Diff: main.cpp

Revision:

3:a1489a94c436

Parent:

2:eb1c123c9140

Child:

4:1102ab499430

--- a/main.cpp	Wed Sep 03 05:22:12 2014 +0000
+++ b/main.cpp	Wed Sep 03 07:44:20 2014 +0000
@@ -1,4 +1,5 @@
 #include "mbed.h"
+#include "MultiSerial.h"
 
 #define DATA_NUM 10 //DATA_NUM[byte]通信
 #define MY_KEYCODE 0xAA//keycode
@@ -9,6 +10,8 @@
 #define ARM_REV 1.0
 #define TURN_REV 0.5
 
+#define KEYCODE 0xAA
+
 volatile uint8_t INdata[DATA_NUM]={0}, EXdata[DATA_NUM]={0};
 volatile uint8_t count=0;
 
@@ -23,7 +26,15 @@
 }
 
 BusOut LED(LED1, LED2, LED3, LED4);//確認用
-BusIn mt(p19, p20, p17, p18);//Switch
+
+/* 
+    BusIn mt(p19, p20, p17, p18);//Switch
+*/
+
+MultiSerial leg_mbed(p13,p14,read);
+
+uint8_t data[1];
+
 //DigitalIn Ninety[2]={p5, p6};//R, L
 DigitalIn OneEighty[2]={p5, p6};//R, L
 InterruptIn HandSW[3]={p7, p8, p9};//p14, p15, p16//R, L, C
@@ -54,7 +65,9 @@
     
     while(1) {
         
-        INdata[1]= ~mt;
+        leg_mbed.read_data(data,KEYCODE);
+        
+        INdata[1]= data[0];
         
         if(GetBit(INdata[1], 2)==OFF) StopLeaving();//停止
         
@@ -151,7 +164,7 @@
 }
 void SetUp(void){//literally
     
-    mt.mode(PullUp);
+  //  mt.mode(PullUp);
     
     HandSpeed[R] = HandSpeed[L] = ARM_REV;
     TurnSpeed = TURN_REV;