NagaokaRoboticsClub_mbedTeam / Mbed OS hayatoShooter

2017ロボコンはやとブーメランプログラム

Dependencies:   PID QEI ikarashiMDC recieveController omni

main.cpp

Committer:
WAT34
Date:
2017-08-30
Revision:
5:9c52e6c14c87
Parent:
4:c2b09fa31492
Child:
6:0bee4b2bb400

File content as of revision 5:9c52e6c14c87:

#include "mbed.h"
#include "hayatoBoomerang.h"
#include "recieveController.h"

Serial rs485(PC_10,PC_11,38400);
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];
} mail_t;

void init()
{
  button.mode(PullUp);

 serial.baud(115200);
  //boom.calibrateArm();
  boom.setTargetMotorSpeed(0);
  boom.setTargetArmAngle(10);
}
void comm()
{
  wait_ms(10);
}


int main() {
  init();
  char data[20],*data2,*data3;
  // commThread.start(&comm);
  while(true)
  {
    if(con.buttons[0] == 1024 )
      boom.fire();
    boom.update();
    led = boom.beltSpeed;
    wait_ms(50);
    // printf("hi\n" );
      /* code */
     con.update();
    // printf("whats up\n" );
    serial.printf("circle:%d\n",con.buttons[0]);

  }

}