NIT Fukui / Mbed OS 2021Arobo_YUMIPYOI

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Dependencies:   Serial6050Yaw CERICA_2019

Diff: Utility.h

Revision:
0:dfbe64c7cd06
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Utility.h	Mon Apr 25 09:11:47 2022 +0000
@@ -0,0 +1,43 @@
+#pragma once
+
+#define PI 3.1415926535897932384626433832795
+#define pin GPIO[9]
+RawSerial pc(USBTX,USBRX,115200);
+//Serial6050 mpu(PC_10, PC_11, PC_12);
+DigitalIn limit_pin = GPIO[0];
+PwmOut PWM(PA_8);
+DigitalOut debugLED(D13);
+DigitalIn button(PC_13);
+
+volatile int Opflag=0;
+volatile int Clflag=0;
+volatile int count=3;
+volatile int Motor[4] = {0};
+volatile double dire = 1;
+volatile char  MoveFlag = 0;
+
+
+void LEDThread()
+{
+    while(1){
+        if(MoveFlag != 0){
+            debugLED = 1;
+            wait_ms(100);
+            debugLED = 0;
+        }
+        else debugLED = 0;
+    }
+}
+
+void commArduinoThread()
+{
+    while(1){
+        cerica.Send(1);//MotorSend
+        char flag[1];
+        i2c.read(0x08 << 1,flag,1);
+
+        MoveFlag = flag[0];
+        //pc.printf("data : %u\r\n",flag[0]);
+        wait_ms(40);
+    }
+}
\ No newline at end of file