Diff: main.cpp

Revision:

0:77917230ce6d

Child:

1:247ccea89495

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 15 15:32:09 2016 +0000
@@ -0,0 +1,136 @@
+#include "mbed.h"
+
+#define BUFFER 10
+
+Serial rs485R(p13,p14);
+Serial rs485L(p28,p27);
+Serial pc(USBTX,USBRX);
+DigitalOut Driver_R(p5);
+DigitalOut Driver_L(p6);
+DigitalIn Switch(p20);
+Ticker CheckData;
+AnalogIn val1(p16);
+AnalogIn val2(p17);
+
+void ch_data()
+{
+    signed char rec_data_R[BUFFER];
+    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++) {
+            rec_data_R[i] = rs485R.getc();
+        }
+        for(int i = 0; i < BUFFER; i++) {
+            if(rec_data_R[i + 1] != -1) {
+                pc.printf("RIGHT : ");
+                switch(rec_data_R[i]) {
+                    case 'X':
+                        pc.printf("  X : %5i",rec_data_R[i + 1]);
+                        break;
+                    case 'Y':
+                        pc.printf("  Y : %5i",rec_data_R[i + 1]);
+                        break;
+                    case 'Z':
+                        pc.printf("  Z : %5i",rec_data_R[i + 1]);
+                        break;
+                    case 'V':
+                        pc.printf("  V : %5i",rec_data_R[i + 1]);
+                        break;
+                    case 'C':
+                        pc.printf("  C : %5i",rec_data_R[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);
+        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);
+        }
+    }
+
+