NagaokaRoboticsClub_mbedTeam / Mbed OS a_team_R1370

jairo

Dependencies:   R1370 SerialMultiByte

Fork of R1370sample by NagaokaRoboticsClub_mbedTeam

main.cpp

Committer:
skouki
Date:
2018-10-02
Revision:
1:022a516e4765
Parent:
0:f94834989686

File content as of revision 1:022a516e4765:

#include"R1370.h"
#include"mbed.h"
#include"SerialMultiByte.h"
Serial pc(USBTX,USBRX,115200);
R1370 r1370(PC_10,PC_11);
SerialMultiByte mboard(PC_12,PD_2);
double angle;
uint8_t tx_data[10];
int angle_original;
int main(){
 mboard.baud(115200);
 mboard.setHeaders('H','Z');
 while(1){
   angle = r1370.getAngle();
   angle = angle * 100.000;
   angle_original = angle;
   angle = abs(angle);
   int angle_ = angle;

   tx_data[0] = angle_ >> 8;
   tx_data[1] = angle_ & 0xff;
   if(angle_original < 0.0){
     tx_data[0] = tx_data[0] + 128;
   }
   mboard.sendData(tx_data,2);
   int data = ((tx_data[0] << 8 )| tx_data[1]);
   if(tx_data[0] >= 128)
     data = ((data - 32768) * -1);
   pc.printf("%d-%d-%d\n\r",data,tx_data[0],tx_data[1]);


   }
}