中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp@11:8b1a63a1172a, 2014-09-04 (annotated)
- Committer:
- Hatter
- Date:
- Thu Sep 04 04:51:51 2014 +0000
- Revision:
- 11:8b1a63a1172a
- Parent:
- 10:5b67d18f30a9
- Child:
- 12:6e2ee1c83ac1
????OK
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hatter | 0:fddd018033fb | 1 | /* |
Hatter | 0:fddd018033fb | 2 | * 4WD_OMNI_simple by Tomoki Hokida |
Hatter | 0:fddd018033fb | 3 | * Simple Type |
Hatter | 0:fddd018033fb | 4 | * |
Hatter | 0:fddd018033fb | 5 | * motor pins piar |
Hatter | 0:fddd018033fb | 6 | * motor(p21,p22):motor(p23,p24) |
Hatter | 0:fddd018033fb | 7 | * motor(p25,p26):motor(p27,p28) |
Hatter | 0:fddd018033fb | 8 | * 通信中継用 |
Hatter | 6:26e5a520472d | 9 | * data[0]:arm |
Hatter | 6:26e5a520472d | 10 | * data[1]:omni |
Hatter | 0:fddd018033fb | 11 | * reset 0 |
Hatter | 0:fddd018033fb | 12 | */ |
Hatter | 0:fddd018033fb | 13 | |
Hatter | 0:fddd018033fb | 14 | #include "mbed.h" |
Hatter | 6:26e5a520472d | 15 | #include "MultiSerial.h" |
Hatter | 0:fddd018033fb | 16 | |
Hatter | 9:f05f881226a3 | 17 | #define DATA_NUM 8 //DATA_NUM[byte]通信 この値はmemcpy使ってるんでxbee_packet構造体のメモリ数といい感じに合わせるようにしてください |
Hatter | 6:26e5a520472d | 18 | #define XBEE_KEY 0xAA//keycode |
Hatter | 9:f05f881226a3 | 19 | #define ARM_KEY 0xAA |
Hatter | 3:1f1498403eec | 20 | |
Hatter | 9:f05f881226a3 | 21 | BusOut check(LED1,LED2,LED3,LED4); |
Hatter | 9:f05f881226a3 | 22 | //BusIn sw(p21,p22,p23,p24); |
Hatter | 0:fddd018033fb | 23 | BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28); |
Hatter | 0:fddd018033fb | 24 | |
Hatter | 9:f05f881226a3 | 25 | Serial pc(USBTX,USBRX); |
Hatter | 0:fddd018033fb | 26 | |
Hatter | 9:f05f881226a3 | 27 | MultiSerial xbee(p13,p14,read); |
Hatter | 9:f05f881226a3 | 28 | |
Hatter | 10:5b67d18f30a9 | 29 | MultiSerial armMbed(p9,p10,write); |
Hatter | 0:fddd018033fb | 30 | |
Hatter | 6:26e5a520472d | 31 | typedef struct{ |
Hatter | 6:26e5a520472d | 32 | |
Hatter | 6:26e5a520472d | 33 | uint8_t arm[1]; |
Hatter | 6:26e5a520472d | 34 | uint8_t leg; |
Hatter | 4:5da566692b79 | 35 | |
Hatter | 6:26e5a520472d | 36 | }xbee_packet; |
Hatter | 6:26e5a520472d | 37 | |
Hatter | 6:26e5a520472d | 38 | xbee_packet packet; |
Hatter | 6:26e5a520472d | 39 | |
Hatter | 10:5b67d18f30a9 | 40 | uint8_t get_data[DATA_NUM]={0}; |
Hatter | 0:fddd018033fb | 41 | |
Hatter | 0:fddd018033fb | 42 | int main() |
Hatter | 0:fddd018033fb | 43 | { |
Hatter | 9:f05f881226a3 | 44 | //sw.mode(PullUp); |
Hatter | 6:26e5a520472d | 45 | |
Hatter | 10:5b67d18f30a9 | 46 | xbee_packet *pt_packet=&packet; |
Hatter | 9:f05f881226a3 | 47 | |
Hatter | 9:f05f881226a3 | 48 | xbee.read_data(get_data,XBEE_KEY); |
Hatter | 11:8b1a63a1172a | 49 | int i=0; |
Hatter | 0:fddd018033fb | 50 | for(;;){ |
Hatter | 9:f05f881226a3 | 51 | |
Hatter | 11:8b1a63a1172a | 52 | wait_ms(0.1); |
Hatter | 8:ee465babfd98 | 53 | |
Hatter | 9:f05f881226a3 | 54 | // get_data[0]=0xFF; |
Hatter | 9:f05f881226a3 | 55 | // get_data[1]=0x01; |
Hatter | 9:f05f881226a3 | 56 | |
Hatter | 9:f05f881226a3 | 57 | //memcpy(&packet, get_data, DATA_NUM); //ちょい危険 |
Hatter | 9:f05f881226a3 | 58 | |
Hatter | 10:5b67d18f30a9 | 59 | packet.arm[0] = get_data[1]; |
Hatter | 10:5b67d18f30a9 | 60 | packet.leg = get_data[0]; |
Hatter | 6:26e5a520472d | 61 | |
Hatter | 9:f05f881226a3 | 62 | check = get_data[1]; |
Hatter | 8:ee465babfd98 | 63 | |
Hatter | 6:26e5a520472d | 64 | if(packet.leg==0x0) motors = 0; |
Hatter | 8:ee465babfd98 | 65 | if(packet.leg&0x1) motors = 0x05; //p21,p23 |
Hatter | 8:ee465babfd98 | 66 | if(packet.leg&0x2) motors = 0x0A; //p22,p24 |
Hatter | 8:ee465babfd98 | 67 | if(packet.leg&0x4) motors = 0x50; //p25,p27 |
Hatter | 8:ee465babfd98 | 68 | if(packet.leg&0x8) motors = 0xA0; //p26,p28 |
Hatter | 9:f05f881226a3 | 69 | |
Hatter | 11:8b1a63a1172a | 70 | if(i==10e3){ |
Hatter | 11:8b1a63a1172a | 71 | pc.printf(" arm = %d" ,packet.arm[0]); |
Hatter | 11:8b1a63a1172a | 72 | pc.printf(" leg = %d" ,packet.leg); |
Hatter | 11:8b1a63a1172a | 73 | i=0; |
Hatter | 11:8b1a63a1172a | 74 | } |
Hatter | 9:f05f881226a3 | 75 | |
Hatter | 10:5b67d18f30a9 | 76 | armMbed.write_data(pt_packet->arm,ARM_KEY); |
Hatter | 11:8b1a63a1172a | 77 | i++; |
Hatter | 6:26e5a520472d | 78 | } |
Hatter | 0:fddd018033fb | 79 | } |