Diff: main.cpp

Revision:

1:6ae7ff29d054

Parent:

0:d789af71fbc6

diff -r d789af71fbc6 -r 6ae7ff29d054 main.cpp
--- a/main.cpp	Mon Aug 26 08:44:58 2019 +0000
+++ b/main.cpp	Thu Sep 05 16:15:26 2019 +0900
@@ -8,8 +8,8 @@
 union UnionBytes{
     uint8_t bytes[28];
     float IRdistance[7];    //0~1
-    uint32_t TFdistance[7]; //2~3
-    uint32_t pulses[7];     //4~6
+    int32_t TFdistance[7]; //2~3
+    int32_t pulses[7];     //4~6
 };
 
 IRsensor ir[] = {
@@ -19,37 +19,47 @@
 
 TFmini tf[] = {
     TFmini(TF0_TX, TF0_RX),
-    TFmini(TF1_TX, TF0_RX)
+    TFmini(TF1_TX, TF1_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)
+    QEI(encoder_4A, encoder_4B, NC, 100, QEI::X4_ENCODING),
+    QEI(encoder_3A, encoder_3B, NC, 100, QEI::X4_ENCODING)
 };
 
 SerialMultiByte serial(mainTX, mainRX);
 
+Serial pc(USBTX, USBRX, 115200);
+
 int main()
 {
+    //pc.printf("hello\r\n");
     UnionBytes bytedata;
+    uint8_t sendbytes[28];
     for(int i=0; i<28; i++){
         bytedata.bytes[i] = 0;
     }
     for(int i=0; i<2; i++){
         ir[i].startAveraging(10);
     }
-    while (true) {
+    while (1) {
         for(int i=0; i<2; i++){
             bytedata.IRdistance[i] = ir[i].get_Averagingdistance();
+            pc.printf("%f ", bytedata.IRdistance[i]);
         }
         for(int i=0; i<2; i++){
-            bytedata.TFdistance[i+2] = tf[i].getDistance();
+            bytedata.TFdistance[i+2] = (int32_t)tf[i].getDistance();
+            pc.printf("%d ", bytedata.TFdistance[i+2]);
         }
         for(int i=0; i<3; i++){
-            bytedata.pulses[i+4] = loli[i].getPulses();
+            bytedata.pulses[i+4] = (int32_t)loli[i].getPulses();
+            pc.printf("%d ", bytedata.pulses[i+4]);
         }
-        serial.sendData(bytedata.bytes, 28);
+        for(int i=0; i<28; i++){
+            sendbytes[i] = bytedata.bytes[i];
+        }
+        serial.sendData(sendbytes, 28);
+        pc.printf("a\r\n");
     }
 }
-