Diff: main.cpp

Revision:

1:022a516e4765

Parent:

0:f94834989686

diff -r f94834989686 -r 022a516e4765 main.cpp
--- a/main.cpp	Fri Aug 24 04:38:58 2018 +0000
+++ b/main.cpp	Tue Oct 02 10:44:08 2018 +0000
@@ -1,17 +1,33 @@
-#include "mbed.h"
-#include "R1370.h"
-
-R1370 r1370(PC_10, PC_11);
-Serial pc(USBTX, USBRX, 230400);
-DigitalOut led1(LED1);
+#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;
 
-// main() runs in its own thread in the OS
-int main() {
-    while (true) {
-        led1 = !led1;
-        pc.printf("ANGLE:<%3.4fdegrees>", r1370.getAngle());
-        pc.printf("  RATE:<%3.4fdegrees>", r1370.getRate());
-        pc.printf("  ACC:<%4d, %4d, %4d>\r\n", r1370.getAcc('x'), r1370.getAcc('y'), r1370.getAcc('z'));
-    }
-}
+   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]);
 
+
+   }
+}
\ No newline at end of file