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:
2016-03-25
Revision:
1:86d25c1c4bd5
Child:
2:bed6b204e64c

File content as of revision 1:86d25c1c4bd5:

#ifndef SPI_NUCLEO_H
#define SPI_NUCLEO_H
//SPI mbed
SPI from_mbed(PA_5, PA_6, PA_7);
DigitalIn (PA_4);
int FM;
bool RR;
bool LR;
char speed_X;
char speed_Y;
//SPI NUCLEO



SPI from_gyro(PB_13, PB_14, PB_15);
DigitalIn (PB_12);
int G;
void spi_mbed();
void spi_nucleo();

#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;
        if(RR==1) //右旋回の関数へ
            else if(LR==1) //左旋回の関数へ
            else if(FM>>13==1){ //コントローラーのＸ方向成分入力
                speed_X=FM>>7-128;
                if(FM>>6==1) speed_Y=FM-128;
                else speed_Y=FM;
                }
            else{
                speed_X=FM>>7*(-1);
                if(FM>>6==1) speed_Y=FM-128;
                else speed_Y=FM;
                }
        }
void getGyro(){
    u16 data;
    if(from_gyro.receive()) {
        data = gyro_gyro.read();
        if(data >> 15) angle = -(data & 0x7fff);
        else angle = data & 0x7fff;
        now_angle = (double)angle / 10;
    }
}