Diff: main.cpp

Revision:

0:86bb99faa77e

diff -r 000000000000 -r 86bb99faa77e main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 31 06:18:36 2019 +0000
@@ -0,0 +1,61 @@
+#include "mbed.h"
+#define speed 0.375
+#include "mbed.h"
+
+SPISlave spi(PA_7,PA_6,PA_5,PA_4);
+
+PwmOut motorUP(PA_10);
+PwmOut motorDOWN(PA_9);
+PwmOut motorLEFT(PA_8);
+PwmOut motorRIGHT(PA_1);
+
+void setting(void)
+{
+    motorUP.period_ms(1);
+    motorDOWN.period_ms(1);
+    motorLEFT.period_ms(1);
+    motorRIGHT.period_ms(1);
+    spi.format(8,3);
+    spi.frequency(1000000);
+}
+int main() {
+    motorRIGHT = 0;
+    motorLEFT = 0;
+    motorDOWN = 0;
+    motorUP = 0;
+    while(1) {
+        if (spi.read() == 128) {       //ARM_UP
+            motorRIGHT = 0;
+            motorLEFT = 0;
+            motorDOWN = 0;
+            motorUP = 0.2;
+            printf("up/n");
+        }else if (spi.read() == 1) {   //ARM_DOWN
+            motorRIGHT = 0;
+            motorLEFT = 0;
+            motorDOWN = 0.2;
+            motorUP = 0;
+            printf("down/n");
+        }else if (spi.read() == 129) { //LEFT
+            motorRIGHT = 0;
+            motorLEFT = speed;
+            motorDOWN = 0;
+            motorUP = 0;
+            printf("left/n");
+        }else if (spi.read() == 2) {   //RIGHT
+            motorRIGHT = speed;
+            motorLEFT = 0;
+            motorDOWN = 0;
+            motorUP = 0;
+            printf("right/n");
+        }else {                      //stop
+            motorRIGHT = 0;
+            motorLEFT = 0;
+            motorDOWN = 0;
+            motorUP = 0;
+        }
+        int result = spi.read();
+        printf("%d\n",result);
+    }
+}
+