Cat_Bot
/
Cat_Bot_sub2
サブマイコン
Fork of Cat_Bot_sub by
main.cpp
- Committer:
- UCHITAKE
- Date:
- 2017-03-23
- Revision:
- 2:3f2d37164a10
- Parent:
- 1:f4ae12a86f80
File content as of revision 2:3f2d37164a10:
#include "mbed.h" #include "hcsr04.h" Serial to_main(dp4,dp5); HCSR04 front(dp24,dp25); HCSR04 back(dp22,dp23); HCSR04 right(dp20,dp21); HCSR04 left(dp18,dp19); Ticker tick; char dist[4]= {0}; void put() { to_main.putc(1); to_main.putc(dist[0]); to_main.putc(dist[1]); to_main.putc(dist[2]); to_main.putc(dist[3]); } int main() { to_main.baud(9600); tick.attach(&put, 0.05); while(1) { front.start(); back.start(); right.start(); left.start(); 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(); } }