main.cpp

00001 #include "mbed.h"
00002 
00003 #define BUFFER 10
00004 
00005 Serial rs485R(p13,p14);
00006 Serial rs485L(p28,p27);
00007 Serial pc(USBTX,USBRX);
00008 DigitalOut Driver_R(p5);
00009 DigitalOut Driver_L(p6);
00010 DigitalIn Switch(p20);
00011 Ticker CheckData;
00012 AnalogIn val1(p16);
00013 AnalogIn val2(p17);
00014 
00015 void ch_data()
00016 {
00017     signed char rec_data_R[BUFFER];
00018     signed char rec_data_L[BUFFER];
00019     //signed char rec_data_R;
00020     rs485R.putc('P');
00021     wait_ms(1);
00022     Driver_R = 0;
00023     wait_ms(120);
00024     if(rs485R.readable()) {
00025         for(int i = 0; i < BUFFER; i++) {
00026             rec_data_R[i] = rs485R.getc();
00027         }
00028         for(int i = 0; i < BUFFER; i++) {
00029             if(rec_data_R[i + 1] != -1) {
00030                 pc.printf("RIGHT : ");
00031                 switch(rec_data_R[i]) {
00032                     case 'X':
00033                         pc.printf("  X : %5i",rec_data_R[i + 1]);
00034                         break;
00035                     case 'Y':
00036                         pc.printf("  Y : %5i",rec_data_R[i + 1]);
00037                         break;
00038                     case 'Z':
00039                         pc.printf("  Z : %5i",rec_data_R[i + 1]);
00040                         break;
00041                     case 'V':
00042                         pc.printf("  V : %5i",rec_data_R[i + 1]);
00043                         break;
00044                     case 'C':
00045                         pc.printf("  C : %5i",rec_data_R[i + 1]);
00046                         break;
00047                 }
00048             }
00049         }
00050     }
00051     pc.printf("\t");
00052 
00053     rs485L.putc('P');
00054     Driver_L = 0;
00055     wait_ms(120);
00056     if(rs485L.readable()) {
00057         for(int i = 0; i < BUFFER; i++) {
00058             rec_data_L[i] = rs485L.getc();
00059         }
00060         for(int i = 0; i < BUFFER; i++) {
00061             if(rec_data_L[i + 1] != -1) {
00062                 pc.printf("LEFT : ");
00063                 switch(rec_data_L[i]) {
00064                     case 'X':
00065                         pc.printf("  X : %5i",rec_data_L[i + 1]);
00066                         break;
00067                     case 'Y':
00068                         pc.printf("  Y : %5i",rec_data_L[i + 1]);
00069                         break;
00070                     case 'Z':
00071                         pc.printf("  Z : %5i",rec_data_L[i + 1]);
00072                         break; 
00073                     case 'V':
00074                         pc.printf("  V : %5i",rec_data_L[i + 1]);
00075                         break;
00076                     case 'C':
00077                         pc.printf("  C : %5i",rec_data_L[i + 1]);
00078                         break;
00079                 }
00080             }
00081         }
00082         pc.printf("\n\r");
00083         Driver_R = 1;
00084         Driver_L = 1;
00085         wait_ms(1);
00086     }
00087 }
00088 
00089 void counter_checker(int *counter_A,int *counter_B,int *counter_C,int *counter_D)
00090 {
00091 
00092     (*counter_A)++;
00093     if(*counter_A > 180)
00094         *counter_A = 0;
00095 
00096     *counter_B = *counter_B + 2;
00097     if(*counter_B > 180)
00098         *counter_B = 0;
00099 
00100     *counter_C = *counter_C + 3;
00101     if(*counter_C > 180)
00102         *counter_C = 0;
00103 
00104     *counter_D = *counter_D + 4;
00105     if(*counter_D > 180)
00106         *counter_D = 0;
00107 }
00108 
00109 int main()
00110 {
00111     /*右エルロン：A
00112      右翼端板　：B
00113      左エルロン：C
00114      左翼端板　：D
00115     */
00116     rs485R.baud(38400);
00117     rs485L.baud(38400);
00118     Driver_R = 1;
00119     Driver_L = 1;
00120     int counter_A = 0;
00121     int counter_B = 0;
00122     int counter_C = 0;
00123     int counter_D = 0;
00124     pc.printf("Driver\n\r");
00125     CheckData.attach(&ch_data,0.40);
00126     while(1) { 
00127         rs485R.putc(counter_A);
00128         rs485R.putc('B');
00129         rs485R.putc(counter_B);
00130         rs485L.putc('C');
00131         rs485L.putc(counter_C);
00132         rs485L.putc('D');
00133         rs485L.putc(counter_D);
00134         counter_checker(&counter_A,&counter_B,&counter_C,&counter_D);
00135         wait(0.25);
00136     }
00137 }
00138 
00139