中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
Diff: main.cpp
- Revision:
- 9:f05f881226a3
- Parent:
- 8:ee465babfd98
- Child:
- 10:5b67d18f30a9
diff -r ee465babfd98 -r f05f881226a3 main.cpp --- 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