Diff: main.cpp

Revision:

9:f05f881226a3

Parent:

8:ee465babfd98

Child:

10:5b67d18f30a9

--- a/main.cpp	Wed Sep 03 06:25:23 2014 +0000
+++ b/main.cpp	Thu Sep 04 02:39:04 2014 +0000
@@ -14,18 +14,19 @@
 #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 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
 #define XBEE_KEY 0xAA//keycode
-#define ARM_KEY 0x0A
+#define ARM_KEY 0xAA
 
-DigitalOut check(LED1);
-DigitalOut arm_check(LED2);
-
+BusOut check(LED1,LED2,LED3,LED4);
+//BusIn sw(p21,p22,p23,p24);
 BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28);
 
+Serial pc(USBTX,USBRX);
 
-MultiSerial xbee(p13,p14);
-MultiSerial armMbed(p9,p10);
+MultiSerial xbee(p13,p14,read);
+
+//MultiSerial armMbed(p9,p10,write);
 
 typedef struct{
 
@@ -40,24 +41,37 @@
 
 int main()
 {
+    //sw.mode(PullUp);
     
-    xbee_packet *pt_packet=&packet;
+  //  xbee_packet *pt_packet=&packet;
+    
+    xbee.read_data(get_data,XBEE_KEY);        
     
     for(;;){
+        
+        wait(0.1);
  
         check = !check;  
         
-        xbee.read(get_data,XBEE_KEY);
+       // get_data[0]=0xFF;
+       // get_data[1]=0x01;    
+              
+        //memcpy(&packet, get_data, DATA_NUM); //ちょい危険
+
+        packet.arm[0] = get_data[0];
+        packet.leg = get_data[1];   
         
-        memcpy(&packet, get_data, DATA_NUM); //ちょい危険
-
-        armMbed.write(pt_packet->arm,ARM_KEY);
+        check = get_data[1];
 
         if(packet.leg==0x0) motors = 0;
         if(packet.leg&0x1) motors = 0x05; //p21,p23 
         if(packet.leg&0x2) motors = 0x0A; //p22,p24 
         if(packet.leg&0x4) motors = 0x50; //p25,p27        
         if(packet.leg&0x8) motors = 0xA0; //p26,p28
-         
+        
+        pc.printf(" arm = %d" ,packet.arm[1]);
+        pc.printf(" leg = %d" ,packet.leg);
+        
+       // armMbed.write_data(pt_packet->arm,ARM_KEY);                  
     }
 }
\ No newline at end of file