Diff: main.cpp

Revision:

36:5ad172e48384

Parent:

35:adad361dbb53

Child:

37:7ce6e87b9c36

Child:

39:9b31e207c75d

--- a/main.cpp	Wed Apr 19 15:02:51 2017 +0000
+++ b/main.cpp	Fri Apr 21 02:15:47 2017 +0000
@@ -1,6 +1,7 @@
 //中央
 
 #include "mbed.h"
+#include "rtos.h"
 #define WAIT_LOOP_TIME 0.001
 #define YOKUTAN_DATAS_NUM 7
 #define INPUT_DATAS_NUM 7 //ここは1倍とまでしかCANでは一度に送れないため、8以下。そして、翼端コードと数字を合わせる必要あり。
@@ -42,6 +43,7 @@
 DigitalOut led2(LED2);
 DigitalOut led4(LED4);
 DigitalOut led3(LED3);
+DigitalOut fusokuControl(p25);
 //Ticker sendDatasTicker;
 
 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
@@ -66,6 +68,15 @@
     enumPitch
 };
 
+void tickFusoku(void const * arg){
+    while(1){
+        fusokuControl = 1;
+        wait_us(5);
+        fusokuControl = 0;
+        wait_ms(5);
+    }
+}
+
 void setNeutral()
 {
     float rollSum;
@@ -257,6 +268,7 @@
 
 int main()
 {
+    Thread tickFusokuThread(&tickFusoku);
     init();
     setNeutral();
     while(1) {