Bチーム
/
4wd_omni_simple2
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Dependencies: mbed MultiSerial
Revision 39:18b1bc93a5f7, committed 2014-10-15
- Comitter:
- bousiya03
- Date:
- Wed Oct 15 06:15:20 2014 +0000
- Parent:
- 38:098150180639
- Commit message:
- ????????????
Changed in this revision
| MultiSerial.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/MultiSerial.lib Tue Oct 14 12:24:42 2014 +0000 +++ b/MultiSerial.lib Wed Oct 15 06:15:20 2014 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/teams/B/code/MultiSerial/#0ca02e8c37e5 +http://mbed.org/teams/B/code/MultiSerial/#1df5616cc007
--- a/main.cpp Tue Oct 14 12:24:42 2014 +0000
+++ b/main.cpp Wed Oct 15 06:15:20 2014 +0000
@@ -66,7 +66,6 @@
packet.arm[0] = 0;
packet.leg = 0;
-
}
/*start display LED*/
@@ -97,15 +96,16 @@
int main()
{
+ int check_counter = 0;
+ uint8_t increase_counter = 0;
+ uint8_t counter_rx = 0;
+
/* PWM init */
pwm[0] = PWM;
pwm[1] = PWM;
pwm[2] = PWM;
pwm[3] = PWM;
- /* Timer interrupt init */
- xbee_check.attach(safety_mode,0.1);
-
/* stract data init */
xbee_packet *pt_packet=&packet;
@@ -128,7 +128,7 @@
/* Stop */
if(packet.leg==0x0) {
- motors = 0;
+ //motors = 0;
pwm[0] = 0;
pwm[1] = 0;
@@ -155,5 +155,26 @@
//if(packet.leg&L_U)
//if(packet.leg&L_D)
+ check_counter++; //abs counter
+
+ if(xbee.re_counter_rx() > counter_rx) increase_counter++;
+
+ counter_rx = xbee.re_counter_rx();
+
+ if(check_counter >= 100){
+
+ if(increase_counter <= 10){
+
+ safety_mode();
+
+ increase_counter = 0;
+ check_counter = 0;
+ xbee.reset_counter_rx();
+
+ counter_rx = 0;
+
+ }
+
+ }
}
}
\ No newline at end of file