File content as of revision 9:6057314dc8ec:

//Master mbed Program

#include "mbed.h"
#include "fm.h"
#include "bluetooth.h"
#include "control.h"

//BT_MASTER or BT_SLAVE
#define DEVICE_ROLE BT_SLAVE

//Serial pc(USBTX, USBRX);   // tx, rx
 
//debug
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led4(LED4);


void masterLoop(void);

int main()
{
    //FM_FREQUENCY is defined in fm.h
    unsigned int fm_frequency = DEVICE_ROLE==BT_MASTER ? FM_FREQUENCY1 : FM_FREQUENCY2;
    
    //fmSetup( fm_frequency );
    btSetup(DEVICE_ROLE);
    //motorSetup();
    
    while(1){
        if( DEVICE_ROLE==BT_MASTER ){
            masterLoop();
        }
        /*i2c.start();
        i2c.write(0x11);
        i2c.write(0x42);
        i2c.write(0x07);
        i2c.write(0x0F);
        i2c.stop();
        wait(0.05);*/
    }
 }

void masterLoop(){
    float ir_m,fsr_m;   //sensor of master
    float ir_s,fsr_s;   //sensor of slave
    char function_m;    //motor function of master
    char function_s;    //motor function of slave
    float power_m;      //motor power of master
    float power_s;      //motor power of slave
    float dst;
    getSensor( &ir_m, &fsr_m );
    recieveSensor( &ir_s, &fsr_s );
    
    //距離を一定に保つ
    /*
    if( (dst=abs( ir_m+ir_s - center_pos*2 ))<0.1 ){
        if( fsr_s-fsr_m>0.2 ){
            function_m = MOTOR_OPEN;
            power_m = 0;
            function_s = MOTOR_PULL;
            power_s = dst/2;
        }
        else if( fsr_m-fsr_s >0.2 ){
            function_m = MOTOR_PULL;
            power_m = dst/2;
            function_s = MOTOR_OPEN;
            power_s = 0;
        }
        else{
            function_m = MOTOR_OPEN;
            power_m = 0;
            function_s = MOTOR_OPEN;
            power_s = 0;
        }
    }
    else if( ir_m+ir_s - center_pos*2 < 0 ){
        function_m = MOTOR_LOOSE;
        power_m = dst/2;
        function_s = MOTOR_LOOSE;
        power_s = dst/2;
    }
    else{
        function_m = MOTOR_PULL;
        power_m = dst/2;
        function_s = MOTOR_PULL;
        power_s = dst/2;
    }
    */
    
    function_m = MOTOR_PULL;
    power_m = 0.1;
    function_s = MOTOR_PULL;
    power_s = 0.1;
    
    
    //Master's motor
    motor( function_m, power_s );
    //slave's motor
    sendMotor( function_s, power_s );
    
    led4 = ( ir_s>0.5 ? 1 : 0 );
    led2 = ( led2 ? 0 : 1 );
    wait(0.1);
}