新部内対抗A班
/
circle_war_ver_A_NUCLEO
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Dependencies: mbed
Diff: spi_nucleo.h
- Revision:
- 1:86d25c1c4bd5
- Child:
- 2:bed6b204e64c
diff -r fad5ae05b576 -r 86d25c1c4bd5 spi_nucleo.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/spi_nucleo.h Fri Mar 25 03:08:41 2016 +0000
@@ -0,0 +1,55 @@
+#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;
+ }
+}
\ No newline at end of file