中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp
- Committer:
- Hatter
- Date:
- 2014-09-03
- Revision:
- 8:ee465babfd98
- Parent:
- 7:07863c4a74b8
- Child:
- 9:f05f881226a3
File content as of revision 8:ee465babfd98:
/* * 4WD_OMNI_simple by Tomoki Hokida * Simple Type * * motor pins piar * motor(p21,p22):motor(p23,p24) * motor(p25,p26):motor(p27,p28) * 通信中継用 * data[0]:arm * data[1]:omni * reset 0 */ #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 XBEE_KEY 0xAA//keycode #define ARM_KEY 0x0A DigitalOut check(LED1); DigitalOut arm_check(LED2); BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28); MultiSerial xbee(p13,p14); MultiSerial armMbed(p9,p10); typedef struct{ uint8_t arm[1]; uint8_t leg; }xbee_packet; xbee_packet packet; uint8_t get_data[DATA_NUM]; int main() { xbee_packet *pt_packet=&packet; for(;;){ check = !check; xbee.read(get_data,XBEE_KEY); memcpy(&packet, get_data, DATA_NUM); //ちょい危険 armMbed.write(pt_packet->arm,ARM_KEY); 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 } }