Diff: main.cpp

Revision:

38:098150180639

Parent:

37:53f8b2c0bad6

Child:

39:18b1bc93a5f7

--- a/main.cpp	Tue Oct 14 10:52:20 2014 +0000
+++ b/main.cpp	Tue Oct 14 12:24:42 2014 +0000
@@ -15,7 +15,7 @@
 #include "mbed.h"
 #include "MultiSerial.h"
 
-#define DATA_NUM 2 //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
+#define DATA_NUM 2 //DATA_NUM[byte]通信
 #define XBEE_KEY 0xAA //keycode
 #define ARM_KEY 0xAA
 
@@ -34,17 +34,20 @@
 
 #define TIME 0
 
-BusOut check(LED1,LED2,LED3,LED4);
-BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20);
+BusOut      check(LED1,LED2,LED3,LED4);
+BusOut      motors(p13,p14,p15,p16,p17,p18,p19,p20);
 
-PwmOut pwm[4]= {p21,p22,p23,p24};
+PwmOut      pwm[4]= {p21,p22,p23,p24};
 
-Serial pc(USBTX,USBRX);
+Serial      pc(USBTX,USBRX);
 
 MultiSerial xbee(p28,p27);
 MultiSerial armMbed(p9,p10);
 
-Ticker xbee_check;
+Ticker      xbee_check;
+
+uint8_t     get_data[DATA_NUM] = {0};
+uint8_t     check_data[2] = {0};
 
 /* data structure */
 typedef struct {
@@ -56,9 +59,6 @@
 
 xbee_packet packet = {0};
 
-uint8_t get_data[DATA_NUM]= {0};
-uint8_t check_data[2]= {0};
-
 void safety_mode(){
             
             get_data[0] = 0;
@@ -84,11 +84,12 @@
             break;
 
         case 1:
-            //
+            
             check = 0xF;
             wait(0.5);
             check = 0;
             wait(0.5);
+            
             break;
     }
 }
@@ -109,7 +110,6 @@
     xbee_packet *pt_packet=&packet;
     
     /* Serial connection init */
-    
     xbee.start_read();
     xbee.read_data(get_data,XBEE_KEY);
 
@@ -122,8 +122,6 @@
 
     for(;;) {
         
-
-
         packet.arm[0] = get_data[1];
         packet.leg = get_data[0];