新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO

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Dependencies:   mbed

spi_nucleo.h

Committer:
baba2357
Date:
2016-03-29
Revision:
3:6ab4e8e3aa02
Parent:
2:bed6b204e64c
Child:
4:ef6f18eda3e2

File content as of revision 3:6ab4e8e3aa02:

#ifndef SPI_NUCLEO_H
#define SPI_NUCLEO_H
#include "pin_file.h"
#include <string.h>

//SPI mbed
int FM=0;
bool RR;
bool LR;
char speed_X;
char speed_Y;
bool Xpm=0;
bool Ypm=0;

//SPI NUCLEO
void spi_mbed();
void spi_nucleo();
void getGyro();
void spiInit();
typedef unsigned short u16;
long int angle;
double now_angle;
Serial pc(USBTX,USBRX);
#endif
void spiInit(){
    from_mbed.format(16,3);
    from_gyro.format(16,3);
    from_mbed.frequency(1000000);
    from_gyro.frequency(1000000);
}

void spi_mbed()
{
    if(from_mbed.receive()) {
        FM=from_mbed.read();
        RR=FM>>15;
        LR=FM>>14;
        Xpm=FM>>13;
        Ypm=FM>>6;
        if(RR==1) {
        } //右旋回の関数へ
        else if(LR==1) {
        } //左旋回の関数へ
        else if(Xpm==1) { //コントローラーのＸ方向成分入力
            speed_X=FM&0x1F80;
            speed_X=speed_X>>7;
            if(Ypm==1) speed_Y=FM&0x3F;
            else {
                speed_Y=FM&0x3F;
                speed_Y=speed_Y*(-1);
            }
        }
        else {
            speed_X=FM&0x1F80;
            speed_X=speed_X>>7;
            speed_X=(-1)*speed_X;
            if(Ypm==1) speed_Y=FM&0x3F;
            else {
                speed_Y=FM&0x3F;
                speed_Y=speed_Y*(-1);
            }
        }
    }
}
     
void getGyro(){
    u16 data;
    if(from_gyro.receive()){
        data = from_gyro.read();
        if(data >> 15) angle = -(data & 0x7fff);
        else angle = data & 0x7fff;
        now_angle = (double)angle / 10;
        }
    }