albatross / Mbed 2 deprecated Control_R_ver1

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Dependencies:   ADXL345_I2C INA226_ver1 mbed

Fork of RS485R_2 by albatross

main.cpp@0:fafac0045ad3, 2015-12-04 (annotated)

Committer:
taurin
Date:
Fri Dec 04 22:42:20 2015 +0000
Revision:
0:fafac0045ad3
Child:
1:563b7d0b896f
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
taurin 0:fafac0045ad3 1 //相互通信確認用
taurin 0:fafac0045ad3 2 #include "mbed.h"
taurin 0:fafac0045ad3 3 #define BUFFER 30
taurin 0:fafac0045ad3 4
taurin 0:fafac0045ad3 5 Serial rs485(p9,p10);
taurin 0:fafac0045ad3 6 Serial pc(USBTX,USBRX);
taurin 0:fafac0045ad3 7 DigitalOut Receiver(p5);
taurin 0:fafac0045ad3 8 PwmOut servo1(p21);
taurin 0:fafac0045ad3 9 PwmOut servo2(p22);
taurin 0:fafac0045ad3 10
taurin 0:fafac0045ad3 11 int counter = 0;
taurin 0:fafac0045ad3 12 int servo_deg1 = 0;
taurin 0:fafac0045ad3 13 int servo_deg2 = 0;
taurin 0:fafac0045ad3 14
taurin 0:fafac0045ad3 15 void rs485_rx()
taurin 0:fafac0045ad3 16 {
taurin 0:fafac0045ad3 17 int rec_data = rs485.getc();
taurin 0:fafac0045ad3 18 switch(rec_data){
taurin 0:fafac0045ad3 19 case 'A':
taurin 0:fafac0045ad3 20 servo_deg1 = rs485.getc();
taurin 0:fafac0045ad3 21 pc.printf("counter1:%d\n\r",servo_deg1);
taurin 0:fafac0045ad3 22 break;
taurin 0:fafac0045ad3 23 case 'B':
taurin 0:fafac0045ad3 24 servo_deg2 = rs485.getc();
taurin 0:fafac0045ad3 25 pc.printf("counter2:%d\n\r",servo_deg2);
taurin 0:fafac0045ad3 26 break;
taurin 0:fafac0045ad3 27 case 'C':
taurin 0:fafac0045ad3 28 Receiver = 1;
taurin 0:fafac0045ad3 29 wait_ms(1);
taurin 0:fafac0045ad3 30 rs485.putc(counter++);
taurin 0:fafac0045ad3 31 wait_ms(1);
taurin 0:fafac0045ad3 32 Receiver = 0;
taurin 0:fafac0045ad3 33 break;
taurin 0:fafac0045ad3 34 default:
taurin 0:fafac0045ad3 35 wait_us(5);
taurin 0:fafac0045ad3 36 pc.printf("%d\n\r",rec_data);
taurin 0:fafac0045ad3 37 }
taurin 0:fafac0045ad3 38 }
taurin 0:fafac0045ad3 39
taurin 0:fafac0045ad3 40 int main()
taurin 0:fafac0045ad3 41 {
taurin 0:fafac0045ad3 42 Receiver = 0;
taurin 0:fafac0045ad3 43 pc.printf("Receiver\n\r");
taurin 0:fafac0045ad3 44 rs485.baud(38400);
taurin 0:fafac0045ad3 45 servo1.period_ms(20);
taurin 0:fafac0045ad3 46 servo2.period_ms(20);
taurin 0:fafac0045ad3 47 rs485.attach(rs485_rx, Serial::RxIrq);
taurin 0:fafac0045ad3 48 while(1){
taurin 0:fafac0045ad3 49 servo1.pulsewidth(0.00093 + (servo_deg1 / 180.0) * (0.00235 - 0.00077));
taurin 0:fafac0045ad3 50 servo2.pulsewidth(0.00093 + (servo_deg2 / 180.0) * (0.00235 - 0.00077));
taurin 0:fafac0045ad3 51 }
taurin 0:fafac0045ad3 52 }