Diff: main.cpp

Revision:

5:9c52e6c14c87

Parent:

4:c2b09fa31492

Child:

6:0bee4b2bb400

--- a/main.cpp	Tue Aug 29 17:00:05 2017 +0900
+++ b/main.cpp	Wed Aug 30 03:44:00 2017 +0900
@@ -1,12 +1,15 @@
 #include "mbed.h"
 #include "hayatoBoomerang.h"
+#include "recieveController.h"
 
 Serial rs485(PC_10,PC_11,38400);
-//Serial serial(USBTX,USBRX);
+Serial serial(USBTX,USBRX);
 PwmOut led(LED1);
 DigitalIn button(BUTTON1);
 boomerang boom(&rs485);
 Thread commThread;
+recieveController con(PA_0,PA_1,198);
+// Serial con(PA_0,PA_1,115200);
 
 typedef struct {
   char data[4];
@@ -16,27 +19,33 @@
 {
   button.mode(PullUp);
 
+ serial.baud(115200);
   //boom.calibrateArm();
   boom.setTargetMotorSpeed(0);
   boom.setTargetArmAngle(10);
 }
+void comm()
+{
+  wait_ms(10);
+}
 
 
 int main() {
   init();
-  double i = -1;
+  char data[20],*data2,*data3;
+  // commThread.start(&comm);
   while(true)
   {
-    if(!button)
+    if(con.buttons[0] == 1024 )
       boom.fire();
     boom.update();
     led = boom.beltSpeed;
-    wait_ms(10);
-    // boom.beltSpeed = i;
-    // boom.update();
-    // i += 0.01;
-    // wait_ms(10);
-    // if(i > 1) i = -1;
+    wait_ms(50);
+    // printf("hi\n" );
+      /* code */
+     con.update();
+    // printf("whats up\n" );
+    serial.printf("circle:%d\n",con.buttons[0]);
 
   }