NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated 2022_NHK_B_sub2

sub2 MDC and enc

Dependencies:   2022_NHK_B_canTR FEP_RX22 QEI ikarashiMDC_2byte_ver mbed HOSOKIkikou R1370 SEKIkikou

main.cpp@0:877aeb04390a, 20 months ago (annotated)

Committer:
ikarashikota
Date:
Thu Sep 29 08:18:07 2022 +0000
Revision:
0:877aeb04390a
Child:
2:ea17f9e04972
first

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ikarashikota 0:877aeb04390a 1 #include "mbed.h"
ikarashikota 0:877aeb04390a 2 #include "controller.h"
ikarashikota 0:877aeb04390a 3 #include "pinconfig.h"
ikarashikota 0:877aeb04390a 4 #include "ikarashiMDC.h"
ikarashikota 0:877aeb04390a 5
ikarashikota 0:877aeb04390a 6 Bcon mycon(fepTX, fepRX, fepad);
ikarashikota 0:877aeb04390a 7 Serial pc(pcTX, pcRX, 115200);
ikarashikota 0:877aeb04390a 8 Serial serial(motorTX, motorRX, 115200);
ikarashikota 0:877aeb04390a 9 DigitalOut stop(stop_pin);
ikarashikota 0:877aeb04390a 10 DigitalOut led(LED2);
ikarashikota 0:877aeb04390a 11
ikarashikota 0:877aeb04390a 12 ikarashiMDC motor[] = {
ikarashikota 0:877aeb04390a 13 ikarashiMDC(0,0,SM,&serial),
ikarashikota 0:877aeb04390a 14 ikarashiMDC(0,1,SM,&serial),
ikarashikota 0:877aeb04390a 15 ikarashiMDC(0,2,SM,&serial),
ikarashikota 0:877aeb04390a 16 ikarashiMDC(0,3,SM,&serial)
ikarashikota 0:877aeb04390a 17 };
ikarashikota 0:877aeb04390a 18
ikarashikota 0:877aeb04390a 19 uint8_t b[8];
ikarashikota 0:877aeb04390a 20 int16_t stick[4];
ikarashikota 0:877aeb04390a 21
ikarashikota 0:877aeb04390a 22 void recieveController(){
ikarashikota 0:877aeb04390a 23 for (int i=0; i<8; i++) b[i] = mycon.getButton(i);
ikarashikota 0:877aeb04390a 24 for (int i=0; i<4; i++) stick[i] = mycon.getStick(i);
ikarashikota 0:877aeb04390a 25
ikarashikota 0:877aeb04390a 26 for (int i=0; i<8; i++) pc.printf("%d ", b[i]);
ikarashikota 0:877aeb04390a 27 pc.printf(" | ");
ikarashikota 0:877aeb04390a 28 for (int i=0; i<4; i++) pc.printf("%3d ", stick[i]);
ikarashikota 0:877aeb04390a 29 pc.printf(" | ");
ikarashikota 0:877aeb04390a 30 if (mycon.status) pc.printf("received\r\n");
ikarashikota 0:877aeb04390a 31 else pc.printf("anything error...\r\n");
ikarashikota 0:877aeb04390a 32 }
ikarashikota 0:877aeb04390a 33
ikarashikota 0:877aeb04390a 34
ikarashikota 0:877aeb04390a 35 int main()
ikarashikota 0:877aeb04390a 36 {
ikarashikota 0:877aeb04390a 37 mycon.StartReceive();
ikarashikota 0:877aeb04390a 38 stop = 1;
ikarashikota 0:877aeb04390a 39 led = 1;
ikarashikota 0:877aeb04390a 40
ikarashikota 0:877aeb04390a 41 while(1) {
ikarashikota 0:877aeb04390a 42
ikarashikota 0:877aeb04390a 43 //recieveController();
ikarashikota 0:877aeb04390a 44
ikarashikota 0:877aeb04390a 45 }
ikarashikota 0:877aeb04390a 46 }