Cat_Bot
/
Cat_Bot_sub2
サブマイコン
Fork of Cat_Bot_sub by
Diff: main.cpp
- Revision:
- 1:f4ae12a86f80
- Parent:
- 0:31a72c321609
- Child:
- 2:3f2d37164a10
--- a/main.cpp Thu Feb 02 15:37:06 2017 +0000 +++ b/main.cpp Fri Feb 03 10:34:43 2017 +0000 @@ -1,8 +1,6 @@ #include "mbed.h" #include "hcsr04.h" -//I2C to_main(dp4,dp5); -//I2CSlave to_main(dp4,dp5); Serial to_main(dp4,dp5); //Serial pc(USBTX,USBRX); @@ -11,25 +9,33 @@ HCSR04 right(dp20,dp21); HCSR04 left(dp18,dp19); -//DigitalOut led(dp12); -//const int addr=0x0A; int main() { char dist[4]={0}; //to_main.baud(19200); - //to_main.address(addr); while(1) { front.start(); back.start(); right.start(); left.start(); - dist[0]=front.get_dist_cm(); - dist[1]=back.get_dist_cm(); - dist[2]=right.get_dist_cm(); - dist[3]=left.get_dist_cm(); - //led=to_main.write(addr,dist,4); - //led=to_main.write(dist, 4); + if(front.get_dist_cm()>255) + dist[0]=255; + else + dist[0]=front.get_dist_cm(); + if(back.get_dist_cm()>255) + dist[1]=255; + else + dist[1]=back.get_dist_cm(); + if(right.get_dist_cm()>255) + dist[2]=255; + else + dist[2]=right.get_dist_cm(); + if(left.get_dist_cm()>255) + dist[3]=255; + else + dist[3]=left.get_dist_cm(); + to_main.putc(1); for(int i=0;i<4;i++){ to_main.putc(dist[i]);