Takeuchi Kouichi
エレキジャックweb mbed入門 ジャイロとサーボを動かそう 課題3 予備課題です。
main.cpp@0:6ad4aadbee68, 2011-09-20 (annotated)
- Committer:
- takeuchi
- Date:
- Tue Sep 20 09:57:39 2011 +0000
- Revision:
- 0:6ad4aadbee68
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| takeuchi | 0:6ad4aadbee68 | 1 | //Gyro test03-00 |
| takeuchi | 0:6ad4aadbee68 | 2 | // Akidukidensi AE-GYRO-SMD |
| takeuchi | 0:6ad4aadbee68 | 3 | #include "mbed.h" |
| takeuchi | 0:6ad4aadbee68 | 4 | #include "TextLCD0420.h" |
| takeuchi | 0:6ad4aadbee68 | 5 | |
| takeuchi | 0:6ad4aadbee68 | 6 | #define ON 1 |
| takeuchi | 0:6ad4aadbee68 | 7 | #define OFF 0 |
| takeuchi | 0:6ad4aadbee68 | 8 | #define Gy1_offset 0.01 |
| takeuchi | 0:6ad4aadbee68 | 9 | |
| takeuchi | 0:6ad4aadbee68 | 10 | DigitalOut mled0(LED1); |
| takeuchi | 0:6ad4aadbee68 | 11 | DigitalOut mled1(LED2); |
| takeuchi | 0:6ad4aadbee68 | 12 | AnalogIn gy1_adc(p16); |
| takeuchi | 0:6ad4aadbee68 | 13 | AnalogIn gy2_adc(p17); |
| takeuchi | 0:6ad4aadbee68 | 14 | |
| takeuchi | 0:6ad4aadbee68 | 15 | TextLCD lcd(p24, p25, p26, p27, p28, p29, p30,20,4); // rs, rw, e, d0, d1, d2, d3 |
| takeuchi | 0:6ad4aadbee68 | 16 | |
| takeuchi | 0:6ad4aadbee68 | 17 | int main() { |
| takeuchi | 0:6ad4aadbee68 | 18 | float gy1_data; |
| takeuchi | 0:6ad4aadbee68 | 19 | float gy1_center; |
| takeuchi | 0:6ad4aadbee68 | 20 | float gy1_sgm=0; |
| takeuchi | 0:6ad4aadbee68 | 21 | float gy1_wk0=0,gy1_wk1=0; |
| takeuchi | 0:6ad4aadbee68 | 22 | int i; |
| takeuchi | 0:6ad4aadbee68 | 23 | |
| takeuchi | 0:6ad4aadbee68 | 24 | lcd.cls(); |
| takeuchi | 0:6ad4aadbee68 | 25 | lcd.locate(0,0); |
| takeuchi | 0:6ad4aadbee68 | 26 | lcd.printf("** Gyro test03-00 ***\n"); |
| takeuchi | 0:6ad4aadbee68 | 27 | |
| takeuchi | 0:6ad4aadbee68 | 28 | gy1_center=gy1_adc.read()*3.3; |
| takeuchi | 0:6ad4aadbee68 | 29 | |
| takeuchi | 0:6ad4aadbee68 | 30 | while(1){ |
| takeuchi | 0:6ad4aadbee68 | 31 | gy1_data=gy1_adc.read()*3.3; |
| takeuchi | 0:6ad4aadbee68 | 32 | wait(0.1); |
| takeuchi | 0:6ad4aadbee68 | 33 | |
| takeuchi | 0:6ad4aadbee68 | 34 | gy1_wk1=(gy1_data-gy1_center)*1000/6.7; |
| takeuchi | 0:6ad4aadbee68 | 35 | gy1_sgm=gy1_sgm+(gy1_wk0+gy1_wk1)*0.1/2; |
| takeuchi | 0:6ad4aadbee68 | 36 | gy1_wk0=gy1_wk1; |
| takeuchi | 0:6ad4aadbee68 | 37 | |
| takeuchi | 0:6ad4aadbee68 | 38 | if(gy1_sgm > 90){ |
| takeuchi | 0:6ad4aadbee68 | 39 | gy1_sgm=90; |
| takeuchi | 0:6ad4aadbee68 | 40 | } |
| takeuchi | 0:6ad4aadbee68 | 41 | if(gy1_sgm < -90){ |
| takeuchi | 0:6ad4aadbee68 | 42 | gy1_sgm=-90; |
| takeuchi | 0:6ad4aadbee68 | 43 | } |
| takeuchi | 0:6ad4aadbee68 | 44 | |
| takeuchi | 0:6ad4aadbee68 | 45 | lcd.locate(0,1); |
| takeuchi | 0:6ad4aadbee68 | 46 | lcd.printf("%3.4f %3.4f",gy1_center,gy1_data); |
| takeuchi | 0:6ad4aadbee68 | 47 | lcd.locate(0,2); |
| takeuchi | 0:6ad4aadbee68 | 48 | lcd.printf("Deg:%3.0f",gy1_sgm); |
| takeuchi | 0:6ad4aadbee68 | 49 | }//while |
| takeuchi | 0:6ad4aadbee68 | 50 | }//main |
| takeuchi | 0:6ad4aadbee68 | 51 |