int main(void)
{
Led0 led0;led0.setupDigitalOut();
Led1 led1;led1.setupDigitalOut();
Led2 led2;led2.setupDigitalOut();
Led3 led3;led3.setupDigitalOut();
Buzzer buzzer;buzzer.setupDigitalOut();
Sw0 sw0;sw0.setupDigitalIn();
Sw1 sw1;sw1.setupDigitalIn();
Sw2 sw2;sw2.setupDigitalIn();
Sw3 sw3;sw3.setupDigitalIn();
A0 a0;//a0.setupAnalogIn();
A1 a1;a1.setupAnalogIn();
A2 a2;//a2.setupAnalogIn();
A3 a3;//a3.setupAnalogIn();
A4 a4;a4.setupAnalogIn();
/*Init_ADC1(GPIOC,GPIO_Pin_1);
Init_ADC1(GPIOC,GPIO_Pin_2);//2
Init_ADC1(GPIOC,GPIO_Pin_3);
Init_ADC1(GPIOC,GPIO_Pin_4);//4
Init_ADC1(GPIOC,GPIO_Pin_5);*/
CW0 cw0;cw0.setupDigitalOut();
CW1 cw1;cw1.setupDigitalOut();
CW2 cw2;cw2.setupDigitalOut();
CW3 cw3;cw3.setupDigitalOut();
CW4 cw4;cw4.setupDigitalOut();
CW5 cw5;cw5.setupDigitalOut();
CCW0 ccw0;ccw0.setupDigitalOut();
CCW1 ccw1;ccw1.setupDigitalOut();
CCW2 ccw2;ccw2.setupDigitalOut();
CCW3 ccw3;ccw3.setupDigitalOut();
CCW4 ccw4;ccw4.setupDigitalOut();
CCW5 ccw5;ccw5.setupDigitalOut();
Pwm0 pwm0;pwm0.setupPwmOut(10000,1);
Pwm1 pwm1;pwm1.setupPwmOut(10000,1);
Pwm2 pwm2;pwm2.setupPwmOut(10000,1);
Pwm3 pwm3;pwm3.setupPwmOut(10000,1);
Pwm4 pwm4;pwm4.setupPwmOut(10000,1);
Pwm5 pwm5;pwm5.setupPwmOut(10000,1);
Enc0 enc0;enc0.setup();
Enc1 enc1;enc1.setup();
Enc2 enc2;enc2.setup();
Serial0 serial0;
serial0.setup(115200);
//Blink blink(cw0);blink.setup();
//blink.time(500);
Blink blink0(led0);blink0.setup();blink0.time(150);
Blink blink1(led1);blink1.setup();blink1.time(300);
Blink blink2(led2);blink2.setup();blink2.time(450);
Blink blink3(led3);blink3.setup();blink3.time(600);
//Blink blink4(a4);blink4.setup();blink4.time(2000);
float duty=0;
int flag=0;
int time=0;
int led=0;
while(1){
blink0.cycle();
blink1.cycle();
blink2.cycle();
blink3.cycle();
//blink4.cycle();
if(millis()-time>=60){
time=millis();
/*if(flag==0){
if(duty>=1){
flag=1;
}
duty+=0.1;
}else{
if(duty<0){
flag=0;
}
duty-=0.1;
}
pwm0.pwmWrite(duty);
pwm1.pwmWrite(duty);
pwm2.pwmWrite(duty);
pwm3.pwmWrite(duty);
pwm4.pwmWrite(duty);
pwm5.pwmWrite(duty);*/
if(!sw0.digitalRead()) Reset_encoder_over_under_flow();
/*serial0.printf("a0:%d, ",a0.analogRead());
serial0.printf("a1:%d, ",a1.analogRead());
serial0.printf("a2:%d, ",a2.analogRead());
serial0.printf("a3:%d, ",a3.analogRead());
serial0.printf("a4:%d\n",a4.analogRead());*/
serial0.printf("a0:%.2f",get_ADC1_value(GPIOC,GPIO_Pin_5));
serial0.printf("a1:%.2f",get_ADC1_value(GPIOC,GPIO_Pin_1));
serial0.printf("a2:%.2f",get_ADC1_value(GPIOC,GPIO_Pin_2));
serial0.printf("a3:%.2f",get_ADC1_value(GPIOC,GPIO_Pin_3));
serial0.printf("a4:%.2f\n",get_ADC1_value(GPIOC,GPIO_Pin_4));
//serial0.printf("s0:%d, s1:%d, s2:%d, s3:%d ",sw0.digitalRead(),sw1.digitalRead(),sw2.digitalRead(),sw3.digitalRead());
//serial0.printf("e0:%d, e1:%d, e2:%d\n\r",enc0.count(),enc1.count(),enc2.count());
}
/*if(millis()-led>=150){
led=millis();
cw0.digitalToggle();ccw0.digitalToggle();
cw1.digitalToggle();ccw1.digitalToggle();
cw2.digitalToggle();ccw2.digitalToggle();
cw3.digitalToggle();ccw3.digitalToggle();
cw4.digitalToggle();ccw4.digitalToggle();
cw5.digitalToggle();ccw5.digitalToggle();
}*/
}
return 0;
}
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;
}
