中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
Diff: main.cpp
- Revision:
- 26:9a7e9dd2746f
- Parent:
- 25:a6e41d2efd0c
- Child:
- 27:68f76ea992bd
- Child:
- 32:33078ddc3bcb
--- a/main.cpp Sun Oct 05 08:21:35 2014 +0000 +++ b/main.cpp Tue Oct 07 08:01:29 2014 +0000 @@ -19,7 +19,7 @@ #define XBEE_KEY 0xAA //keycode #define ARM_KEY 0xAA -#define PWM 0.3 +#define PWM 0.5 #define PWM_SLOW 0.1 @@ -59,77 +59,6 @@ uint8_t check_data[2]={0}; -int counter=0; - - -/* Out put PC stdout function */ -void pc_print() -{ - static int count=0; - - if(count==10e3) { - pc.printf(" arm = %d" ,packet.arm[0]); - pc.printf(" leg = %d" ,packet.leg); - count=0; - } - count++; -} - -uint8_t readable_ratio(){ - - int check = 0; - - for(int i=0;i>=100;i++){ - - if(xbee.readable_check()==1){check++;} - - wait_ms(1.0); - } - return check; - } - -void connect_check(void) -{ - xbee.start_read(); - xbee.read_data(check_data,XBEE_KEY); - - check = 0x01; - - while(readable_ratio()>=50); - - check = 0x03; - - while(readable_ratio()<=50); - - check = 0x07; - - xbee.stop_read(); - xbee.start_write(); - - check_data[0]=0xCC; - - xbee.write_data(check_data,XBEE_KEY); - - wait_ms(10); - - xbee.stop_write(); -} - -void move_slowly(int count) -{ - - float i=(count/10e3)*PWM; //mirisec -->> sec - - pwm[0] = i; - pwm[1] = i; - pwm[2] = i; - pwm[3] = i; - - //wait_ms(1.0); //count value * 0.01 sec - - //check = 0; -} - int main() { @@ -149,8 +78,6 @@ armMbed.start_write(); armMbed.write_data(pt_packet->arm,ARM_KEY); - counter=0; - check = 0xFF; wait(0.5); @@ -177,42 +104,14 @@ pwm[1] = 0; pwm[2] = 0; pwm[3] = 0; - - /* - for(;counter>=0;counter--){ - //if(counter>=0){counter--;} //cunter init - - //move_slowly(counter); - //wait_ms(0.1); - - } - */ }else{ - - /* - if(counter<=10e3){ - counter++; - } - - move_slowly(counter); - */ - - if((packet.leg==L_U) || (packet.leg==L_D)){ - - pwm[0] = PWM_SLOW; - pwm[1] = PWM_SLOW; - pwm[2] = PWM_SLOW; - pwm[3] = PWM_SLOW; - - }else{ pwm[0] = PWM; pwm[1] = PWM; pwm[2] = PWM; pwm[3] = PWM; - } } @@ -246,7 +145,5 @@ if(packet.leg&L_R) motors = 0x99; //10011001 //if(packet.leg&L_U) //if(packet.leg&L_D) - - pc_print(); } } \ No newline at end of file