jairo
Dependencies: R1370 SerialMultiByte
Fork of R1370sample by
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?
User | Revision | Line number | New 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 | } |