albatross / Mbed 2 deprecated ControlMain2017_2

今までのジョイスティックの入力を段階分けしていた方式から、アナログ値をできる限りそのまま使用する方式に変更しました。

Dependencies:   mbed-rtos mbed

Fork of ControlMain2017 by albatross

main.cpp@36:5ad172e48384, 2017-04-21 (annotated)

Committer:
tsumagari
Date:
Fri Apr 21 02:15:47 2017 +0000
Revision:
36:5ad172e48384
Parent:
35:adad361dbb53
Child:
37:7ce6e87b9c36
Child:
39:9b31e207c75d
????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YusukeWakuta 13:79eb74eb86c4 1 //中央
YusukeWakuta 0:b1290ca6c4a2 2
YusukeWakuta 0:b1290ca6c4a2 3 #include "mbed.h"
tsumagari 36:5ad172e48384 4 #include "rtos.h"
tsumagari 10:b7159feb11fd 5 #define WAIT_LOOP_TIME 0.001
tsumagari 9:c32999b4d2f9 6 #define YOKUTAN_DATAS_NUM 7
YusukeWakuta 32:60af346703d3 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。
YusukeWakuta 0:b1290ca6c4a2 8 #define SEND_DATAS_CAN_ID 100
tsumagari 8:dbc8c87dac78 9 #define SEND_DATAS_TIME 0.5
tsumagari 8:dbc8c87dac78 10 #define THRESHOLD_OH_VALUE 0.14
YusukeWakuta 15:c5ade23e5de4 11 #define SAMPLE_INTERVAL 0.05
YusukeWakuta 0:b1290ca6c4a2 12
YusukeWakuta 35:adad361dbb53 13 #define PHASE_NUM 15 //奇数にしてください
YusukeWakuta 24:72f9cb6e9440 14 #define SUM_UP_NUM 10.0
YusukeWakuta 29:8bff47ab602d 15 #define PITCHPERROLL 1.5
YusukeWakuta 19:6387e3f02b37 16 /*
YusukeWakuta 19:6387e3f02b37 17 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 18 */
YusukeWakuta 18:31722545ecf1 19
tsumagari 9:c32999b4d2f9 20 //-----------------------------------(resetInterrupt def)
tsumagari 9:c32999b4d2f9 21 extern "C" void mbed_reset();
YusukeWakuta 13:79eb74eb86c4 22 InterruptIn resetPin(p22);
tsumagari 9:c32999b4d2f9 23 Timer resetTimeCount;
YusukeWakuta 15:c5ade23e5de4 24 void resetInterrupt()
YusukeWakuta 15:c5ade23e5de4 25 {
YusukeWakuta 15:c5ade23e5de4 26 while(resetPin) {
tsumagari 9:c32999b4d2f9 27 resetTimeCount.start();
tsumagari 9:c32999b4d2f9 28 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 9:c32999b4d2f9 29 }
tsumagari 9:c32999b4d2f9 30 resetTimeCount.reset();
tsumagari 9:c32999b4d2f9 31 }
tsumagari 9:c32999b4d2f9 32 //-------------------------------------------------------
tsumagari 9:c32999b4d2f9 33
taurin 6:7484315ba88a 34 CAN can_R(p30,p29);
taurin 6:7484315ba88a 35 CAN can_L(p9,p10);
YusukeWakuta 14:ffe9460922cb 36 Serial toKeikiSerial(p28,p27);
tsumagari 7:59ddbe239835 37 Serial pc(USBTX,USBRX);
tsumagari 10:b7159feb11fd 38 AnalogIn rollPin(p15);
YusukeWakuta 31:3a6be197e98f 39 AnalogIn pitchPin(p18);
YusukeWakuta 13:79eb74eb86c4 40 DigitalIn drug_R(p14);
YusukeWakuta 31:3a6be197e98f 41 DigitalIn drug_L(p17);
YusukeWakuta 25:12408563540d 42 DigitalOut led1(LED1);
YusukeWakuta 25:12408563540d 43 DigitalOut led2(LED2);
YusukeWakuta 15:c5ade23e5de4 44 DigitalOut led4(LED4);
YusukeWakuta 15:c5ade23e5de4 45 DigitalOut led3(LED3);
tsumagari 36:5ad172e48384 46 DigitalOut fusokuControl(p25);
tsumagari 9:c32999b4d2f9 47 //Ticker sendDatasTicker;
YusukeWakuta 0:b1290ca6c4a2 48
taurin 4:4a13dd263a7b 49 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
taurin 4:4a13dd263a7b 50 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
tsumagari 10:b7159feb11fd 51 char inputDatas_R[INPUT_DATAS_NUM];
tsumagari 10:b7159feb11fd 52 char inputDatas_L[INPUT_DATAS_NUM];
YusukeWakuta 24:72f9cb6e9440 53
YusukeWakuta 25:12408563540d 54 float rollNeutral = 0.739;
YusukeWakuta 25:12408563540d 55 float rollUpperDiff = 0;
YusukeWakuta 25:12408563540d 56 float rollLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 57
YusukeWakuta 25:12408563540d 58 float pitchNeutral = 0.468 ;//1って書いた方
YusukeWakuta 25:12408563540d 59 float pitchUpperDiff = 0;
YusukeWakuta 25:12408563540d 60 float pitchLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 61 float neutralDiff;
YusukeWakuta 0:b1290ca6c4a2 62
YusukeWakuta 3:0e66ce2ab2fb 63 CANMessage recmsg_R;
YusukeWakuta 3:0e66ce2ab2fb 64 CANMessage recmsg_L;
YusukeWakuta 0:b1290ca6c4a2 65
YusukeWakuta 25:12408563540d 66 enum InputType {
YusukeWakuta 26:745735b0479d 67 enumRoll,
YusukeWakuta 26:745735b0479d 68 enumPitch
YusukeWakuta 25:12408563540d 69 };
YusukeWakuta 25:12408563540d 70
tsumagari 36:5ad172e48384 71 void tickFusoku(void const * arg){
tsumagari 36:5ad172e48384 72 while(1){
tsumagari 36:5ad172e48384 73 fusokuControl = 1;
tsumagari 36:5ad172e48384 74 wait_us(5);
tsumagari 36:5ad172e48384 75 fusokuControl = 0;
tsumagari 36:5ad172e48384 76 wait_ms(5);
tsumagari 36:5ad172e48384 77 }
tsumagari 36:5ad172e48384 78 }
tsumagari 36:5ad172e48384 79
YusukeWakuta 24:72f9cb6e9440 80 void setNeutral()
YusukeWakuta 24:72f9cb6e9440 81 {
YusukeWakuta 24:72f9cb6e9440 82 float rollSum;
YusukeWakuta 24:72f9cb6e9440 83 float pitchSum;
YusukeWakuta 25:12408563540d 84
YusukeWakuta 24:72f9cb6e9440 85 for(int i = 0; i < SUM_UP_NUM; i++) {
YusukeWakuta 24:72f9cb6e9440 86 rollSum += rollPin.read();
YusukeWakuta 24:72f9cb6e9440 87 pitchSum += pitchPin.read();
YusukeWakuta 24:72f9cb6e9440 88 }
YusukeWakuta 25:12408563540d 89 rollNeutral = rollSum / SUM_UP_NUM;
YusukeWakuta 25:12408563540d 90 pitchNeutral = pitchSum / SUM_UP_NUM;
YusukeWakuta 26:745735b0479d 91
YusukeWakuta 26:745735b0479d 92 neutralDiff = pitchNeutral - rollNeutral; //ピッチの初期値の方がい小さいと仮定
YusukeWakuta 26:745735b0479d 93 rollNeutral += neutralDiff;
YusukeWakuta 30:eb7b7af1070a 94 rollUpperDiff = 0;
YusukeWakuta 25:12408563540d 95 }
YusukeWakuta 25:12408563540d 96
YusukeWakuta 25:12408563540d 97 void setMaxAndMin(InputType it,float value)
YusukeWakuta 25:12408563540d 98 {
YusukeWakuta 26:745735b0479d 99 if(it == enumPitch) {
YusukeWakuta 25:12408563540d 100 if(value >pitchNeutral + pitchUpperDiff)
YusukeWakuta 25:12408563540d 101 pitchUpperDiff = value - pitchNeutral;
YusukeWakuta 26:745735b0479d 102 else if(value < rollNeutral + pitchLowerDiff)
YusukeWakuta 26:745735b0479d 103 pitchLowerDiff = value - pitchNeutral;
YusukeWakuta 26:745735b0479d 104 return;
YusukeWakuta 26:745735b0479d 105 } else if(it == enumRoll) {
YusukeWakuta 25:12408563540d 106 if(value >rollNeutral + rollUpperDiff)
YusukeWakuta 25:12408563540d 107 rollUpperDiff = value - rollNeutral;
YusukeWakuta 26:745735b0479d 108 else if(value < rollNeutral + rollLowerDiff)
YusukeWakuta 26:745735b0479d 109 rollLowerDiff = value -rollNeutral ;
YusukeWakuta 26:745735b0479d 110 return;
YusukeWakuta 25:12408563540d 111 }
YusukeWakuta 24:72f9cb6e9440 112 }
YusukeWakuta 24:72f9cb6e9440 113
YusukeWakuta 20:d4951f491642 114 //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 26:745735b0479d 115 float MatchUpperAndLower(InputType it, float max,float min,float neutral,float value)
YusukeWakuta 18:31722545ecf1 116 {
YusukeWakuta 20:d4951f491642 117 float Upper = max- neutral;
YusukeWakuta 20:d4951f491642 118 float Lower = neutral - min;
YusukeWakuta 25:12408563540d 119
YusukeWakuta 26:745735b0479d 120 if(it == enumRoll) {
YusukeWakuta 25:12408563540d 121 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 122 if(value < neutral) {
YusukeWakuta 32:60af346703d3 123 value = neutral + ((value - neutral) * (Upper / Lower));
YusukeWakuta 33:d54dacb7a0aa 124 rollLowerDiff = -rollUpperDiff;
YusukeWakuta 25:12408563540d 125 }
YusukeWakuta 25:12408563540d 126 } else {
YusukeWakuta 25:12408563540d 127 if(value > neutral) {
YusukeWakuta 25:12408563540d 128 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 31:3a6be197e98f 129 rollUpperDiff = -rollLowerDiff;
YusukeWakuta 25:12408563540d 130 }
YusukeWakuta 20:d4951f491642 131 }
YusukeWakuta 25:12408563540d 132 return value;
YusukeWakuta 26:745735b0479d 133 } else if(it == enumPitch) {
YusukeWakuta 25:12408563540d 134 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 135 if(value < neutral) {
YusukeWakuta 32:60af346703d3 136 value = neutral + ((value -neutral) * (Upper / Lower));
YusukeWakuta 31:3a6be197e98f 137 pitchLowerDiff = -pitchUpperDiff;
YusukeWakuta 25:12408563540d 138 }
YusukeWakuta 25:12408563540d 139 } else {
YusukeWakuta 25:12408563540d 140 if(value > neutral) {
YusukeWakuta 25:12408563540d 141 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 31:3a6be197e98f 142 pitchUpperDiff= -pitchLowerDiff;
YusukeWakuta 25:12408563540d 143 }
YusukeWakuta 20:d4951f491642 144 }
YusukeWakuta 25:12408563540d 145 return value;
YusukeWakuta 27:1af92a603532 146 } else return value;
YusukeWakuta 18:31722545ecf1 147 }
YusukeWakuta 18:31722545ecf1 148
YusukeWakuta 21:9b1f5123f4a8 149 //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 150 float Format2Range(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 151 {
YusukeWakuta 18:31722545ecf1 152 float result;
YusukeWakuta 21:9b1f5123f4a8 153
YusukeWakuta 18:31722545ecf1 154 if(value > max)
YusukeWakuta 18:31722545ecf1 155 result= max;
YusukeWakuta 18:31722545ecf1 156 else if(value < min)
YusukeWakuta 18:31722545ecf1 157 result = min;
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 27:1af92a603532 173 return 1;
YusukeWakuta 18:31722545ecf1 174 else if(value>=max)
YusukeWakuta 18:31722545ecf1 175 return PHASE_NUM;
YusukeWakuta 18:31722545ecf1 176 }
YusukeWakuta 18:31722545ecf1 177
YusukeWakuta 30:eb7b7af1070a 178 float SetRollPitchRacio(float pitch,float roll)
YusukeWakuta 30:eb7b7af1070a 179 {
YusukeWakuta 30:eb7b7af1070a 180 return (roll + pitch * PITCHPERROLL) / (1.0 + PITCHPERROLL);
YusukeWakuta 29:8bff47ab602d 181 }
YusukeWakuta 29:8bff47ab602d 182
YusukeWakuta 15:c5ade23e5de4 183 void InputControlValues()
YusukeWakuta 15:c5ade23e5de4 184 {
YusukeWakuta 26:745735b0479d 185 setMaxAndMin(enumRoll, rollPin.read());
YusukeWakuta 26:745735b0479d 186 setMaxAndMin(enumPitch, pitchPin.read());
YusukeWakuta 26:745735b0479d 187
YusukeWakuta 30:eb7b7af1070a 188 // pc.printf("rollN:%f rollMax:%f rollMin:%f pitchN:%f pitchMax:%f pitchUpper:%f pitchMin:%f pitchLo:%f raw:%f\r\n",rollNeutral,rollNeutral+rollUpperDiff,rollNeutral+rollLowerDiff,pitchNeutral,pitchNeutral+pitchUpperDiff,pitchUpperDiff,pitchNeutral+pitchLowerDiff,pitchLowerDiff,pitchPin.read());
YusukeWakuta 32:60af346703d3 189 float MatchedRoll = MatchUpperAndLower(enumRoll, rollNeutral + rollUpperDiff,rollNeutral + rollLowerDiff,rollNeutral,rollPin.read() + neutralDiff);
YusukeWakuta 26:745735b0479d 190 float MatchedPitch = MatchUpperAndLower(enumPitch, pitchNeutral + pitchUpperDiff,pitchNeutral + pitchLowerDiff,pitchNeutral,pitchPin.read());
YusukeWakuta 32:60af346703d3 191 //pc.printf("Rollmax:%f value:%f Min:%f" ,);
YusukeWakuta 32:60af346703d3 192 float FormatedRoll_R = Format2Range(SetRollPitchRacio(MatchedPitch,MatchedRoll),SetRollPitchRacio(pitchNeutral + pitchUpperDiff,rollNeutral + rollUpperDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff,rollNeutral + rollLowerDiff));
YusukeWakuta 29:8bff47ab602d 193 *(int *)inputDatas_R =PhaseFloat(FormatedRoll_R,SetRollPitchRacio(pitchNeutral + pitchUpperDiff,rollNeutral + rollUpperDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff,rollNeutral + rollLowerDiff));
YusukeWakuta 24:72f9cb6e9440 194
YusukeWakuta 29:8bff47ab602d 195 float FormatedRoll_L = Format2Range(SetRollPitchRacio(MatchedPitch, - MatchedRoll),SetRollPitchRacio(pitchNeutral + pitchUpperDiff,-rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral +pitchLowerDiff, - rollNeutral - rollUpperDiff));
YusukeWakuta 27:1af92a603532 196 //pc.printf("matched:%f max:%f min:%f\n\r",(MatchedPitch - MatchedRoll) / 2.0,(pitchNeutral +pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0,(pitchNeutral + pitchUpperDiff-rollNeutral - rollLowerDiff) / 2.0);
YusukeWakuta 29:8bff47ab602d 197 *(int *)inputDatas_L = PhaseFloat(FormatedRoll_L,SetRollPitchRacio(pitchNeutral + pitchUpperDiff ,- rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff ,- rollNeutral - rollUpperDiff));
YusukeWakuta 27:1af92a603532 198 //pc.printf("Format:%f max:%f min:%f\n\r",FormatedRoll_L,(pitchNeutral + pitchUpperDiff - rollNeutral - rollLowerDiff) / 2.0,(pitchNeutral + pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0);
YusukeWakuta 28:056287cb001c 199 if(*(int *)inputDatas_R < 1)
YusukeWakuta 28:056287cb001c 200 *(int *)inputDatas_R = 1;
YusukeWakuta 28:056287cb001c 201 else if(*(int *)inputDatas_R > PHASE_NUM)
YusukeWakuta 28:056287cb001c 202 *(int *)inputDatas_R = PHASE_NUM;
YusukeWakuta 28:056287cb001c 203 if(*(int *)inputDatas_L < 1)
YusukeWakuta 28:056287cb001c 204 *(int *)inputDatas_L = 1 ;
YusukeWakuta 28:056287cb001c 205 else if(*(int *)inputDatas_L > PHASE_NUM)
YusukeWakuta 28:056287cb001c 206 *(int *)inputDatas_L =PHASE_NUM;
YusukeWakuta 16:336e8b102555 207
YusukeWakuta 32:60af346703d3 208 pc.printf("DR :%d DL:%d input_R:%d input_L:%d\n\r",drug_R.read(),drug_L.read(),*(int *)inputDatas_R,*(int *)inputDatas_L);
YusukeWakuta 31:3a6be197e98f 209 inputDatas_R[sizeof(int)+ 2] = (char)drug_R;
YusukeWakuta 15:c5ade23e5de4 210 led4 =! led4;
YusukeWakuta 26:745735b0479d 211 // pc.printf("%c",*(char *)inputDatas_R[4]);
YusukeWakuta 15:c5ade23e5de4 212 //pc.printf("%c",(char)drug_R);
YusukeWakuta 31:3a6be197e98f 213 inputDatas_L[sizeof(int)+2] = (char)drug_L;
YusukeWakuta 33:d54dacb7a0aa 214 // pc.printf("eruron:%f drug:%f\n\r,",);
YusukeWakuta 0:b1290ca6c4a2 215 }
YusukeWakuta 0:b1290ca6c4a2 216
YusukeWakuta 15:c5ade23e5de4 217 void SendDatas()
YusukeWakuta 15:c5ade23e5de4 218 {
tsumagari 10:b7159feb11fd 219 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM));
tsumagari 10:b7159feb11fd 220 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 221 toKeikiSerial.putc(';');
YusukeWakuta 15:c5ade23e5de4 222 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
YusukeWakuta 34:0cff1601bc13 223 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 31:3a6be197e98f 224
YusukeWakuta 34:0cff1601bc13 225 }
YusukeWakuta 34:0cff1601bc13 226 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
YusukeWakuta 0:b1290ca6c4a2 227 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 228 }
YusukeWakuta 15:c5ade23e5de4 229 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 230 toKeikiSerial.putc(inputDatas_R[i]);
YusukeWakuta 33:d54dacb7a0aa 231 }
YusukeWakuta 33:d54dacb7a0aa 232 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 233 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 234 }
YusukeWakuta 0:b1290ca6c4a2 235 }
tsumagari 8:dbc8c87dac78 236
YusukeWakuta 15:c5ade23e5de4 237 void init()
YusukeWakuta 15:c5ade23e5de4 238 {
tsumagari 9:c32999b4d2f9 239 //--------------------------------------(resetInterrupt init)
tsumagari 9:c32999b4d2f9 240 resetPin.rise(resetInterrupt);
tsumagari 9:c32999b4d2f9 241 resetPin.mode(PullDown);
tsumagari 9:c32999b4d2f9 242 //-----------------------------------------------------------
tsumagari 9:c32999b4d2f9 243 // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
YusukeWakuta 15:c5ade23e5de4 244 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 2:9dc7d5f1e910 245 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 246 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 247 }
YusukeWakuta 0:b1290ca6c4a2 248 }
YusukeWakuta 0:b1290ca6c4a2 249
YusukeWakuta 15:c5ade23e5de4 250 void receiveDatas()
YusukeWakuta 15:c5ade23e5de4 251 {
YusukeWakuta 15:c5ade23e5de4 252 if(can_R.read(recmsg_R)) {
YusukeWakuta 15:c5ade23e5de4 253 for(int i = 0; i < recmsg_R.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 254 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 15:c5ade23e5de4 255 // pc.printf("%c",yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 256 }
YusukeWakuta 25:12408563540d 257 led1 = !led1;
YusukeWakuta 0:b1290ca6c4a2 258 }
YusukeWakuta 15:c5ade23e5de4 259 if(can_L.read(recmsg_L)) {
YusukeWakuta 15:c5ade23e5de4 260 for(int i = 0; i < recmsg_L.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 261 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 15:c5ade23e5de4 262 led3 = !led3;
YusukeWakuta 15:c5ade23e5de4 263 // pc.printf("%c",yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 264 }
YusukeWakuta 25:12408563540d 265 led2 = !led2;
YusukeWakuta 0:b1290ca6c4a2 266 }
YusukeWakuta 0:b1290ca6c4a2 267 }
YusukeWakuta 0:b1290ca6c4a2 268
YusukeWakuta 15:c5ade23e5de4 269 int main()
YusukeWakuta 15:c5ade23e5de4 270 {
tsumagari 36:5ad172e48384 271 Thread tickFusokuThread(&tickFusoku);
YusukeWakuta 0:b1290ca6c4a2 272 init();
YusukeWakuta 24:72f9cb6e9440 273 setNeutral();
YusukeWakuta 15:c5ade23e5de4 274 while(1) {
tsumagari 8:dbc8c87dac78 275 InputControlValues();
tsumagari 10:b7159feb11fd 276 wait_us(5);
YusukeWakuta 0:b1290ca6c4a2 277 receiveDatas();
tsumagari 9:c32999b4d2f9 278 SendDatas();
YusukeWakuta 0:b1290ca6c4a2 279 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 280 }
YusukeWakuta 0:b1290ca6c4a2 281 }