Diff: main.cpp

Revision:

16:82310bf7c326

Parent:

15:1db5ee4fe7ce

diff -r 1db5ee4fe7ce -r 82310bf7c326 main.cpp
--- a/main.cpp	Mon Mar 07 13:43:18 2016 +0000
+++ b/main.cpp	Fri Mar 18 06:13:47 2016 +0000
@@ -10,6 +10,7 @@
 #define TO_SEND_CAN_ID 100
 #define ADXL_MEAN_NUM 10
 #define SEND_DATAS_LOOP_TIME 0.1
+#define RECEIVE_DATAS_LOOP_TIME 0.05
 
 #define ERURON_MOVE_DEG_INI_R -12
 #define DRUG_MOVE_DEG_INI_R 96
@@ -41,7 +42,8 @@
 DigitalOut led4(LED4);
 Ticker sendDatasTicker;
 Ticker toStringTicker;
-//
+Ticker receiveDatasTicker;
+
 char toSendDatas[TO_SEND_DATAS_NUM];
 char controlValues[CONTROL_VALUES_NUM];//0:eruruon,1:drug
 
@@ -60,6 +62,8 @@
 int adxl_mean_counter = 0;
 
 void toString();
+void receiveDatas();
+void WriteServo();
 
 bool servoInit(){
     drugServo.period_ms(INIT_SERVO_PERIOD_MS);
@@ -111,7 +115,8 @@
     ADXL_FLAG = adxlInit();
     INA_FLAG = inaInit();
     sendDatasTicker.attach(&sendDatas,SEND_DATAS_LOOP_TIME);
-   // toStringTicker.attach(&toString,0.5);
+    // toStringTicker.attach(&toString,0.5);
+    receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME);
 }
 
 void updateDatas(){
@@ -134,6 +139,7 @@
             controlValues[i] = recmsg.data[i];
         }
         led1 = !led1;
+        //WriteServo();
     }
 }
 
@@ -213,7 +219,7 @@
         led4 = 0;
         
         debugLED = 0;
-        receiveDatas();
+        //receiveDatas();
         WriteServo();
         updateDatas();
         wait(WAIT_LOOP_TIME);