int main(void) { Can0 can; can.setup(); Buzzer buzzer; Led0 led0; Led1 led1; Led2 led2; Led3 led3; A1 limBack; A3 limFlont; Serial1 serial1; led0.setupDigitalOut(); led1.setupDigitalOut(); led2.setupDigitalOut(); led3.setupDigitalOut(); buzzer.setupDigitalOut(); CanEncoder canEncoder0(can,0,5); CanEncoder canEncoder1(can,1,5); CanEncoder canEncoder2(can,2,5); canEncoder0.setup(); canEncoder1.setup(); canEncoder2.setup(); Motor motor; Connection control; Testmotor t; R1350n r1350n(serial1); r1350n.setup(); int timeLed=0; Position position(canEncoder0,canEncoder1,canEncoder2); buzzer.digitalHigh(); while(1){ if(control.dispose==0){ led0.digitalWrite(1); } else if(control.dispose==1){ led1.digitalWrite(1); } else if(control.dispose==2){ led2.digitalWrite(1); } if(control.member==1){ led3.digitalWrite(1); } else if(control.member==2){ if(millis()-timeLed>=500){ led3.digitalToggle(); timeLed=millis(); } } if(millis()-control.period>=cycle){ control.period=millis(); if(control.sw==0&&millis()-control.time>1000){ control.switch0(); } if(control.sw==1){ position.radian(r1350n.angle()); position.selfPosition(); control.xy(position.integralx,position.integraly); if(control.spinNumber[control.member][control.dispose][control.point]==1){ motor.motorControl(control.devietionX,control.devietionY); motor.degreeLock(position.rad); // motor.testmotor(); motor.last(); motor.dutyCleanUp(); if(control.point<5){ control.coordinatePoint(motor.distance); } } else if(control.spinNumber[control.member][control.dispose][control.point]==0){ motor.angle(position.degree,position.degree); control.spinControl(position.degree); } if(control.actionNumber[control.member][control.dispose][control.point]==1){ if(control.armpwm[control.member][control.dispose][control.point]!=0){ control.armTime(); } control.arm(); motor.armMotor(control.armpwmC,control.armcwC,control.armccwC); } control.indication(position.encf[0],position.encf[1],position.encf[2],position.degree,position.integralx,position.integraly,r1350n.angle()); } if(millis()-control.time>1000){ control.switch0(); } } } return 0; }