NIT Fukui / Mbed OS 2021Arobo_YUMIPYOI

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Dependencies:   Serial6050Yaw CERICA_2019

Utility.h@0:dfbe64c7cd06, 2022-04-25 (annotated)

Committer:
konagi
Date:
Mon Apr 25 09:11:47 2022 +0000
Revision:
0:dfbe64c7cd06
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
konagi 0:dfbe64c7cd06 1 #pragma once
konagi 0:dfbe64c7cd06 2
konagi 0:dfbe64c7cd06 3 #define PI 3.1415926535897932384626433832795
konagi 0:dfbe64c7cd06 4 #define pin GPIO[9]
konagi 0:dfbe64c7cd06 5 RawSerial pc(USBTX,USBRX,115200);
konagi 0:dfbe64c7cd06 6 //Serial6050 mpu(PC_10, PC_11, PC_12);
konagi 0:dfbe64c7cd06 7 DigitalIn limit_pin = GPIO[0];
konagi 0:dfbe64c7cd06 8 PwmOut PWM(PA_8);
konagi 0:dfbe64c7cd06 9 DigitalOut debugLED(D13);
konagi 0:dfbe64c7cd06 10 DigitalIn button(PC_13);
konagi 0:dfbe64c7cd06 11
konagi 0:dfbe64c7cd06 12 volatile int Opflag=0;
konagi 0:dfbe64c7cd06 13 volatile int Clflag=0;
konagi 0:dfbe64c7cd06 14 volatile int count=3;
konagi 0:dfbe64c7cd06 15 volatile int Motor[4] = {0};
konagi 0:dfbe64c7cd06 16 volatile double dire = 1;
konagi 0:dfbe64c7cd06 17 volatile char MoveFlag = 0;
konagi 0:dfbe64c7cd06 18
konagi 0:dfbe64c7cd06 19
konagi 0:dfbe64c7cd06 20 void LEDThread()
konagi 0:dfbe64c7cd06 21 {
konagi 0:dfbe64c7cd06 22 while(1){
konagi 0:dfbe64c7cd06 23 if(MoveFlag != 0){
konagi 0:dfbe64c7cd06 24 debugLED = 1;
konagi 0:dfbe64c7cd06 25 wait_ms(100);
konagi 0:dfbe64c7cd06 26 debugLED = 0;
konagi 0:dfbe64c7cd06 27 }
konagi 0:dfbe64c7cd06 28 else debugLED = 0;
konagi 0:dfbe64c7cd06 29 }
konagi 0:dfbe64c7cd06 30 }
konagi 0:dfbe64c7cd06 31
konagi 0:dfbe64c7cd06 32 void commArduinoThread()
konagi 0:dfbe64c7cd06 33 {
konagi 0:dfbe64c7cd06 34 while(1){
konagi 0:dfbe64c7cd06 35 cerica.Send(1);//MotorSend
konagi 0:dfbe64c7cd06 36 char flag[1];
konagi 0:dfbe64c7cd06 37 i2c.read(0x08 << 1,flag,1);
konagi 0:dfbe64c7cd06 38
konagi 0:dfbe64c7cd06 39 MoveFlag = flag[0];
konagi 0:dfbe64c7cd06 40 //pc.printf("data : %u\r\n",flag[0]);
konagi 0:dfbe64c7cd06 41 wait_ms(40);
konagi 0:dfbe64c7cd06 42 }
konagi 0:dfbe64c7cd06 43 }