sub2 MDC and enc
Dependencies: 2022_NHK_B_canTR FEP_RX22 QEI ikarashiMDC_2byte_ver mbed HOSOKIkikou R1370 SEKIkikou
main.cpp@2:ea17f9e04972, 20 months ago (annotated)
- Committer:
- umekou
- Date:
- Fri Sep 30 05:31:57 2022 +0000
- Revision:
- 2:ea17f9e04972
- Parent:
- 0:877aeb04390a
- Child:
- 3:75dae8deb5f3
Add QEI
Who changed what in which revision?
User | Revision | Line number | New 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); |
umekou | 2:ea17f9e04972 | 7 | Serial pc(USBTX, USBRX, 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 | } |