![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
main_processing/setup_command_active/setup.cpp
- Committer:
- lilac0112_1
- Date:
- 2016-01-21
- Revision:
- 19:342da3a5a474
- Child:
- 21:d69a8f3c76e1
File content as of revision 19:342da3a5a474:
#include "mbed.h" #include "extern.h" void SetUp(void){//電源を入れた時の処理 //int i=1; //gyro //Init(); //sw&lcd Sw[0].mode(PullUp); Sw[1].mode(PullUp); Sw[2].mode(PullUp); Sw[3].mode(PullUp); Sw_ticker.attach(Sw_sample, 0.02); //Sw_ticker.attach(Sw_sample, 0.005); //data.lcdpoint[0] = 0; Lcd.cls(); Lcd.print(lcdstr[0][0]); //ball BallChecker.mode(PullUp); //value data.strategy = 3; //spi //spi.format(16, 0); //spi.frequency(5000000); //spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1; //motor //motor.baud(115200); //ボーレート設定 //motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) //bluetooth //RN42.attach(&TX, Serial::TxIrq);//送信バッファ空き割込み //RN42.attach(&RX, Serial::RxIrq);//受信割込み //RN42.putc(i);//送信開始 //i = RN42.getc();//受信開始 for(int i=0; i<5; i++){ //data.GyroInitialValue = ROUND(data.gyro); //wait_ms(10); } //data.FrontDeg=0; //pid.setInputLimits(MINIMUM,MAXIMUM); //pid sed def //pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT); //pid sed def //pid.setBias(PID_BIAS); //pid sed def //pid.setMode(AUTO_MODE); //pid sed def //pid.setSetPoint(REFERENCE); //pid sed def //pidupdate.attach(&PidUpdate, PID_CYCLE); } void SetUp2(void){//スタートした時の処理 data.strategy=0; } void StopProcess(void){//コマンドに戻るときの処理 }