Diff: main.cpp

Revision:

29:7a8efb8a9af8

Parent:

28:4da223ae4392

Child:

30:00277f63ffeb

--- a/main.cpp	Tue Oct 07 09:51:52 2014 +0000
+++ b/main.cpp	Tue Oct 07 10:07:56 2014 +0000
@@ -30,7 +30,7 @@
 
 #define L_R 0x10
 #define L_L 0x40
-#define L_U 0x20 
+#define L_U 0x20
 #define L_D 0x80
 
 #define TIME 0
@@ -56,30 +56,31 @@
 xbee_packet packet;
 
 uint8_t get_data[DATA_NUM]= {0};
-uint8_t check_data[2]={0};
+uint8_t check_data[2]= {0};
 
 
 /*start display LED*/
-void display_LED(int kind){
+void display_LED(int kind)
+{
 
-    switch(kind){
-        
+    switch(kind) {
+
         case 0: //err check
             check = 0xA;
             wait(0.5);
             check != 0xF;
             wait(0.5);
-            
+
             break;
-            
+
         case 1:
-                //
+            //
             check = 0xF;
             wait(0.5);
             check = 0;
             break;
-        }
     }
+}
 
 
 /*Safety Mode*/
@@ -87,19 +88,19 @@
 {
     xbee.stop_read();
     armMbed.stop_write();
- 
+
     for(;;) {
- 
+
         motors = 0;
         display_LED(0);
- 
+
         if(xbee.readable_check()==1) {
- 
+
             NVIC_SystemReset();
- 
+
             //xbee.start_read();
             //arm_mbed.start_write();
-            return; 
+            return;
         }
     }
 }
@@ -118,17 +119,17 @@
 
     //connect_check();
     int radio_check=0;
-    
+
     xbee.start_read();
     xbee.read_data(get_data,XBEE_KEY);
-        
+
     armMbed.start_write();
     armMbed.write_data(pt_packet->arm,ARM_KEY);
-    
+
     display_LED(1);
-    
+
     int counter=0;
-    
+
     for(;;) {
 
         wait_ms(0.5);
@@ -139,42 +140,42 @@
 
         //check = get_data[1];
         counter++;
-        check = counter/100;
-        if(counter>=15*100){counter=0;}
-        
-    
-    if(xbee.readable_check() == 0) {
- 
+        check = counter/1000;
+        if(counter>=15*100) {
+            counter=0;
+        }
+
+
+        if(xbee.readable_check() == 0) {
+
             radio_check++;
- 
-            if(radio_check>=500){                
+
+            if(radio_check>=500) {
                 safety_mode();
             }
 
-    } else {
- 
+        } else {
+
             radio_check = 0;
-    }
-        
+        }
+
         /* Stop */
-    if(packet.leg==0x0) {
-          
-          
-        motors = 0;
-          
-        pwm[0] = 0;
-        pwm[1] = 0;
-        pwm[2] = 0;
-        pwm[3] = 0;  
-                
+        if(packet.leg==0x0) {
+
+            motors = 0;
 
-        }else{
-                           
-        pwm[0] = PWM;
-        pwm[1] = PWM;
-        pwm[2] = PWM;
-        pwm[3] = PWM;
-    }
+            pwm[0] = 0;
+            pwm[1] = 0;
+            pwm[2] = 0;
+            pwm[3] = 0;
+
+        } else {
+
+            pwm[0] = PWM;
+            pwm[1] = PWM;
+            pwm[2] = PWM;
+            pwm[3] = PWM;
+        }
 
         /* Direction of movement */
         if(packet.leg&R_D) motors = 0x55; //01010101 R 接続に気をつけること
@@ -185,7 +186,7 @@
         /* Turn circling */
         if(packet.leg&L_L) motors = 0x66; //01100110
         if(packet.leg&L_R) motors = 0x99; //10011001
-        //if(packet.leg&L_U) 
+        //if(packet.leg&L_U)
         //if(packet.leg&L_D)
     }
 }
\ No newline at end of file