NagaokaRoboticsClub_mbedTeam
jairo
Dependencies: R1370 SerialMultiByte
Fork of
R1370sample
by 
NagaokaRoboticsClub_mbedTeam
Revision 1:022a516e4765, committed 2018-10-02
- Comitter:
- skouki
- Date:
- Tue Oct 02 10:44:08 2018 +0000
- Parent:
- 0:f94834989686
- Commit message:
- jairo
Changed in this revision
--- a/R1370.lib Fri Aug 24 04:38:58 2018 +0000 +++ b/R1370.lib Tue Oct 02 10:44:08 2018 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/R1370/#243364135087 +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/R1370/#08ff7c46665f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SerialMultiByte.lib Tue Oct 02 10:44:08 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/SerialMultiByte/#4109001829fe
--- 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
--- a/mbed-os.lib Fri Aug 24 04:38:58 2018 +0000 +++ b/mbed-os.lib Tue Oct 02 10:44:08 2018 +0000 @@ -1,1 +1,1 @@ -https://github.com/ARMmbed/mbed-os/#f8b140f8d7cb226e41486c5df66ac4f3ce699219 +https://github.com/ARMmbed/mbed-os/#835fabe557aabc3f8ec5d3fc1163fec757fbbe48