albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
main.cpp@21:9b1f5123f4a8, 2017-03-19 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Sun Mar 19 15:07:25 2017 +0000
- Revision:
- 21:9b1f5123f4a8
- Parent:
- 20:d4951f491642
- Child:
- 22:5253367e7d78
- Child:
- 24:72f9cb6e9440
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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 | 19:6387e3f02b37 | 13 | #define PITCH_INPUT_NEUTRAL 0.468 //1って書いた方 |
YusukeWakuta | 18:31722545ecf1 | 14 | #define PITCH_INPUT_MAX 0.884 |
YusukeWakuta | 18:31722545ecf1 | 15 | #define PITCH_INPUT_MIN 0.110 |
YusukeWakuta | 18:31722545ecf1 | 16 | |
YusukeWakuta | 19:6387e3f02b37 | 17 | #define OLD_ROLL_NEUTRAL 0.739 |
YusukeWakuta | 19:6387e3f02b37 | 18 | #define ROLL_INPUT_NEUTRAL 0.468 //2て書いた方 |
YusukeWakuta | 19:6387e3f02b37 | 19 | #define ROLL_INPUT_MAX 0.963 - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL) |
YusukeWakuta | 19:6387e3f02b37 | 20 | #define ROLL_INPUT_MIN 0.555 - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL) |
YusukeWakuta | 18:31722545ecf1 | 21 | |
YusukeWakuta | 20:d4951f491642 | 22 | #define PHASE_NUM 6 //偶数にしてください |
YusukeWakuta | 19:6387e3f02b37 | 23 | /* |
YusukeWakuta | 19:6387e3f02b37 | 24 | 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 | 25 | */ |
YusukeWakuta | 18:31722545ecf1 | 26 | |
tsumagari | 9:c32999b4d2f9 | 27 | //-----------------------------------(resetInterrupt def) |
tsumagari | 9:c32999b4d2f9 | 28 | extern "C" void mbed_reset(); |
YusukeWakuta | 13:79eb74eb86c4 | 29 | InterruptIn resetPin(p22); |
tsumagari | 9:c32999b4d2f9 | 30 | Timer resetTimeCount; |
YusukeWakuta | 15:c5ade23e5de4 | 31 | void resetInterrupt() |
YusukeWakuta | 15:c5ade23e5de4 | 32 | { |
YusukeWakuta | 15:c5ade23e5de4 | 33 | while(resetPin) { |
tsumagari | 9:c32999b4d2f9 | 34 | resetTimeCount.start(); |
tsumagari | 9:c32999b4d2f9 | 35 | if(resetTimeCount.read()>3) mbed_reset(); |
tsumagari | 9:c32999b4d2f9 | 36 | } |
tsumagari | 9:c32999b4d2f9 | 37 | resetTimeCount.reset(); |
tsumagari | 9:c32999b4d2f9 | 38 | } |
tsumagari | 9:c32999b4d2f9 | 39 | //------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 40 | |
taurin | 6:7484315ba88a | 41 | CAN can_R(p30,p29); |
taurin | 6:7484315ba88a | 42 | CAN can_L(p9,p10); |
YusukeWakuta | 14:ffe9460922cb | 43 | Serial toKeikiSerial(p28,p27); |
tsumagari | 7:59ddbe239835 | 44 | Serial pc(USBTX,USBRX); |
tsumagari | 10:b7159feb11fd | 45 | AnalogIn rollPin(p15); |
YusukeWakuta | 18:31722545ecf1 | 46 | AnalogIn pitchPin(p20); |
YusukeWakuta | 13:79eb74eb86c4 | 47 | DigitalIn drug_R(p14); |
taurin | 6:7484315ba88a | 48 | DigitalIn drug_L(p19); |
YusukeWakuta | 0:b1290ca6c4a2 | 49 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 50 | DigitalOut myled2(LED2); |
YusukeWakuta | 15:c5ade23e5de4 | 51 | DigitalOut led4(LED4); |
YusukeWakuta | 15:c5ade23e5de4 | 52 | DigitalOut led3(LED3); |
tsumagari | 9:c32999b4d2f9 | 53 | //Ticker sendDatasTicker; |
YusukeWakuta | 0:b1290ca6c4a2 | 54 | |
taurin | 4:4a13dd263a7b | 55 | char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 56 | char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 57 | char inputDatas_R[INPUT_DATAS_NUM]; |
tsumagari | 10:b7159feb11fd | 58 | char inputDatas_L[INPUT_DATAS_NUM]; |
taurin | 4:4a13dd263a7b | 59 | bool stateP = true; |
taurin | 4:4a13dd263a7b | 60 | bool stateQ = true; |
taurin | 4:4a13dd263a7b | 61 | bool stateP_old = true; |
taurin | 4:4a13dd263a7b | 62 | bool stateQ_old = true; |
YusukeWakuta | 20:d4951f491642 | 63 | float changedRollMax; |
YusukeWakuta | 20:d4951f491642 | 64 | float changedRollMin; |
YusukeWakuta | 20:d4951f491642 | 65 | float changedPitchMax; |
YusukeWakuta | 20:d4951f491642 | 66 | float changedPitchMin; |
YusukeWakuta | 0:b1290ca6c4a2 | 67 | |
YusukeWakuta | 3:0e66ce2ab2fb | 68 | CANMessage recmsg_R; |
YusukeWakuta | 3:0e66ce2ab2fb | 69 | CANMessage recmsg_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 70 | |
YusukeWakuta | 20:d4951f491642 | 71 | //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 | 72 | float MatchRollUpperAndLower(float max,float min,float neutral,float value) |
YusukeWakuta | 18:31722545ecf1 | 73 | { |
YusukeWakuta | 20:d4951f491642 | 74 | float Upper = max- neutral; |
YusukeWakuta | 20:d4951f491642 | 75 | float Lower = neutral - min; |
YusukeWakuta | 20:d4951f491642 | 76 | if(Upper > Lower) { |
YusukeWakuta | 20:d4951f491642 | 77 | if(value < neutral) { |
YusukeWakuta | 20:d4951f491642 | 78 | value = neutral - ((neutral - value) * (Upper / Lower)); |
YusukeWakuta | 20:d4951f491642 | 79 | changedRollMin = ROLL_INPUT_NEUTRAL - (ROLL_INPUT_NEUTRAL - ROLL_INPUT_MIN)* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 80 | changedRollMax = ROLL_INPUT_MAX; |
YusukeWakuta | 20:d4951f491642 | 81 | } |
YusukeWakuta | 20:d4951f491642 | 82 | } else { |
YusukeWakuta | 20:d4951f491642 | 83 | if(value > neutral) { |
YusukeWakuta | 20:d4951f491642 | 84 | value = neutral + ((value - neutral) * (Lower / Upper)); |
YusukeWakuta | 20:d4951f491642 | 85 | changedRollMax = ROLL_INPUT_NEUTRAL + (ROLL_INPUT_MAX - ROLL_INPUT_NEUTRAL)* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 86 | changedRollMin = ROLL_INPUT_MIN; |
YusukeWakuta | 20:d4951f491642 | 87 | } |
YusukeWakuta | 20:d4951f491642 | 88 | } |
YusukeWakuta | 20:d4951f491642 | 89 | return value; |
YusukeWakuta | 20:d4951f491642 | 90 | } |
YusukeWakuta | 20:d4951f491642 | 91 | |
YusukeWakuta | 20:d4951f491642 | 92 | //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 | 93 | float MatchPitchUpperAndLower(float max,float min,float neutral,float value) |
YusukeWakuta | 20:d4951f491642 | 94 | { |
YusukeWakuta | 20:d4951f491642 | 95 | float Upper = max- neutral; |
YusukeWakuta | 20:d4951f491642 | 96 | float Lower = neutral - min; |
YusukeWakuta | 20:d4951f491642 | 97 | if(Upper > Lower) { |
YusukeWakuta | 20:d4951f491642 | 98 | if(value < neutral) { |
YusukeWakuta | 20:d4951f491642 | 99 | value = neutral - ((neutral - value) * (Upper / Lower)); |
YusukeWakuta | 20:d4951f491642 | 100 | changedPitchMin = PITCH_INPUT_NEUTRAL - (PITCH_INPUT_NEUTRAL - PITCH_INPUT_MIN)* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 101 | changedPitchMax = PITCH_INPUT_MAX; |
YusukeWakuta | 20:d4951f491642 | 102 | } |
YusukeWakuta | 20:d4951f491642 | 103 | } else { |
YusukeWakuta | 20:d4951f491642 | 104 | if(value > neutral) { |
YusukeWakuta | 20:d4951f491642 | 105 | value = neutral + ((value - neutral) * (Lower / Upper)); |
YusukeWakuta | 20:d4951f491642 | 106 | changedPitchMax = PITCH_INPUT_NEUTRAL + (PITCH_INPUT_MAX - PITCH_INPUT_NEUTRAL)* (Upper / Lower); |
YusukeWakuta | 20:d4951f491642 | 107 | changedPitchMin = PITCH_INPUT_MIN; |
YusukeWakuta | 20:d4951f491642 | 108 | } |
YusukeWakuta | 20:d4951f491642 | 109 | } |
YusukeWakuta | 20:d4951f491642 | 110 | return value; |
YusukeWakuta | 18:31722545ecf1 | 111 | } |
YusukeWakuta | 18:31722545ecf1 | 112 | |
YusukeWakuta | 21:9b1f5123f4a8 | 113 | //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 | 114 | float Format2Range(float value,float max,float min) |
YusukeWakuta | 18:31722545ecf1 | 115 | { |
YusukeWakuta | 18:31722545ecf1 | 116 | float result; |
YusukeWakuta | 21:9b1f5123f4a8 | 117 | |
YusukeWakuta | 18:31722545ecf1 | 118 | if(value > max) |
YusukeWakuta | 18:31722545ecf1 | 119 | result= max; |
YusukeWakuta | 18:31722545ecf1 | 120 | else if(value < min) |
YusukeWakuta | 18:31722545ecf1 | 121 | result = min; |
YusukeWakuta | 21:9b1f5123f4a8 | 122 | else if(value > 1) |
YusukeWakuta | 21:9b1f5123f4a8 | 123 | result = 1; |
YusukeWakuta | 21:9b1f5123f4a8 | 124 | else if(value < 0) |
YusukeWakuta | 21:9b1f5123f4a8 | 125 | result = 0; |
YusukeWakuta | 18:31722545ecf1 | 126 | else |
YusukeWakuta | 18:31722545ecf1 | 127 | result = value; |
YusukeWakuta | 18:31722545ecf1 | 128 | return result; |
YusukeWakuta | 18:31722545ecf1 | 129 | } |
YusukeWakuta | 18:31722545ecf1 | 130 | |
YusukeWakuta | 21:9b1f5123f4a8 | 131 | //値をint型の段階に分ける |
YusukeWakuta | 18:31722545ecf1 | 132 | int PhaseFloat(float value,float max,float min) |
YusukeWakuta | 18:31722545ecf1 | 133 | { |
YusukeWakuta | 18:31722545ecf1 | 134 | float PhaseWidth = (max - min) / PHASE_NUM; |
YusukeWakuta | 18:31722545ecf1 | 135 | if(value< max&& value > min) { |
YusukeWakuta | 18:31722545ecf1 | 136 | for(int i = 1; i <= PHASE_NUM; i++) { |
YusukeWakuta | 18:31722545ecf1 | 137 | if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) ) |
YusukeWakuta | 18:31722545ecf1 | 138 | return i; |
YusukeWakuta | 18:31722545ecf1 | 139 | } |
YusukeWakuta | 18:31722545ecf1 | 140 | } else if(value <= min) |
YusukeWakuta | 18:31722545ecf1 | 141 | return 0; |
YusukeWakuta | 18:31722545ecf1 | 142 | else if(value>=max) |
YusukeWakuta | 18:31722545ecf1 | 143 | return PHASE_NUM; |
YusukeWakuta | 18:31722545ecf1 | 144 | |
YusukeWakuta | 18:31722545ecf1 | 145 | } |
YusukeWakuta | 18:31722545ecf1 | 146 | |
YusukeWakuta | 15:c5ade23e5de4 | 147 | void InputControlValues() |
YusukeWakuta | 15:c5ade23e5de4 | 148 | { |
YusukeWakuta | 19:6387e3f02b37 | 149 | pc.printf("Roll:%f Pitch:%f ",rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL),pitchPin.read()); |
YusukeWakuta | 20:d4951f491642 | 150 | float MatchedRoll = MatchRollUpperAndLower(ROLL_INPUT_MAX,ROLL_INPUT_MIN,ROLL_INPUT_NEUTRAL,rollPin.read() - (OLD_ROLL_NEUTRAL - PITCH_INPUT_NEUTRAL)); |
YusukeWakuta | 20:d4951f491642 | 151 | float MatchedPitch = MatchPitchUpperAndLower(PITCH_INPUT_MAX,ROLL_INPUT_MIN,PITCH_INPUT_NEUTRAL,pitchPin.read()); |
YusukeWakuta | 21:9b1f5123f4a8 | 152 | |
YusukeWakuta | 21:9b1f5123f4a8 | 153 | float FormatedRollR = Format2Range((MatchedPitch +MatchedRoll ) / 2.0,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0); |
YusukeWakuta | 21:9b1f5123f4a8 | 154 | *(int *)inputDatas_R =PhaseFloat(FormatedRollR,(changedRollMax + changedPitchMax) / 2.0,(changedRollMin + changedPitchMin) / 2.0); |
YusukeWakuta | 21:9b1f5123f4a8 | 155 | |
YusukeWakuta | 21:9b1f5123f4a8 | 156 | float FormatedRollL = Format2Range((MatchedPitch - MatchedRoll) / 2.0,(changedPitchMax - changedRollMin) /2.0,(changedPitchMin - changedRollMax) / 2.0); |
YusukeWakuta | 21:9b1f5123f4a8 | 157 | *(int *)inputDatas_L = PhaseFloat(FormatedRollR,changedPitchMax - changedRollMin,changedPitchMin - changedRollMax); |
YusukeWakuta | 16:336e8b102555 | 158 | |
YusukeWakuta | 19:6387e3f02b37 | 159 | if(*(int *)inputDatas_R < 0) |
YusukeWakuta | 19:6387e3f02b37 | 160 | *(int *)inputDatas_R = 0; |
YusukeWakuta | 18:31722545ecf1 | 161 | else if(*(int *)inputDatas_R > PHASE_NUM) |
YusukeWakuta | 18:31722545ecf1 | 162 | *(int *)inputDatas_R = PHASE_NUM; |
YusukeWakuta | 19:6387e3f02b37 | 163 | if(*(int *)inputDatas_L < 0) |
YusukeWakuta | 19:6387e3f02b37 | 164 | *(int *)inputDatas_L = 0 ; |
YusukeWakuta | 18:31722545ecf1 | 165 | else if(*(int *)inputDatas_L > PHASE_NUM) |
YusukeWakuta | 18:31722545ecf1 | 166 | *(int *)inputDatas_L =PHASE_NUM; |
YusukeWakuta | 16:336e8b102555 | 167 | |
YusukeWakuta | 19:6387e3f02b37 | 168 | pc.printf("input_R:%d input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L); |
tsumagari | 10:b7159feb11fd | 169 | inputDatas_R[4] = (char)drug_R; |
YusukeWakuta | 15:c5ade23e5de4 | 170 | led4 =! led4; |
YusukeWakuta | 15:c5ade23e5de4 | 171 | pc.printf("%c",*(char *)inputDatas_R[4]); |
YusukeWakuta | 15:c5ade23e5de4 | 172 | //pc.printf("%c",(char)drug_R); |
tsumagari | 10:b7159feb11fd | 173 | inputDatas_L[4] = (char)drug_L; |
YusukeWakuta | 15:c5ade23e5de4 | 174 | // pc.printf(""); |
YusukeWakuta | 0:b1290ca6c4a2 | 175 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 176 | |
YusukeWakuta | 18:31722545ecf1 | 177 | |
YusukeWakuta | 18:31722545ecf1 | 178 | |
YusukeWakuta | 15:c5ade23e5de4 | 179 | void toString_R() |
YusukeWakuta | 15:c5ade23e5de4 | 180 | { |
taurin | 4:4a13dd263a7b | 181 | pc.printf("R:"); |
YusukeWakuta | 15:c5ade23e5de4 | 182 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 183 | pc.printf("%d:%i ",i,inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 184 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 185 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 186 | |
YusukeWakuta | 15:c5ade23e5de4 | 187 | void toString_L() |
YusukeWakuta | 15:c5ade23e5de4 | 188 | { |
taurin | 4:4a13dd263a7b | 189 | pc.printf("L:"); |
YusukeWakuta | 15:c5ade23e5de4 | 190 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 191 | pc.printf("%d:%i ",i,inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 192 | } |
taurin | 4:4a13dd263a7b | 193 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 194 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 195 | |
YusukeWakuta | 15:c5ade23e5de4 | 196 | void SendDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 197 | { |
tsumagari | 10:b7159feb11fd | 198 | can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM)); |
tsumagari | 10:b7159feb11fd | 199 | can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); |
tsumagari | 8:dbc8c87dac78 | 200 | toKeikiSerial.putc(';'); |
YusukeWakuta | 15:c5ade23e5de4 | 201 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 202 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 203 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 204 | } |
YusukeWakuta | 15:c5ade23e5de4 | 205 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 4:4a13dd263a7b | 206 | toKeikiSerial.putc(inputDatas_R[i]); |
taurin | 4:4a13dd263a7b | 207 | toKeikiSerial.putc(inputDatas_L[i]); |
taurin | 4:4a13dd263a7b | 208 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 209 | } |
tsumagari | 8:dbc8c87dac78 | 210 | |
YusukeWakuta | 15:c5ade23e5de4 | 211 | void init() |
YusukeWakuta | 15:c5ade23e5de4 | 212 | { |
tsumagari | 9:c32999b4d2f9 | 213 | //--------------------------------------(resetInterrupt init) |
tsumagari | 9:c32999b4d2f9 | 214 | resetPin.rise(resetInterrupt); |
tsumagari | 9:c32999b4d2f9 | 215 | resetPin.mode(PullDown); |
tsumagari | 9:c32999b4d2f9 | 216 | //----------------------------------------------------------- |
tsumagari | 9:c32999b4d2f9 | 217 | // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); |
YusukeWakuta | 15:c5ade23e5de4 | 218 | for(int i = 0; i < INPUT_DATAS_NUM; i++) { |
taurin | 2:9dc7d5f1e910 | 219 | inputDatas_R[i] = 0; |
taurin | 2:9dc7d5f1e910 | 220 | inputDatas_L[i] = 0; |
taurin | 2:9dc7d5f1e910 | 221 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 222 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 223 | |
YusukeWakuta | 15:c5ade23e5de4 | 224 | void receiveDatas() |
YusukeWakuta | 15:c5ade23e5de4 | 225 | { |
YusukeWakuta | 15:c5ade23e5de4 | 226 | if(can_R.read(recmsg_R)) { |
YusukeWakuta | 15:c5ade23e5de4 | 227 | for(int i = 0; i < recmsg_R.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 228 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 229 | // pc.printf("%c",yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 230 | } |
taurin | 4:4a13dd263a7b | 231 | myled1 = !myled1; |
YusukeWakuta | 0:b1290ca6c4a2 | 232 | } |
YusukeWakuta | 15:c5ade23e5de4 | 233 | if(can_L.read(recmsg_L)) { |
YusukeWakuta | 15:c5ade23e5de4 | 234 | for(int i = 0; i < recmsg_L.len; i++) { |
YusukeWakuta | 0:b1290ca6c4a2 | 235 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 15:c5ade23e5de4 | 236 | led3 = !led3; |
YusukeWakuta | 15:c5ade23e5de4 | 237 | // pc.printf("%c",yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 238 | } |
taurin | 4:4a13dd263a7b | 239 | myled2 = !myled2; |
YusukeWakuta | 0:b1290ca6c4a2 | 240 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 241 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 242 | |
YusukeWakuta | 15:c5ade23e5de4 | 243 | int main() |
YusukeWakuta | 15:c5ade23e5de4 | 244 | { |
YusukeWakuta | 0:b1290ca6c4a2 | 245 | init(); |
YusukeWakuta | 15:c5ade23e5de4 | 246 | while(1) { |
tsumagari | 8:dbc8c87dac78 | 247 | InputControlValues(); |
tsumagari | 10:b7159feb11fd | 248 | wait_us(5); |
YusukeWakuta | 0:b1290ca6c4a2 | 249 | receiveDatas(); |
tsumagari | 9:c32999b4d2f9 | 250 | SendDatas(); |
YusukeWakuta | 0:b1290ca6c4a2 | 251 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 252 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 253 | } |