Diff: main.cpp

Revision:

1:247ccea89495

Parent:

0:77917230ce6d

--- a/main.cpp	Fri Jan 15 15:32:09 2016 +0000
+++ b/main.cpp	Wed Jan 20 13:33:43 2016 +0000
@@ -18,10 +18,8 @@
     signed char rec_data_L[BUFFER];
     //signed char rec_data_R;
     rs485R.putc('P');
-    rs485L.putc('P');
     wait_ms(1);
     Driver_R = 0;
-    Driver_L = 0;
     wait_ms(120);
     if(rs485R.readable()) {
         for(int i = 0; i < BUFFER; i++) {
@@ -46,91 +44,96 @@
                     case 'C':
                         pc.printf("  C : %5i",rec_data_R[i + 1]);
                         break;
-                        }
+                }
+            }
+        }
+    }
+    pc.printf("\t");
+
+    rs485L.putc('P');
+    Driver_L = 0;
+    wait_ms(120);
+    if(rs485L.readable()) {
+        for(int i = 0; i < BUFFER; i++) {
+            rec_data_L[i] = rs485L.getc();
+        }
+        for(int i = 0; i < BUFFER; i++) {
+            if(rec_data_L[i + 1] != -1) {
+                pc.printf("LEFT : ");
+                switch(rec_data_L[i]) {
+                    case 'X':
+                        pc.printf("  X : %5i",rec_data_L[i + 1]);
+                        break;
+                    case 'Y':
+                        pc.printf("  Y : %5i",rec_data_L[i + 1]);
+                        break;
+                    case 'Z':
+                        pc.printf("  Z : %5i",rec_data_L[i + 1]);
+                        break; 
+                    case 'V':
+                        pc.printf("  V : %5i",rec_data_L[i + 1]);
+                        break;
+                    case 'C':
+                        pc.printf("  C : %5i",rec_data_L[i + 1]);
+                        break;
                 }
             }
         }
-        pc.printf("\t");
-
-        if(rs485L.readable()) {
-            for(int i = 0; i < BUFFER; i++) {
-                rec_data_L[i] = rs485L.getc();
-            }
-            for(int i = 0; i < BUFFER; i++) {
-                if(rec_data_L[i + 1] != -1) {
-                    pc.printf("LEFT : ");
-                    switch(rec_data_L[i]) {
-                        case 'X':
-                            pc.printf("  X : %5i",rec_data_L[i + 1]);
-                            break;
-                        case 'Y':
-                            pc.printf("  Y : %5i",rec_data_L[i + 1]);
-                            break;
-                        case 'Z':
-                            pc.printf("  Z : %5i",rec_data_L[i + 1]);
-                            break;
-                        case 'V':
-                            pc.printf("  V : %5i",rec_data_L[i + 1]);
-                            break;
-                        case 'C':
-                            pc.printf("  C : %5i",rec_data_L[i + 1]);
-                            break;
-                    }
-                }
-            }
-            pc.printf("\n\r");
-            Driver_R = 1;
-            Driver_L = 1;
-            wait_ms(1);
-        }
-    }
-
-    void counter_checker(int *counter_A,int *counter_B,int *counter_C,int *counter_D) {
-        
-        (*counter_A)++;
-        if(*counter_A > 180)
-            *counter_A = 0;
-            
-        *counter_B = *counter_B + 2;
-        if(*counter_B > 180)
-            *counter_B = 0;
-            
-        *counter_C = *counter_C + 3;
-        if(*counter_C > 180)
-            *counter_C = 0;
-            
-        *counter_D = *counter_D + 4;
-        if(*counter_D > 180)
-            *counter_D = 0;
-    }
-
-    int main() {
-        /*右エルロン：A
-         右翼端板　：B
-         左エルロン：C
-         左翼端板　：D
-        */
-        rs485R.baud(38400);
+        pc.printf("\n\r");
         Driver_R = 1;
         Driver_L = 1;
-        int counter_A = 0;
-        int counter_B = 0;
-        int counter_C = 0;
-        int counter_D = 0;
-        pc.printf("Driver\n\r");
-        CheckData.attach(&ch_data,0.25);
-        while(1) {
-            rs485R.putc('A');
-            rs485R.putc(counter_A);
-            rs485R.putc('B');
-            rs485R.putc(counter_B);
-            rs485L.putc('C');
-            rs485L.putc(counter_C);
-            rs485L.putc('D');
-            rs485L.putc(counter_D);
-            counter_checker(&counter_A,&counter_B,&counter_C,&counter_D);
-            wait(0.25);
-        }
+        wait_ms(1);
     }
+}
+
+void counter_checker(int *counter_A,int *counter_B,int *counter_C,int *counter_D)
+{
+
+    (*counter_A)++;
+    if(*counter_A > 180)
+        *counter_A = 0;
+
+    *counter_B = *counter_B + 2;
+    if(*counter_B > 180)
+        *counter_B = 0;
+
+    *counter_C = *counter_C + 3;
+    if(*counter_C > 180)
+        *counter_C = 0;
+
+    *counter_D = *counter_D + 4;
+    if(*counter_D > 180)
+        *counter_D = 0;
+}
+
+int main()
+{
+    /*右エルロン：A
+     右翼端板　：B
+     左エルロン：C
+     左翼端板　：D
+    */
+    rs485R.baud(38400);
+    rs485L.baud(38400);
+    Driver_R = 1;
+    Driver_L = 1;
+    int counter_A = 0;
+    int counter_B = 0;
+    int counter_C = 0;
+    int counter_D = 0;
+    pc.printf("Driver\n\r");
+    CheckData.attach(&ch_data,0.40);
+    while(1) { 
+        rs485R.putc(counter_A);
+        rs485R.putc('B');
+        rs485R.putc(counter_B);
+        rs485L.putc('C');
+        rs485L.putc(counter_C);
+        rs485L.putc('D');
+        rs485L.putc(counter_D);
+        counter_checker(&counter_A,&counter_B,&counter_C,&counter_D);
+        wait(0.25);
+    }
+}