Diff: main.cpp

Revision:

2:de6958cb7072

Parent:

1:438016436d16

--- a/main.cpp	Sat Feb 14 06:33:25 2015 +0000
+++ b/main.cpp	Sun Feb 22 07:36:26 2015 +0000
@@ -376,10 +376,10 @@
 
     S555.calibrate(0.0005, 120.0);
     S555.position(0.0);    //初期位置にセット
-    /*
+    
     hmc6352.setOpMode(HMC6352_CONTINUOUS, 1, 20);
     *compass_def = (hmc6352.sample() / 10);
-    */
+    
     //Lcd.cls();
     
 }
@@ -450,6 +450,7 @@
     
     /*Compass*/
     int CompassDef = 0, Compass = 0;
+    hmc6352.setOpMode(HMC6352_CONTINUOUS, 1, 20);
     
     /*State */ 
     //Direction LineIr = NA;//方位設定奴...エラーでてめんどくさいので後でまたやることにする。
@@ -467,6 +468,7 @@
     //StartLoop(); /*loop stat, switch push end*/
     
     int val = 0;
+    int compassy;
     char data[3] = {0};
     char order[1] = {0};
     while(1) {
@@ -509,21 +511,71 @@
         //IrNum = IrReceive(IrData);
         
         order[0] = 0x00;
+        for(int i=0; i<3; i++) data[i]=100;
         
         val = Sensor.write(ADDRESS_R&0xFE, order , 1);
            
+        Led[0] = 0;       
         Led[1] = !val;
         
-        wait_ms(1);
+        wait_ms(.25);
         
         val = Sensor.read(ADDRESS_R|1, data, 3);// IRデータを受信
         
         Led[0] = !val;
+        Led[1] = 0;
         
-        wait_ms(1);
+        wait_ms(.25);
         
         pc.printf("num = %d irData1 = %d irData2 = %d\n",(int)data[0],(int)data[1],(int)data[2]);
         
+        for(int i=0; i<3; i++) data[i]=100;
+        
+        
+        
+        
+        
+        
+        
+        
+        val = Sensor.write((ADDRESS_R+2)&0xFE, order , 1);
+           
+        Led[0] = 0;       
+        Led[1] = !val;
+        
+        wait_ms(.25);
+        
+        val = Sensor.read((ADDRESS_R+2)|1, data, 3);// IRデータを受信
+        
+        Led[0] = !val;
+        Led[1] = 0;
+        
+        wait_ms(.25);
+        
+        pc.printf("num = %d irData1 = %d irData2 = %d\n",(int)data[0],(int)data[1],(int)data[2]);
+        
+        for(int i=0; i<3; i++) data[i]=100;
+        
+        
+        
+        
+        
+        //pc.printf("Heading is: %03d\n",(int)((hmc6352.sample()/10.0)+0.5));
+        
+        compassy = (
+                        (
+                            ((int)(hmc6352.sample()/10.0))
+                            + 540
+                            - CompassDef
+                        )%360
+                    );
+        
+        Lcd.cls();
+        Lcd.printf("Hello\n %d", compassy );
+        
+        wait_ms(.25);
+        
+        for(int i=0; i<3; i++) data[i]=100;
         
         
         /*複雑な処理が必要な箇所については関数に飛ばす*/