NagaokaRoboticsClub_mbedTeam / Mbed OS 2019NHK_A_sensor

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Dependencies:   SerialMultiByte QEI TFmini IRsensor

main.cpp

Committer:
highfieldsnj
Date:
2019-08-26
Revision:
0:d789af71fbc6
Child:
1:6ae7ff29d054

File content as of revision 0:d789af71fbc6:

#include "mbed.h"
#include "IRsensor.h"
#include "TFmini.h"
#include "QEI.h"
#include "SerialMultiByte.h"
#include "pinconfig.h"

union UnionBytes{
    uint8_t bytes[28];
    float IRdistance[7];    //0~1
    uint32_t TFdistance[7]; //2~3
    uint32_t pulses[7];     //4~6
};

IRsensor ir[] = {
    IRsensor(IR_0),
    IRsensor(IR_1)
};

TFmini tf[] = {
    TFmini(TF0_TX, TF0_RX),
    TFmini(TF1_TX, TF0_RX)
};

QEI loli[] = {
    QEI(encoder_0A, encoder_0B, NC, 100, QEI::X4_ENCODING),
    QEI(encoder_1A, encoder_1B, NC, 100, QEI::X4_ENCODING),
    QEI(encoder_2A, encoder_2B, NC, 100, QEI::X4_ENCODING)
};

SerialMultiByte serial(mainTX, mainRX);

int main()
{
    UnionBytes bytedata;
    for(int i=0; i<28; i++){
        bytedata.bytes[i] = 0;
    }
    for(int i=0; i<2; i++){
        ir[i].startAveraging(10);
    }
    while (true) {
        for(int i=0; i<2; i++){
            bytedata.IRdistance[i] = ir[i].get_Averagingdistance();
        }
        for(int i=0; i<2; i++){
            bytedata.TFdistance[i+2] = tf[i].getDistance();
        }
        for(int i=0; i<3; i++){
            bytedata.pulses[i+4] = loli[i].getPulses();
        }
        serial.sendData(bytedata.bytes, 28);
    }
}