メインマイコンのプログラム
Dependencies: mbed SBDBT_for_2022gourobo arrc_mbed
main.cpp
- Committer:
- guesta
- Date:
- 2022-01-21
- Revision:
- 3:e4b5563563af
- Parent:
- 1:642ee25ea489
- Child:
- 6:fd9b59f828e8
File content as of revision 3:e4b5563563af:
#include "mbed.h" #include "scrp_slave.hpp" #include "sbdbt.hpp" int main(){ //---------------初期設定--------------- //scrp_slave ScrpSlave scrp(PC_12,PD_2,PH_1,0x0807f800); //sbdbt sbdbt sb(A0,A1); //scrp_slaveのid設定 const int wheel_num = 255; const int BeanbagGet_num = 2; const int BeanbagShot_num = 3; const int TakoGetPut_num = 4; //コマンド番号設定 const int x_component_cmd = 1; const int y_component_cmd = 2; const int l2_cmd = 3; const int r2_cmd = 4; const int select = 5; //変数 int x_component; int y_component; int l2_num; int r2_num; //------------------------------------- //スティックの返り値-128~127 while(true){ sb.button_state(); x_component = sb.lsx(); y_component = sb.lsy(); l2_num = sb.l2An(); r2_num = sb.r2An(); //printf("%d %d",x_component,y_component); scrp.send1(wheel_num,x_component_cmd,x_component); wait_ms(1); scrp.send1(wheel_num,y_component_cmd,y_component); wait_ms(1); scrp.send1(wheel_num,l2_cmd,l2_num); wait_ms(1); scrp.send1(wheel_num,r2_cmd,r2_num); wait_ms(1); scrp.send1(wheel_num,select,sb.select()); wait_ms(1); } }