NagaokaRoboticsClub_mbedTeam / Mbed 2 deprecated CompactController_2017

This is Compact Conoroller program using "FEP" library.

Dependencies:   FEP mbed

main.cpp@2:cb00e9fed324, 2017-07-14 (annotated)

Committer:
eil4nyqn
Date:
Fri Jul 14 13:25:03 2017 +0000
Revision:
2:cb00e9fed324
Parent:
0:b7708bb00e0c
Child:
3:86eed23d1883
fixed not mach function name of FEP lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
eil4nyqn 0:b7708bb00e0c 1 #include "mbed.h"
eil4nyqn 0:b7708bb00e0c 2 #include "FEP.h"
eil4nyqn 0:b7708bb00e0c 3
eil4nyqn 0:b7708bb00e0c 4 BusIn onSW(PA_4,PA_5,PB_5,PB_4,PB_3,PA_15,PA_12);
eil4nyqn 0:b7708bb00e0c 5 BusIn otherSW(PC_13,PC_14,PB_9,PC_15,PA_11,PA_1);
eil4nyqn 0:b7708bb00e0c 6 AnalogIn Stick[4]={PA_6,PA_7,PB_0,PB_1};
eil4nyqn 0:b7708bb00e0c 7 FEP fep(PA_2,PA_3);
eil4nyqn 0:b7708bb00e0c 8 Serial xbee(PA_9,PA_10,38400);
eil4nyqn 0:b7708bb00e0c 9 Serial pc(PB_10,PB_11,115200);
eil4nyqn 0:b7708bb00e0c 10 DigitalOut leds[4]={PB_15,PB_14,PB_13,PB_12};
eil4nyqn 0:b7708bb00e0c 11
eil4nyqn 0:b7708bb00e0c 12 void LED_allOFF(){
eil4nyqn 0:b7708bb00e0c 13 int i;
eil4nyqn 0:b7708bb00e0c 14 for(i=0;i<4;i++){
eil4nyqn 0:b7708bb00e0c 15 leds[i]=1;
eil4nyqn 0:b7708bb00e0c 16 }
eil4nyqn 0:b7708bb00e0c 17 }
eil4nyqn 0:b7708bb00e0c 18
eil4nyqn 0:b7708bb00e0c 19 void getInputState(double stick_val[],uint8_t SW_val[]){
eil4nyqn 0:b7708bb00e0c 20 int i;
eil4nyqn 0:b7708bb00e0c 21 SW_val[0]=onSW;
eil4nyqn 0:b7708bb00e0c 22 SW_val[1]=otherSW;
eil4nyqn 0:b7708bb00e0c 23 for(i=0;i<4;i++){
eil4nyqn 0:b7708bb00e0c 24 stick_val[i]=Stick[i];
eil4nyqn 0:b7708bb00e0c 25 }
eil4nyqn 0:b7708bb00e0c 26 }
eil4nyqn 0:b7708bb00e0c 27
eil4nyqn 0:b7708bb00e0c 28 void convertTXdata(double stick_val[],uint8_t SW_val[],char TXdata[]){
eil4nyqn 0:b7708bb00e0c 29 int i;
eil4nyqn 0:b7708bb00e0c 30 for(i=0;i<4;i++){
eil4nyqn 0:b7708bb00e0c 31 TXdata[i]=255*stick_val[i];
eil4nyqn 0:b7708bb00e0c 32 }
eil4nyqn 0:b7708bb00e0c 33 TXdata[4]=SW_val[0];
eil4nyqn 0:b7708bb00e0c 34 TXdata[5]=SW_val[1];
eil4nyqn 0:b7708bb00e0c 35 }
eil4nyqn 0:b7708bb00e0c 36
eil4nyqn 0:b7708bb00e0c 37
eil4nyqn 0:b7708bb00e0c 38 int main() {
eil4nyqn 0:b7708bb00e0c 39 onSW.mode(PullUp);
eil4nyqn 0:b7708bb00e0c 40 otherSW.mode(PullUp);
eil4nyqn 0:b7708bb00e0c 41 LED_allOFF();
eil4nyqn 0:b7708bb00e0c 42 double stick_val[4];
eil4nyqn 0:b7708bb00e0c 43 uint8_t SW_val[2];
eil4nyqn 0:b7708bb00e0c 44 char TXdata[128];
eil4nyqn 0:b7708bb00e0c 45 //set reciever module address (the last three numbers of S/N)
eil4nyqn 0:b7708bb00e0c 46 const uint8_t address=198;
eil4nyqn 0:b7708bb00e0c 47 uint8_t FEPstate;
eil4nyqn 0:b7708bb00e0c 48 while(1) {
eil4nyqn 0:b7708bb00e0c 49 getInputState(stick_val,SW_val);
eil4nyqn 0:b7708bb00e0c 50 convertTXdata(stick_val,SW_val,TXdata);
eil4nyqn 2:cb00e9fed324 51 FEPstate=fep.write_txt(TXdata,address,6);
eil4nyqn 0:b7708bb00e0c 52 leds[3]!=leds[3];
eil4nyqn 0:b7708bb00e0c 53 if(FEPstate==FEP_P0){
eil4nyqn 0:b7708bb00e0c 54 leds[0]=0;
eil4nyqn 0:b7708bb00e0c 55 leds[1]=1;
eil4nyqn 0:b7708bb00e0c 56 leds[2]=1;
eil4nyqn 0:b7708bb00e0c 57 continue;
eil4nyqn 0:b7708bb00e0c 58 }else if(FEPstate==FEP_N0){
eil4nyqn 0:b7708bb00e0c 59 leds[0]=1;
eil4nyqn 0:b7708bb00e0c 60 leds[1]=0;
eil4nyqn 0:b7708bb00e0c 61 leds[2]=1;
eil4nyqn 0:b7708bb00e0c 62 continue;
eil4nyqn 0:b7708bb00e0c 63 }else if(FEPstate==FEP_N1){
eil4nyqn 0:b7708bb00e0c 64 leds[0]=1;
eil4nyqn 0:b7708bb00e0c 65 leds[1]=1;
eil4nyqn 0:b7708bb00e0c 66 leds[2]=0;
eil4nyqn 0:b7708bb00e0c 67 continue;
eil4nyqn 0:b7708bb00e0c 68 }else{
eil4nyqn 0:b7708bb00e0c 69 leds[0]=1;
eil4nyqn 0:b7708bb00e0c 70 leds[1]=1;
eil4nyqn 0:b7708bb00e0c 71 leds[2]=1;
eil4nyqn 0:b7708bb00e0c 72 wait(0.1);
eil4nyqn 0:b7708bb00e0c 73 }
eil4nyqn 0:b7708bb00e0c 74 }
eil4nyqn 0:b7708bb00e0c 75 }