中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
Diff: main.cpp
- Revision:
- 24:37a17b7c6201
- Parent:
- 23:54fddee73c88
diff -r 54fddee73c88 -r 37a17b7c6201 main.cpp --- a/main.cpp Fri Oct 03 10:45:48 2014 +0000 +++ b/main.cpp Sat Oct 04 09:16:38 2014 +0000 @@ -38,13 +38,14 @@ BusOut check(LED1,LED2,LED3,LED4); BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); - PwmOut pwm[4]= {p21,p22,p23,p24}; Serial pc(USBTX,USBRX); MultiSerial xbee(p28,p27); -MultiSerial armMbed(p9,p10); +MultiSerial arm_mbed(p9,p10); + + /* data structure */ typedef struct { @@ -84,8 +85,9 @@ if(xbee.readable_check()==1){check++;} - wait_ms(1.0); + wait_ms(1.0); } + return check; } @@ -131,14 +133,34 @@ //check = 0; } +void safety_mode() +{ + xbee.stop_read(); + arm_mbed.stop_write(); + + for(;;) { + + motors = 0; + + check = 0xA; + wait(0.5); + check != 0xF; + wait(0.5); + + if(xbee.readable_check()==1) { + + xbee.start_read(); + arm_mbed.start_write(); + return; + + } + } +} + int main() { - /* PWM init */ - pwm[0] = PWM; - pwm[1] = PWM; - pwm[2] = PWM; - pwm[3] = PWM; + xbee_packet *pt_packet=&packet; @@ -147,16 +169,31 @@ xbee.start_read(); xbee.read_data(get_data,XBEE_KEY); - armMbed.start_write(); - armMbed.write_data(pt_packet->arm,ARM_KEY); + arm_mbed.start_write(); + arm_mbed.write_data(pt_packet->arm,ARM_KEY); counter=0; + + int radio_check=0; for(;;) { + + if(xbee.readable_check() == 0) { + + radio_check++; + if(radio_check>=500) { + safety_mode(); + } + }else{ + + radio_check = 0; + + } + wait_ms(0.5); - //memcpy(&packet, get_data, DATA_NUM); + packet.arm[0] = get_data[1]; packet.leg = get_data[0]; @@ -189,24 +226,6 @@ move_slowly(counter); } - /* PWM */ - /*if((packet.leg>>4)==0) { - - pwm[0] = PWM_L; - pwm[1] = PWM_R; - pwm[2] = PWM_U; - pwm[3] = PWM_D; - - } else { - - pwm[0] = PWM; - pwm[1] = PWM; - pwm[2] = PWM; - pwm[3] = PWM; - - } - */ - /* Direction of movement */ if(packet.leg&R) motors = 0x55; //01010101 R 接続に気をつけること if(packet.leg&L) motors = 0xAA; //10101010 L 多分モータードライバの信号線をそれぞれ逆にすればOKかな