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:
2:bed6b204e64c
Parent:
1:86d25c1c4bd5
Child:
3:6ab4e8e3aa02
Child:
5:df89be97e11a
--- a/spi_nucleo.h	Fri Mar 25 03:08:41 2016 +0000
+++ b/spi_nucleo.h	Fri Mar 25 04:21:52 2016 +0000
@@ -1,23 +1,23 @@
 #ifndef SPI_NUCLEO_H
 #define SPI_NUCLEO_H
+#include "pin_file.h"
+#include <string.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();
-
+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);
@@ -25,31 +25,38 @@
     from_mbed.frequency(1000000);
     from_gyro.frequency(1000000);
 }
- 
+
 void spi_mbed(){
+    u16 FM;
     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;
+    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;
+            speed_X=FM-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;
-                }
+        else{
+            speed_X=FM>>7;
+            speed_Y=(-1)*speed_Y;
+            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(from_gyro.receive()){
+        data = from_gyro.read();
         if(data >> 15) angle = -(data & 0x7fff);
         else angle = data & 0x7fff;
         now_angle = (double)angle / 10;
+        }
     }
-}
\ No newline at end of file