中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
main.cpp@6:26e5a520472d, 2014-09-01 (annotated)
- Committer:
- Hatter
- Date:
- Mon Sep 01 02:05:19 2014 +0000
- Revision:
- 6:26e5a520472d
- Parent:
- 5:82d4d00847dd
- Child:
- 7:07863c4a74b8
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hatter | 0:fddd018033fb | 1 | /* |
Hatter | 0:fddd018033fb | 2 | * 4WD_OMNI_simple by Tomoki Hokida |
Hatter | 0:fddd018033fb | 3 | * Simple Type |
Hatter | 0:fddd018033fb | 4 | * |
Hatter | 0:fddd018033fb | 5 | * motor pins piar |
Hatter | 0:fddd018033fb | 6 | * motor(p21,p22):motor(p23,p24) |
Hatter | 0:fddd018033fb | 7 | * motor(p25,p26):motor(p27,p28) |
Hatter | 0:fddd018033fb | 8 | * 通信中継用 |
Hatter | 6:26e5a520472d | 9 | * data[0]:arm |
Hatter | 6:26e5a520472d | 10 | * data[1]:omni |
Hatter | 0:fddd018033fb | 11 | * reset 0 |
Hatter | 0:fddd018033fb | 12 | */ |
Hatter | 0:fddd018033fb | 13 | |
Hatter | 0:fddd018033fb | 14 | #include "mbed.h" |
Hatter | 6:26e5a520472d | 15 | #include "MultiSerial.h" |
Hatter | 0:fddd018033fb | 16 | |
Hatter | 6:26e5a520472d | 17 | #define DATA_NUM 2 //DATA_NUM[byte]通信 |
Hatter | 6:26e5a520472d | 18 | #define XBEE_KEY 0xAA//keycode |
Hatter | 6:26e5a520472d | 19 | #define ARM_KEY 0x0A |
Hatter | 3:1f1498403eec | 20 | |
Hatter | 0:fddd018033fb | 21 | DigitalOut check(LED1); |
Hatter | 6:26e5a520472d | 22 | DigitalOut arm_check(LED2); |
Hatter | 6:26e5a520472d | 23 | |
Hatter | 0:fddd018033fb | 24 | BusOut motors(p21,p22,p23,p24,p25,p26,p27,p28); |
Hatter | 0:fddd018033fb | 25 | |
Hatter | 6:26e5a520472d | 26 | //I2C armMbed(p9,p10); |
Hatter | 0:fddd018033fb | 27 | |
Hatter | 6:26e5a520472d | 28 | MultiSerial xbee(p13,p14); |
Hatter | 6:26e5a520472d | 29 | MultiSerial armMbed(p9,p10); |
Hatter | 0:fddd018033fb | 30 | |
Hatter | 0:fddd018033fb | 31 | //armMbed.frequency(10000); |
Hatter | 0:fddd018033fb | 32 | |
Hatter | 6:26e5a520472d | 33 | typedef struct{ |
Hatter | 6:26e5a520472d | 34 | |
Hatter | 6:26e5a520472d | 35 | uint8_t arm[1]; |
Hatter | 6:26e5a520472d | 36 | uint8_t leg; |
Hatter | 4:5da566692b79 | 37 | |
Hatter | 6:26e5a520472d | 38 | }xbee_packet; |
Hatter | 6:26e5a520472d | 39 | |
Hatter | 6:26e5a520472d | 40 | xbee_packet packet; |
Hatter | 6:26e5a520472d | 41 | |
Hatter | 6:26e5a520472d | 42 | uint8_t get_data[DATA_NUM]; |
Hatter | 0:fddd018033fb | 43 | |
Hatter | 0:fddd018033fb | 44 | int main() |
Hatter | 0:fddd018033fb | 45 | { |
Hatter | 6:26e5a520472d | 46 | //int val; |
Hatter | 6:26e5a520472d | 47 | |
Hatter | 6:26e5a520472d | 48 | xbee_packet *pt_packet=&packet; |
Hatter | 6:26e5a520472d | 49 | |
Hatter | 6:26e5a520472d | 50 | xbee.read(get_data,XBEE_KEY); |
Hatter | 0:fddd018033fb | 51 | |
Hatter | 0:fddd018033fb | 52 | for(;;){ |
Hatter | 6:26e5a520472d | 53 | // xbee.baud(1200); |
Hatter | 6:26e5a520472d | 54 | |
Hatter | 6:26e5a520472d | 55 | memcpy(&packet, get_data, DATA_NUM); //ちょい危険 |
Hatter | 6:26e5a520472d | 56 | |
Hatter | 6:26e5a520472d | 57 | if(packet.leg==0x0) motors = 0; |
Hatter | 6:26e5a520472d | 58 | if(packet.leg&0x10) motors = 0x05; //p21,p23 |
Hatter | 6:26e5a520472d | 59 | if(packet.leg&0x20) motors = 0x0A; //p22,p24 |
Hatter | 6:26e5a520472d | 60 | if(packet.leg&0x40) motors = 0x50; //p25,p27 |
Hatter | 6:26e5a520472d | 61 | if(packet.leg&0x80) motors = 0xA0; //p26,p28 |
Hatter | 6:26e5a520472d | 62 | |
Hatter | 6:26e5a520472d | 63 | armMbed.write(pt_packet->arm,ARM_KEY); |
Hatter | 6:26e5a520472d | 64 | |
Hatter | 6:26e5a520472d | 65 | // val = armMbed.write(slave_addr,pt_packet->arm,1); |
Hatter | 6:26e5a520472d | 66 | // if(!val) i2c_check = 1; else i2c_check = 0; |
Hatter | 6:26e5a520472d | 67 | |
Hatter | 6:26e5a520472d | 68 | check = !check; |
Hatter | 6:26e5a520472d | 69 | } |
Hatter | 0:fddd018033fb | 70 | } |