albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@24:72f9cb6e9440, 2017-03-20 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Mon Mar 20 16:10:41 2017 +0000
- Revision:
- 24:72f9cb6e9440
- Parent:
- 21:9b1f5123f4a8
- Child:
- 25:12408563540d
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 13:79eb74eb86c4 | 1 | //中央 |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
tsumagari | 10:b7159feb11fd | 4 | #define WAIT_LOOP_TIME 0.001 |
tsumagari | 9:c32999b4d2f9 | 5 | #define YOKUTAN_DATAS_NUM 7 |
tsumagari | 10:b7159feb11fd | 6 | #define INPUT_DATAS_NUM 5 |
YusukeWakuta | 0:b1290ca6c4a2 | 7 | #define SEND_DATAS_CAN_ID 100 |
tsumagari | 8:dbc8c87dac78 | 8 | #define SEND_DATAS_TIME 0.5 |
tsumagari | 8:dbc8c87dac78 | 9 | #define THRESHOLD_OH_VALUE 0.14 |
YusukeWakuta | 16:336e8b102555 | 10 | #define SUM_UP_NUM 20 |
YusukeWakuta | 15:c5ade23e5de4 | 11 | #define SAMPLE_INTERVAL 0.05 |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | |
YusukeWakuta | 20:d4951f491642 | 13 | #define PHASE_NUM 6 //偶数にしてください |
YusukeWakuta | 24:72f9cb6e9440 | 14 | #define SUM_UP_NUM 10.0 |
YusukeWakuta | 19:6387e3f02b37 | 15 | /* |
YusukeWakuta | 19:6387e3f02b37 | 16 | roll入力とピッチ入力だとピッチの方が1.5倍効くように |
YusukeWakuta | 19:6387e3f02b37 | 17 | */ |
YusukeWakuta | 18:31722545ecf1 | 18 | |
tsumagari | 9:c32999b4d2f9 | 19 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 20 | extern "C" void mbed_reset(); |
YusukeWakuta | 13:79eb74eb86c4 | 21 | InterruptIn resetPin(p22); |
tsumagari | 9:c32999b4d2f9 | 22 | Timer resetTimeCount; |
YusukeWakuta | 15:c5ade23e5de4 | 23 | void resetInterrupt() |
YusukeWakuta | 15:c5ade23e5de4 | 24 | { |
YusukeWakuta | 15:c5ade23e5de4 | 25 | while(resetPin) { |
tsumagari | 9:c32999b4d2f9 | 26 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 27 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 28 | } |
tsumagari | 9:c32999b4d2f9 | 29 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 30 | } |
tsumagari | 9:c32999b4d2f9 | 31 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 32 | |
taurin | 6:7484315ba88a | 33 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 34 | CAN can_L(p9,p10); |
YusukeWakuta | 14:ffe9460922cb | 35 | Serial toKeikiSerial(p28,p27); |
tsumagari | 7:59ddbe239835 | 36 | Serial pc(USBTX,USBRX); |
tsumagari | 10:b7159feb11fd | 37 | AnalogIn rollPin(p15); |
YusukeWakuta | 18:31722545ecf1 | 38 | AnalogIn pitchPin(p20); |
YusukeWakuta | 13:79eb74eb86c4 | 39 | DigitalIn drug_R(p14); |
taurin | 6:7484315ba88a | 40 | DigitalIn drug_L(p19); |
YusukeWakuta | 0:b1290ca6c4a2 | 41 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 42 | DigitalOut myled2(LED2); |
YusukeWakuta | 15:c5ade23e5de4 | 43 | DigitalOut led4(LED4); |
YusukeWakuta | 15:c5ade23e5de4 | 44 | DigitalOut led3(LED3); |
tsumagari | 9:c32999b4d2f9 | 45 | //Ticker sendDatasTicker; |
YusukeWakuta | 0:b1290ca6c4a2 | 46 | |
taurin | 4:4a13dd263a7b | 47 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 48 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 49 | char inputDatas_R[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 50 | char inputDatas_L[INPUT_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 51 | bool stateP = true; |
taurin | 4:4a13dd263a7b | 52 | bool stateQ = true; |
taurin | 4:4a13dd263a7b | 53 | bool stateP_old = true; |
taurin | 4:4a13dd263a7b | 54 | bool stateQ_old = true; |
YusukeWakuta | 24:72f9cb6e9440 | 55 | |
YusukeWakuta | 24:72f9cb6e9440 | 56 | float changedRollneutral = 0.739; |
YusukeWakuta | 24:72f9cb6e9440 | 57 | float rollUpperDiff = 0.224; |
YusukeWakuta | 24:72f9cb6e9440 | 58 | float rollLowerDiff = -0.184; |
YusukeWakuta | 24:72f9cb6e9440 | 59 | |
YusukeWakuta | 24:72f9cb6e9440 | 60 | float changedPitchNeutral = 0.468 ;//1って書いた方 |
YusukeWakuta | 24:72f9cb6e9440 | 61 | float pitchUpperDiff = 0.416; |
YusukeWakuta | 24:72f9cb6e9440 | 62 | float pitchLowerDiff = -0.358; |
YusukeWakuta | 24:72f9cb6e9440 | 63 | float neutralDiff; |
YusukeWakuta | 0:b1290ca6c4a2 | 64 | |
YusukeWakuta | 3:0e66ce2ab2fb | 65 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 66 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 67 | |
YusukeWakuta | 24:72f9cb6e9440 | 68 | void setNeutral() |
YusukeWakuta | 24:72f9cb6e9440 | 69 | { |
YusukeWakuta | 24:72f9cb6e9440 | 70 | float rollSum; |
YusukeWakuta | 24:72f9cb6e9440 | 71 | float pitchSum; |
YusukeWakuta | 24:72f9cb6e9440 | 72 | |
YusukeWakuta | 24:72f9cb6e9440 | 73 | for(int i = 0; i < SUM_UP_NUM; i++) { |
YusukeWakuta | 24:72f9cb6e9440 | 74 | rollSum += rollPin.read(); |
YusukeWakuta | 24:72f9cb6e9440 | 75 | pitchSum += pitchPin.read(); |
YusukeWakuta | 24:72f9cb6e9440 | 76 | } |
YusukeWakuta | 24:72f9cb6e9440 | 77 | changedRollneutral = rollSum / SUM_UP_NUM; |
YusukeWakuta | 24:72f9cb6e9440 | 78 | changedPitchNeutral = pitchSum / SUM_UP_NUM; |
YusukeWakuta | 24:72f9cb6e9440 | 79 | } |
YusukeWakuta | 24:72f9cb6e9440 | 80 | |
YusukeWakuta | 24:72f9cb6e9440 | 81 | |
YusukeWakuta | 24:72f9cb6e9440 | 82 | void setRollMaxAndMin(float value) |
YusukeWakuta | 24:72f9cb6e9440 | 83 | { |
YusukeWakuta | 24:72f9cb6e9440 | 84 | if(value >changedRollneutral + rollUpperDiff) |
YusukeWakuta | 24:72f9cb6e9440 | 85 | rollUpperDiff = value - changedRollneutral; |
YusukeWakuta | 24:72f9cb6e9440 | 86 | else if(value < changedRollneutral - rollLowerDiff) |
YusukeWakuta | 24:72f9cb6e9440 | 87 | rollLowerDiff = changedRollneutral - value; |
YusukeWakuta | 24:72f9cb6e9440 | 88 | } |
YusukeWakuta | 24:72f9cb6e9440 | 89 | |
YusukeWakuta | 24:72f9cb6e9440 | 90 | void setPitchMaxAndMin(float value) |
YusukeWakuta | 24:72f9cb6e9440 | 91 | { |
YusukeWakuta | 24:72f9cb6e9440 | 92 | if(value >changedPitchNeutral + pitchUpperDiff) |
YusukeWakuta | 24:72f9cb6e9440 | 93 | pitchUpperDiff = value - changedPitchNeutral; |
YusukeWakuta | 24:72f9cb6e9440 | 94 | else if(value < changedRollneutral - pitchLowerDiff) |
YusukeWakuta | 24:72f9cb6e9440 | 95 | pitchLowerDiff = changedPitchNeutral - value; |
YusukeWakuta | 24:72f9cb6e9440 | 96 | } |
YusukeWakuta | 24:72f9cb6e9440 | 97 | |
YusukeWakuta | 24:72f9cb6e9440 | 98 | |
YusukeWakuta | 24:72f9cb6e9440 | 99 | void calibrateNeutral() |
YusukeWakuta | 24:72f9cb6e9440 | 100 | { |
YusukeWakuta | 24:72f9cb6e9440 | 101 | neutralDiff = changedPitchNeutral - changedRollneutral; //ピッチの初期値の方がい小さいと仮定 |
YusukeWakuta | 24:72f9cb6e9440 | 102 | changedRollneutral = changedRollneutral + neutralDiff; |
YusukeWakuta | 24:72f9cb6e9440 | 103 | changedRollneutral = rollUpperDiff + neutralDiff; |
YusukeWakuta | 24:72f9cb6e9440 | 104 | changedRollneutral = rollLowerDiff + neutralDiff; |
YusukeWakuta | 24:72f9cb6e9440 | 105 | } |
YusukeWakuta | 24:72f9cb6e9440 | 106 | |
YusukeWakuta | 20:d4951f491642 | 107 | //ジョイスティックの中間値から上と下の幅を合わせます。値を取得するたびに呼び出してください。範囲は広い方に合わせる物とします |
YusukeWakuta | 20:d4951f491642 | 108 | float MatchRollUpperAndLower(float max,float min,float neutral,float value) |
YusukeWakuta | 18:31722545ecf1 | 109 | { |
YusukeWakuta | 20:d4951f491642 | 110 | float Upper = max- neutral; |
YusukeWakuta | 20:d4951f491642 | 111 | float Lower = neutral - min; |
YusukeWakuta | 20:d4951f491642 | 112 | if(Upper > Lower) { |
YusukeWakuta | 20:d4951f491642 | 113 | if(value < neutral) { |
YusukeWakuta | 20:d4951f491642 | 114 | value = neutral - ((neutral - value) * (Upper / Lower)); |
YusukeWakuta | 24:72f9cb6e9440 | 115 | rollLowerDiff = (rollLowerDiff)* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 116 | } |
YusukeWakuta | 20:d4951f491642 | 117 | } else { |
YusukeWakuta | 20:d4951f491642 | 118 | if(value > neutral) { |
YusukeWakuta | 20:d4951f491642 | 119 | value = neutral + ((value - neutral) * (Lower / Upper)); |
YusukeWakuta | 24:72f9cb6e9440 | 120 | rollUpperDiff = rollUpperDiff* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 121 | } |
YusukeWakuta | 20:d4951f491642 | 122 | } |
YusukeWakuta | 20:d4951f491642 | 123 | return value; |
YusukeWakuta | 20:d4951f491642 | 124 | } |
YusukeWakuta | 20:d4951f491642 | 125 | |
YusukeWakuta | 20:d4951f491642 | 126 | //ジョイスティックの中間値から上と下の幅を合わせます。値を取得するたびに呼び出してください。範囲は広い方に合わせる物とします |
YusukeWakuta | 20:d4951f491642 | 127 | float MatchPitchUpperAndLower(float max,float min,float neutral,float value) |
YusukeWakuta | 20:d4951f491642 | 128 | { |
YusukeWakuta | 20:d4951f491642 | 129 | float Upper = max- neutral; |
YusukeWakuta | 20:d4951f491642 | 130 | float Lower = neutral - min; |
YusukeWakuta | 20:d4951f491642 | 131 | if(Upper > Lower) { |
YusukeWakuta | 20:d4951f491642 | 132 | if(value < neutral) { |
YusukeWakuta | 20:d4951f491642 | 133 | value = neutral - ((neutral - value) * (Upper / Lower)); |
YusukeWakuta | 24:72f9cb6e9440 | 134 | pitchLowerDiff = (pitchLowerDiff)* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 135 | } |
YusukeWakuta | 20:d4951f491642 | 136 | } else { |
YusukeWakuta | 20:d4951f491642 | 137 | if(value > neutral) { |
YusukeWakuta | 20:d4951f491642 | 138 | value = neutral + ((value - neutral) * (Lower / Upper)); |
YusukeWakuta | 24:72f9cb6e9440 | 139 | pitchUpperDiff= (pitchUpperDiff)* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 140 | } |
YusukeWakuta | 20:d4951f491642 | 141 | } |
YusukeWakuta | 20:d4951f491642 | 142 | return value; |
YusukeWakuta | 18:31722545ecf1 | 143 | } |
YusukeWakuta | 18:31722545ecf1 | 144 | |
YusukeWakuta | 21:9b1f5123f4a8 | 145 | //範囲外に値がない場合にエラーが発生するので範囲内に収める |
YusukeWakuta | 21:9b1f5123f4a8 | 146 | float Format2Range(float value,float max,float min) |
YusukeWakuta | 18:31722545ecf1 | 147 | { |
YusukeWakuta | 18:31722545ecf1 | 148 | float result; |
YusukeWakuta | 21:9b1f5123f4a8 | 149 | |
YusukeWakuta | 18:31722545ecf1 | 150 | if(value > max) |
YusukeWakuta | 18:31722545ecf1 | 151 | result= max; |
YusukeWakuta | 18:31722545ecf1 | 152 | else if(value < min) |
YusukeWakuta | 18:31722545ecf1 | 153 | result = min; |
YusukeWakuta | 21:9b1f5123f4a8 | 154 | else if(value > 1) |
YusukeWakuta | 21:9b1f5123f4a8 | 155 | result = 1; |
YusukeWakuta | 21:9b1f5123f4a8 | 156 | else if(value < 0) |
YusukeWakuta | 21:9b1f5123f4a8 | 157 | result = 0; |
YusukeWakuta | 18:31722545ecf1 | 158 | else |
YusukeWakuta | 18:31722545ecf1 | 159 | result = value; |
YusukeWakuta | 18:31722545ecf1 | 160 | return result; |
YusukeWakuta | 18:31722545ecf1 | 161 | } |
YusukeWakuta | 18:31722545ecf1 | 162 | |
YusukeWakuta | 21:9b1f5123f4a8 | 163 | //値をint型の段階に分ける |
YusukeWakuta | 18:31722545ecf1 | 164 | int PhaseFloat(float value,float max,float min) |
YusukeWakuta | 18:31722545ecf1 | 165 | { |
YusukeWakuta | 18:31722545ecf1 | 166 | float PhaseWidth = (max - min) / PHASE_NUM; |
YusukeWakuta | 18:31722545ecf1 | 167 | if(value< max&& value > min) { |
YusukeWakuta | 18:31722545ecf1 | 168 | for(int i = 1; i <= PHASE_NUM; i++) { |
YusukeWakuta | 18:31722545ecf1 | 169 | if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) ) |
YusukeWakuta | 18:31722545ecf1 | 170 | return i; |
YusukeWakuta | 18:31722545ecf1 | 171 | } |
YusukeWakuta | 18:31722545ecf1 | 172 | } else if(value <= min) |
YusukeWakuta | 18:31722545ecf1 | 173 | return 0; |
YusukeWakuta | 18:31722545ecf1 | 174 | else if(value>=max) |
YusukeWakuta | 18:31722545ecf1 | 175 | return PHASE_NUM; |
YusukeWakuta | 18:31722545ecf1 | 176 | |
YusukeWakuta | 18:31722545ecf1 | 177 | } |
YusukeWakuta | 18:31722545ecf1 | 178 | |
YusukeWakuta | 15:c5ade23e5de4 | 179 | void InputControlValues() |
YusukeWakuta | 15:c5ade23e5de4 | 180 | { |
YusukeWakuta | 24:72f9cb6e9440 | 181 | setRollMaxAndMin(rollPin.read()); |
YusukeWakuta | 24:72f9cb6e9440 | 182 | setPitchMaxAndMin(pitchPin.read()); |
YusukeWakuta | 24:72f9cb6e9440 | 183 | calibrateNeutral(); |
YusukeWakuta | 24:72f9cb6e9440 | 184 | float MatchedRoll = MatchRollUpperAndLower(changedRollneutral + rollUpperDiff,rollLowerDiff + rollLowerDiff,changedRollneutral,rollPin.read() - neutralDiff); |
YusukeWakuta | 24:72f9cb6e9440 | 185 | float MatchedPitch = MatchPitchUpperAndLower(changedPitchNeutral + pitchUpperDiff,changedPitchNeutral + pitchLowerDiff,changedPitchNeutral,pitchPin.read()); |
YusukeWakuta | 24:72f9cb6e9440 | 186 | |
YusukeWakuta | 24:72f9cb6e9440 | 187 | float FormatedRollR = Format2Range((MatchedPitch +MatchedRoll ) / 2.0,(changedRollneutral + rollUpperDiff+ changedPitchNeutral + pitchUpperDiff) / 2.0,(changedRollneutral + rollLowerDiff+ changedPitchNeutral + pitchLowerDiff) / 2.0); |
YusukeWakuta | 24:72f9cb6e9440 | 188 | *(int *)inputDatas_R =PhaseFloat(FormatedRollR,(changedRollneutral + rollUpperDiff+ changedPitchNeutral + pitchUpperDiff) / 2.0,(changedRollneutral + rollLowerDiff+ changedPitchNeutral + pitchLowerDiff) / 2.0); |
YusukeWakuta | 24:72f9cb6e9440 | 189 | |
YusukeWakuta | 24:72f9cb6e9440 | 190 | float FormatedRollL = Format2Range((MatchedPitch - MatchedRoll) / 2.0,(changedRollneutral + rollUpperDiff- changedPitchNeutral -pitchLowerDiff) / 2.0,(changedRollneutral + rollLowerDiff- changedPitchNeutral - pitchUpperDiff) / 2.0); |
YusukeWakuta | 24:72f9cb6e9440 | 191 | *(int *)inputDatas_L = PhaseFloat(FormatedRollR,(changedRollneutral + rollUpperDiff- changedPitchNeutral - pitchLowerDiff) / 2.0,(changedRollneutral + rollLowerDiff- changedPitchNeutral + pitchUpperDiff) / 2.0); |
YusukeWakuta | 16:336e8b102555 | 192 | |
YusukeWakuta | 19:6387e3f02b37 | 193 | if(*(int *)inputDatas_R < 0) |
YusukeWakuta | 19:6387e3f02b37 | 194 | *(int *)inputDatas_R = 0; |
YusukeWakuta | 18:31722545ecf1 | 195 | else if(*(int *)inputDatas_R > PHASE_NUM) |
YusukeWakuta | 18:31722545ecf1 | 196 | *(int *)inputDatas_R = PHASE_NUM; |
YusukeWakuta | 19:6387e3f02b37 | 197 | if(*(int *)inputDatas_L < 0) |
YusukeWakuta | 19:6387e3f02b37 | 198 | *(int *)inputDatas_L = 0 ; |
YusukeWakuta | 18:31722545ecf1 | 199 | else if(*(int *)inputDatas_L > PHASE_NUM) |
YusukeWakuta | 18:31722545ecf1 | 200 | *(int *)inputDatas_L =PHASE_NUM; |
YusukeWakuta | 16:336e8b102555 | 201 | |
YusukeWakuta | 19:6387e3f02b37 | 202 | pc.printf("input_R:%d input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L); |
tsumagari | 10:b7159feb11fd | 203 | inputDatas_R[4] = (char)drug_R; |
YusukeWakuta | 15:c5ade23e5de4 | 204 | led4 =! led4; |
YusukeWakuta | 15:c5ade23e5de4 | 205 | pc.printf("%c",*(char *)inputDatas_R[4]); |
YusukeWakuta | 15:c5ade23e5de4 | 206 | //pc.printf("%c",(char)drug_R); |
tsumagari | 10:b7159feb11fd | 207 | inputDatas_L[4] = (char)drug_L; |
YusukeWakuta | 15:c5ade23e5de4 | 208 | // pc.printf(""); |
YusukeWakuta | 0:b1290ca6c4a2 | 209 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 210 | |
YusukeWakuta | 18:31722545ecf1 | 211 | |
YusukeWakuta | 18:31722545ecf1 | 212 | |
YusukeWakuta | 15:c5ade23e5de4 | 213 | void toString_R() |
YusukeWakuta | 15:c5ade23e5de4 | 214 | { |
taurin | 4:4a13dd263a7b | 215 | pc.printf("R:"); |
YusukeWakuta | 15:c5ade23e5de4 | 216 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 217 | pc.printf("%d:%i ",i,inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 218 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 219 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 220 | |
YusukeWakuta | 15:c5ade23e5de4 | 221 | void toString_L() |
YusukeWakuta | 15:c5ade23e5de4 | 222 | { |
taurin | 4:4a13dd263a7b | 223 | pc.printf("L:"); |
YusukeWakuta | 15:c5ade23e5de4 | 224 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 225 | pc.printf("%d:%i ",i,inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 226 | } |
taurin | 4:4a13dd263a7b | 227 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 228 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 229 | |
YusukeWakuta | 15:c5ade23e5de4 | 230 | void SendDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 231 | { |
tsumagari | 10:b7159feb11fd | 232 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); |
tsumagari | 10:b7159feb11fd | 233 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 234 | toKeikiSerial.putc(';'); |
YusukeWakuta | 15:c5ade23e5de4 | 235 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 236 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 237 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 238 | } |
YusukeWakuta | 15:c5ade23e5de4 | 239 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 240 | toKeikiSerial.putc(inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 241 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 242 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 243 | } |
tsumagari | 8:dbc8c87dac78 | 244 | |
YusukeWakuta | 15:c5ade23e5de4 | 245 | void init() |
YusukeWakuta | 15:c5ade23e5de4 | 246 | { |
tsumagari | 9:c32999b4d2f9 | 247 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 248 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 249 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 250 | //----------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 251 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
YusukeWakuta | 15:c5ade23e5de4 | 252 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 2:9dc7d5f1e910 | 253 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 254 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 255 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 256 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 257 | |
YusukeWakuta | 15:c5ade23e5de4 | 258 | void receiveDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 259 | { |
YusukeWakuta | 15:c5ade23e5de4 | 260 | if(can_R.read(recmsg_R)) { |
YusukeWakuta | 15:c5ade23e5de4 | 261 | for(int i = 0; i < recmsg_R.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 262 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 263 | // pc.printf("%c",yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 264 | } |
taurin | 4:4a13dd263a7b | 265 | myled1 = !myled1; |
YusukeWakuta | 0:b1290ca6c4a2 | 266 | } |
YusukeWakuta | 15:c5ade23e5de4 | 267 | if(can_L.read(recmsg_L)) { |
YusukeWakuta | 15:c5ade23e5de4 | 268 | for(int i = 0; i < recmsg_L.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 269 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 270 | led3 = !led3; |
YusukeWakuta | 15:c5ade23e5de4 | 271 | // pc.printf("%c",yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 272 | } |
taurin | 4:4a13dd263a7b | 273 | myled2 = !myled2; |
YusukeWakuta | 0:b1290ca6c4a2 | 274 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 275 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 276 | |
YusukeWakuta | 15:c5ade23e5de4 | 277 | int main() |
YusukeWakuta | 15:c5ade23e5de4 | 278 | { |
YusukeWakuta | 0:b1290ca6c4a2 | 279 | init(); |
YusukeWakuta | 24:72f9cb6e9440 | 280 | setNeutral(); |
YusukeWakuta | 15:c5ade23e5de4 | 281 | while(1) { |
tsumagari | 8:dbc8c87dac78 | 282 | InputControlValues(); |
tsumagari | 10:b7159feb11fd | 283 | wait_us(5); |
YusukeWakuta | 0:b1290ca6c4a2 | 284 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 285 | SendDatas(); |
YusukeWakuta | 0:b1290ca6c4a2 | 286 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 287 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 288 | } |