NagaokaRoboticsClub_mbedTeam / Mbed OS a_team_R1370

jairo

Dependencies:   R1370 SerialMultiByte

Fork of R1370sample by NagaokaRoboticsClub_mbedTeam

main.cpp@1:022a516e4765, 2018-10-02 (annotated)

Committer:
skouki
Date:
Tue Oct 02 10:44:08 2018 +0000
Revision:
1:022a516e4765
Parent:
0:f94834989686 
jairo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skouki 1:022a516e4765 1 #include"R1370.h"
skouki 1:022a516e4765 2 #include"mbed.h"
skouki 1:022a516e4765 3 #include"SerialMultiByte.h"
skouki 1:022a516e4765 4 Serial pc(USBTX,USBRX,115200);
skouki 1:022a516e4765 5 R1370 r1370(PC_10,PC_11);
skouki 1:022a516e4765 6 SerialMultiByte mboard(PC_12,PD_2);
skouki 1:022a516e4765 7 double angle;
skouki 1:022a516e4765 8 uint8_t tx_data[10];
skouki 1:022a516e4765 9 int angle_original;
skouki 1:022a516e4765 10 int main(){
skouki 1:022a516e4765 11 mboard.baud(115200);
skouki 1:022a516e4765 12 mboard.setHeaders('H','Z');
skouki 1:022a516e4765 13 while(1){
skouki 1:022a516e4765 14 angle = r1370.getAngle();
skouki 1:022a516e4765 15 angle = angle * 100.000;
skouki 1:022a516e4765 16 angle_original = angle;
skouki 1:022a516e4765 17 angle = abs(angle);
skouki 1:022a516e4765 18 int angle_ = angle;
UCHITAKE 0:f94834989686 19
skouki 1:022a516e4765 20 tx_data[0] = angle_ >> 8;
skouki 1:022a516e4765 21 tx_data[1] = angle_ & 0xff;
skouki 1:022a516e4765 22 if(angle_original < 0.0){
skouki 1:022a516e4765 23 tx_data[0] = tx_data[0] + 128;
skouki 1:022a516e4765 24 }
skouki 1:022a516e4765 25 mboard.sendData(tx_data,2);
skouki 1:022a516e4765 26 int data = ((tx_data[0] << 8 )| tx_data[1]);
skouki 1:022a516e4765 27 if(tx_data[0] >= 128)
skouki 1:022a516e4765 28 data = ((data - 32768) * -1);
skouki 1:022a516e4765 29 pc.printf("%d-%d-%d\n\r",data,tx_data[0],tx_data[1]);
UCHITAKE 0:f94834989686 30
skouki 1:022a516e4765 31
skouki 1:022a516e4765 32 }
skouki 1:022a516e4765 33 }