Bチーム / Mbed 2 deprecated Head_furseal

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Dependencies:   Servo mbed

main.cpp@0:9fd6d1f552df, 2014-10-11 (annotated)

Committer:
shiyuu
Date:
Sat Oct 11 04:09:08 2014 +0000
Revision:
0:9fd6d1f552df
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
shiyuu 0:9fd6d1f552df 1 #include "mbed.h"
shiyuu 0:9fd6d1f552df 2 #include "Servo.h"
shiyuu 0:9fd6d1f552df 3
shiyuu 0:9fd6d1f552df 4 Servo Head(p22);
shiyuu 0:9fd6d1f552df 5 Servo Ball(p23);
shiyuu 0:9fd6d1f552df 6
shiyuu 0:9fd6d1f552df 7 Serial TMsan(p9,p10);
shiyuu 0:9fd6d1f552df 8 //Serial pc(USBTX,USBRX);
shiyuu 0:9fd6d1f552df 9
shiyuu 0:9fd6d1f552df 10 int main() {
shiyuu 0:9fd6d1f552df 11
shiyuu 0:9fd6d1f552df 12 /* 宣言 */
shiyuu 0:9fd6d1f552df 13 int i,kk,redata =0; //主に使うカウンターと、首カックンチョ・カウンター,高松さんレシーブ用
shiyuu 0:9fd6d1f552df 14
shiyuu 0:9fd6d1f552df 15 /* データ来るまで出れまテン */
shiyuu 0:9fd6d1f552df 16 while(1){
shiyuu 0:9fd6d1f552df 17 redata=TMsan.getc(); //高松さんからのデータを受信
shiyuu 0:9fd6d1f552df 18 if(redata!=0){
shiyuu 0:9fd6d1f552df 19 break;
shiyuu 0:9fd6d1f552df 20 }
shiyuu 0:9fd6d1f552df 21 }
shiyuu 0:9fd6d1f552df 22
shiyuu 0:9fd6d1f552df 23 Ball.calibrate(0.0021,45.0);//ぶっ壊れサーボを回し続ける
shiyuu 0:9fd6d1f552df 24 Ball=1.0;
shiyuu 0:9fd6d1f552df 25
shiyuu 0:9fd6d1f552df 26 Head.position(0.3);
shiyuu 0:9fd6d1f552df 27 Head.calibrate(0.0004,40.0);//正常なほうのサーボ (範囲,角度)
shiyuu 0:9fd6d1f552df 28
shiyuu 0:9fd6d1f552df 29 while(1) {
shiyuu 0:9fd6d1f552df 30
shiyuu 0:9fd6d1f552df 31 for(i=0;i<100;i++){
shiyuu 0:9fd6d1f552df 32 Head=i/100.0;
shiyuu 0:9fd6d1f552df 33 wait(0.01);
shiyuu 0:9fd6d1f552df 34 }
shiyuu 0:9fd6d1f552df 35
shiyuu 0:9fd6d1f552df 36 for(kk=1;kk<=2;kk++){ //首をカックンチョするためのやつ
shiyuu 0:9fd6d1f552df 37
shiyuu 0:9fd6d1f552df 38 for(i=100;i>80;i--){
shiyuu 0:9fd6d1f552df 39 Head=i/100.0; // --- 往路 ---
shiyuu 0:9fd6d1f552df 40 wait(0.01);
shiyuu 0:9fd6d1f552df 41 }
shiyuu 0:9fd6d1f552df 42
shiyuu 0:9fd6d1f552df 43 //wait (0.5);
shiyuu 0:9fd6d1f552df 44
shiyuu 0:9fd6d1f552df 45 for(i=80;i<100;i++){ // --- 復路 ---
shiyuu 0:9fd6d1f552df 46 Head=i/100.0;
shiyuu 0:9fd6d1f552df 47 wait(0.01);
shiyuu 0:9fd6d1f552df 48 }
shiyuu 0:9fd6d1f552df 49
shiyuu 0:9fd6d1f552df 50 } //カックンチョend
shiyuu 0:9fd6d1f552df 51
shiyuu 0:9fd6d1f552df 52 for(i=100;i>0;i--){
shiyuu 0:9fd6d1f552df 53 Head=i/100.0;
shiyuu 0:9fd6d1f552df 54 wait(0.01);
shiyuu 0:9fd6d1f552df 55 }
shiyuu 0:9fd6d1f552df 56
shiyuu 0:9fd6d1f552df 57
shiyuu 0:9fd6d1f552df 58 }//while
shiyuu 0:9fd6d1f552df 59 }//main