新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO_

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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO by 新部内対抗A班

Diff: spi_nucleo.h

Revision:
8:554e3d643b2d
Parent:
7:4f5cd0051db0
--- a/spi_nucleo.h	Fri Apr 01 06:15:24 2016 +0000
+++ b/spi_nucleo.h	Sun Apr 03 18:30:55 2016 +0000
@@ -1,15 +1,12 @@
+#include "mbed.h"
+#include "pin_file.h"
+#include <string.h>
 #ifndef SPI_NUCLEO_H
 #define SPI_NUCLEO_H
-#include "pin_file.h"
-#include <string.h>
 
 //SPI mbed
-bool RR=0;
-bool LR=0;
-int speed_X;
-int speed_Y;
-bool Xpm=0;
-bool Ypm=0;
+bool RR=0,LR=0,Xpm=0,cilinder=0,onoff=0,updown=0,Ypm=0;
+int speed_X,speed_Y;
 //SPI NUCLEO
 void spi_mbed();
 void spi_nucleo();
@@ -23,7 +20,7 @@
 void spiInit();
 void spi_mbed();
 void getGyro();
-#endif 
+#endif
 
 void spiInit()
 {
@@ -40,29 +37,32 @@
         LR=0;
         FM=from_mbed.read();
         Xpm=FM>>13;
-        Ypm=(FM&0x40)>>6;
-        if(FM>>15==1) {
+        Ypm=(FM&0x10)>>4;
+        cilinder=(FM&0x0100)>>8;
+        onoff=(FM&0x0080)>>7;
+        updown=(FM&0x0040)>>6;
+        if((FM>>15)==1) {
             RR=1;
         } //右旋回の関数へ
-        else if(FM>>14==1) {
+        else if((FM>>14)==1) {
             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==0) speed_Y=FM&0x3F;
+            speed_X=FM&0x1e00;
+            speed_X=speed_X>>9;
+            if(Ypm==0) speed_Y=FM&0xf;
             else {
-                speed_Y=FM&0x3F;
+                speed_Y=FM&0xf;
                 speed_Y=(-1)*speed_Y;
             }
         }
         else {
-            speed_X=FM&0x1F80;
-            speed_X=speed_X>>7;
+            speed_X=FM&0x1e00;
+            speed_X=speed_X>>9;
             speed_X=(-1)*speed_X;
-            if(Ypm==0) speed_Y=FM&0x3F;
+            if(Ypm==0) speed_Y=FM&0xf;
             else {
-                speed_Y=FM&0x3F;
+                speed_Y=FM&0xf;
                 speed_Y=(-1)*speed_Y;
             }
         }
@@ -80,4 +80,3 @@
 //        pc.printf("%d\r\n",data);
     }
 }
-