albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
Diff: main.cpp
- Revision:
- 13:79eb74eb86c4
- Parent:
- 10:b7159feb11fd
- Child:
- 14:ffe9460922cb
--- a/main.cpp Fri Feb 17 05:13:53 2017 +0000 +++ b/main.cpp Sat Feb 18 18:32:23 2017 +0000 @@ -1,18 +1,16 @@ -//中央can program +//中央 #include "mbed.h" -//#include "BufferedSoftSerial.h" #define WAIT_LOOP_TIME 0.001 #define YOKUTAN_DATAS_NUM 7 #define INPUT_DATAS_NUM 5 #define SEND_DATAS_CAN_ID 100 #define SEND_DATAS_TIME 0.5 #define THRESHOLD_OH_VALUE 0.14 -#define CALC_CADENCE_TIME 0.05 //-----------------------------------(resetInterrupt def) extern "C" void mbed_reset(); -InterruptIn resetPin(p26); +InterruptIn resetPin(p22); Timer resetTimeCount; void resetInterrupt(){ while(resetPin){ @@ -25,28 +23,20 @@ CAN can_R(p30,p29); CAN can_L(p9,p10); -Serial toKeikiSerial(p13,p14); -//BufferedSoftSerial toKeikiSerial(p17,p18); +Serial toKeikiSerial(p27,p28); Serial pc(USBTX,USBRX); -//DigitalIn eruron_R(p22); -//DigitalIn eruron_L(p20); AnalogIn rollPin(p15); -AnalogIn pichPin(p16); -DigitalIn drug_R(p23); +AnalogIn pichPin(p20); +DigitalIn drug_R(p14); DigitalIn drug_L(p19); DigitalOut myled1(LED1); DigitalOut myled2(LED2); //Ticker sendDatasTicker; -//Ticker cadenceTicker; -//Timer cadenceTimer; -//AnalogIn p(p15); -//AnalogIn q(p16); char yokutanDatas_R[YOKUTAN_DATAS_NUM]; char yokutanDatas_L[YOKUTAN_DATAS_NUM]; char inputDatas_R[INPUT_DATAS_NUM]; char inputDatas_L[INPUT_DATAS_NUM]; -//char cadence = 0; bool stateP = true; bool stateQ = true; bool stateP_old = true; @@ -68,18 +58,6 @@ pc.printf("input_R:%f input_L:%f\n\r",*(float *)inputDatas_R,*(float *)inputDatas_L); inputDatas_R[4] = (char)drug_R; inputDatas_L[4] = (char)drug_L; -// if(eruron_R){ -// inputDatas_R[0] = 0; -// inputDatas_L[0] = 2; -// } -// else if(eruron_L){ -// inputDatas_R[0] = 2; -// inputDatas_L[0] = 0; -// } -// else{ -// inputDatas_R[0] = 1; -// inputDatas_L[0] = 1; -// } } void toString_R(){ @@ -102,14 +80,10 @@ can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM)); toKeikiSerial.putc(';'); for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ -// toKeikiSerial.putc(i); -// toKeikiSerial.putc(10+i); toKeikiSerial.putc(yokutanDatas_R[i]); toKeikiSerial.putc(yokutanDatas_L[i]); } for(int i = 0; i < INPUT_DATAS_NUM; i++){ -// toKeikiSerial.putc(4+i); -// toKeikiSerial.putc(14+i); toKeikiSerial.putc(inputDatas_R[i]); toKeikiSerial.putc(inputDatas_L[i]); } @@ -117,31 +91,11 @@ pc.printf("test\n\r"); } -//void calcCadence(){ -// //pc.printf("%f,%f\n\r",p.read(),q.read()); -// if(p.read() > THRESHOLD_OH_VALUE) stateP = true; -// else stateP = false; -// if(q.read() > THRESHOLD_OH_VALUE) stateQ = true; -// else stateQ = false; -// if((stateP == true && stateP_old == false) || -// stateQ == true && stateQ_old == false){ -// cadenceTimer.stop(); -// cadence = (char)30.0/cadenceTimer.read(); -// pc.printf("Cadence:%i\n\r",cadence); -// cadenceTimer.reset(); -// cadenceTimer.start(); -// } -// stateP_old = stateP; -// stateQ_old = stateQ; -//} -// void init(){ //--------------------------------------(resetInterrupt init) resetPin.rise(resetInterrupt); resetPin.mode(PullDown); //----------------------------------------------------------- -// cadenceTimer.start(); -// cadenceTicker.attach(calcCadence, CALC_CADENCE_TIME); // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME); for(int i = 0; i < INPUT_DATAS_NUM; i++){ inputDatas_R[i] = 0; @@ -149,7 +103,6 @@ } } - void receiveDatas(){ if(can_R.read(recmsg_R)){ for(int i = 0; i < recmsg_R.len; i++){