 0){
eil4nyqn 0:bbaf8033ed44 45 dt = -10;
eil4nyqn 0:bbaf8033ed44 46 }
eil4nyqn 0:bbaf8033ed44 47 if (paul4 == 0){
eil4nyqn 0:bbaf8033ed44 48 dt = -20;
WAT34 1:6ba905bf8eb1 49 }
eil4nyqn 0:bbaf8033ed44 50 tilt = dt;
eil4nyqn 0:bbaf8033ed44 51 data = sw;
eil4nyqn 0:bbaf8033ed44 52 robo.putc(255);
eil4nyqn 0:bbaf8033ed44 53 robo.putc(~data);
eil4nyqn 0:bbaf8033ed44 54 robo.putc(tilt);
eil4nyqn 0:bbaf8033ed44 55 robo.putc(ro);
eil4nyqn 0:bbaf8033ed44 56 robo.putc(lo);
eil4nyqn 0:bbaf8033ed44 57 robo.putc(ajst);
eil4nyqn 0:bbaf8033ed44 58 robo.putc(~data^tilt^ro^lo);
eil4nyqn 0:bbaf8033ed44 59 //printf("%d\n\r",~data);
eil4nyqn 0:bbaf8033ed44 60 //printf("%lf--%lf\n\r",ra,la);
eil4nyqn 0:bbaf8033ed44 61 printf("%d---%d\n\r",ro,lo);
WAT34 1:6ba905bf8eb1 62 lcd.printf("tilt :%3d\n",tilt);
WAT34 1:6ba905bf8eb1 63 //lcd.printf("tilt :%d\n",tilt);
WAT34 1:6ba905bf8eb1 64 lcd.locate(0,0);
eil4nyqn 0:bbaf8033ed44 65 }
eil4nyqn 0:bbaf8033ed44 66 }