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@0:bbaf8033ed44, 2015-09-28 (annotated)

Committer:
eil4nyqn
Date:
Mon Sep 28 05:36:49 2015 +0000
Revision:
0:bbaf8033ed44
Child:
1:6ba905bf8eb1
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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"
eil4nyqn 0:bbaf8033ed44 3 BusIn sw(p6,p8,p21,p10,p23,p12,p24,p22);
eil4nyqn 0:bbaf8033ed44 4 BusIn t(p9,p11);
eil4nyqn 0:bbaf8033ed44 5 BusIn ajust(p29,p30);
eil4nyqn 0:bbaf8033ed44 6 /*
eil4nyqn 0:bbaf8033ed44 7 DigitalIn paul1(p17,PullUp);
eil4nyqn 0:bbaf8033ed44 8 DigitalIn paul2(p18,PullUp);
eil4nyqn 0:bbaf8033ed44 9 DigitalIn paul3(p19,PullUp);
eil4nyqn 0:bbaf8033ed44 10 DigitalIn paul4(p20,PullUp);
eil4nyqn 0:bbaf8033ed44 11 */
eil4nyqn 0:bbaf8033ed44 12 AnalogIn r(p17);
eil4nyqn 0:bbaf8033ed44 13 AnalogIn l(p15);
eil4nyqn 0:bbaf8033ed44 14 //BusOut led(LED1,LED2);
eil4nyqn 0:bbaf8033ed44 15 BusOut led(p25,p26);
eil4nyqn 0:bbaf8033ed44 16 Serial robo(p13,p14);
eil4nyqn 0:bbaf8033ed44 17 ACM1602NI lcd(p28,p27);
eil4nyqn 0:bbaf8033ed44 18 int main() {
eil4nyqn 0:bbaf8033ed44 19 char data,ro,lo;
eil4nyqn 0:bbaf8033ed44 20 int8_t tilt = 0,ajst = 0;
eil4nyqn 0:bbaf8033ed44 21 double dt,ra,la;
eil4nyqn 0:bbaf8033ed44 22 t.mode(PullUp);
eil4nyqn 0:bbaf8033ed44 23 sw.mode(PullUp);
eil4nyqn 0:bbaf8033ed44 24 ajust.mode(PullUp);
eil4nyqn 0:bbaf8033ed44 25 while(1) {
eil4nyqn 0:bbaf8033ed44 26 ra = r;
eil4nyqn 0:bbaf8033ed44 27 la = l;
eil4nyqn 0:bbaf8033ed44 28 ro = ((ra-0.20)/0.65)*254;
eil4nyqn 0:bbaf8033ed44 29 lo = ((la-0.14)/0.68)*254;
eil4nyqn 0:bbaf8033ed44 30 ajst = ajust;
eil4nyqn 0:bbaf8033ed44 31
eil4nyqn 0:bbaf8033ed44 32 if(t == 2){
eil4nyqn 0:bbaf8033ed44 33 dt = dt+0.02;
eil4nyqn 0:bbaf8033ed44 34 led = 1;
eil4nyqn 0:bbaf8033ed44 35 }
eil4nyqn 0:bbaf8033ed44 36 if(t == 1){
eil4nyqn 0:bbaf8033ed44 37 dt = dt-0.02;
eil4nyqn 0:bbaf8033ed44 38 led = 2;
eil4nyqn 0:bbaf8033ed44 39 }
eil4nyqn 0:bbaf8033ed44 40 /*if (paul1 == 0){
eil4nyqn 0:bbaf8033ed44 41 dt = 10;
eil4nyqn 0:bbaf8033ed44 42 }
eil4nyqn 0:bbaf8033ed44 43 if (paul2 == 0){
eil4nyqn 0:bbaf8033ed44 44 dt = 20;
eil4nyqn 0:bbaf8033ed44 45 }
eil4nyqn 0:bbaf8033ed44 46 if (paul3 == 0){
eil4nyqn 0:bbaf8033ed44 47 dt = -10;
eil4nyqn 0:bbaf8033ed44 48 }
eil4nyqn 0:bbaf8033ed44 49 if (paul4 == 0){
eil4nyqn 0:bbaf8033ed44 50 dt = -20;
eil4nyqn 0:bbaf8033ed44 51 }*/
eil4nyqn 0:bbaf8033ed44 52 tilt = dt;
eil4nyqn 0:bbaf8033ed44 53 data = sw;
eil4nyqn 0:bbaf8033ed44 54 robo.putc(255);
eil4nyqn 0:bbaf8033ed44 55 robo.putc(~data);
eil4nyqn 0:bbaf8033ed44 56 robo.putc(tilt);
eil4nyqn 0:bbaf8033ed44 57 robo.putc(ro);
eil4nyqn 0:bbaf8033ed44 58 robo.putc(lo);
eil4nyqn 0:bbaf8033ed44 59 robo.putc(ajst);
eil4nyqn 0:bbaf8033ed44 60 robo.putc(~data^tilt^ro^lo);
eil4nyqn 0:bbaf8033ed44 61 //printf("%d\n\r",~data);
eil4nyqn 0:bbaf8033ed44 62 //printf("%lf--%lf\n\r",ra,la);
eil4nyqn 0:bbaf8033ed44 63 printf("%d---%d\n\r",ro,lo);
eil4nyqn 0:bbaf8033ed44 64 lcd.printf("tiltness :%d\n",tilt);
eil4nyqn 0:bbaf8033ed44 65 }
eil4nyqn 0:bbaf8033ed44 66 }