MMlab / Mbed 2 deprecated PING_ultrasonic

Dependencies:   USBDevice mbed

Revision:
5:62de7a36d3af
Parent:
4:00ac3d093b24
Child:
6:28b7339892f9
--- a/main.cpp	Mon Sep 26 14:01:47 2016 +0000
+++ b/main.cpp	Tue Sep 27 05:24:37 2016 +0000
@@ -13,8 +13,8 @@
 Timeout timeouter1,timeouter2;
 int flag=0;
 float sum1=0,sum2=0,count1=0,count2=0,timecount1=0,timecount2=0,timesum1=0,timesum2=0,v,argv;
-int16_t x=0,y=0,i=2;
-int8_t button = 0;
+int16_t x=0,y=0,throttle = 0,rudder = 0,i=0;
+int8_t button=0,hat = 0;
 long microsecondsToCentimeters(long microseconds);
 
 void reset()
@@ -27,6 +27,14 @@
 void output()
 {
     printf("\n|v|: %lf theta: %lf\n",v,argv); //最終的にだすやつ
+    x = argv;
+    y = v;
+    i=2;
+    
+    wait(1);
+    button = (i<<8) & 0x0F;
+
+    joystick.update(throttle, rudder, x, y, button, hat);
 }
 
 int main()
@@ -65,6 +73,7 @@
             }
             if(flag==1) {
                 timeouter1.detach();
+                timeouter2.detach();
                 timeouter2.attach(&output, 1);
                 timeouter1.attach(&reset, 5);
             }
@@ -130,11 +139,7 @@
         }
         wait_ms(10);
     }
-    button = (i >> 8) & 0x0F;
-    x = argv;
-    y = v;
 
-    joystick.update(x, y, button);
 }
 
 long microsecondsToInches(long microseconds)