Diff: main.cpp

Revision:

13:09e05e7cfca1

Parent:

12:f01c1ba847ac

Child:

15:6966299bea4c

--- a/main.cpp	Sat Nov 12 12:03:02 2016 +0000
+++ b/main.cpp	Sat Nov 19 10:50:35 2016 +0000
@@ -3,7 +3,6 @@
 #include "Fusokukei.h"
 #include "MPU6050.h"
 #include "SDFileSystem.h"
-#include "SoftwareSerial.h"
 
 #define KX_VALUE_MIN 0.4
 #define KX_VALUE_MAX 0.8
@@ -19,13 +18,12 @@
 #define INIT_SERVO_PERIOD_MS 20
 
 Serial pc(USBTX,USBRX);
+Serial soudaSerial(p13,p14);
 Serial twe(p9,p10);
-Serial cadenceTwe(p13,p14);
-SoftwareSerial soudaSerial(p24,p23);
-//Ticker writeDatasTicker;
+Ticker writeDatasTicker;
 Timer writeTimer;
 
-InterruptIn FusokukeiPin(p30);
+InterruptIn FusokukeiPin(p21);
 Ticker FusokukeiTicker;
 Fusokukei air;
 volatile int air_kaitensu= 0;
@@ -49,10 +47,9 @@
 SDFileSystem sd(p5, p6, p7, p8, "sd");
 FILE* fp;
 
-PwmOut kisokuServo(p26);
-PwmOut geikakuServo(p22);
+PwmOut kisokuServo(p22);
+PwmOut geikakuServo(p26);
 
-float cadence;
 char soudaDatas[SOUDA_DATAS_NUM];
 float writeDatas[SD_WRITE_NUM][WRITE_DATAS_NUM];
 volatile int write_datas_index = 0;
@@ -63,8 +60,6 @@
 void FusokukeiInit();
 void MpuInit();
 void mpuProcessing();
-void cadenceRead();
-void cadenceInit();
 void SdInit();
 void DataReceiveFromSouda();
 void WriteDatas();
@@ -82,7 +77,6 @@
 
 void init(){
     twe.baud(115200);
-//    test.baud(300);
     //writeTimer.start();
     kisokuServo.period_ms(INIT_SERVO_PERIOD_MS);
     geikakuServo.period_ms(INIT_SERVO_PERIOD_MS);
@@ -163,34 +157,6 @@
     }
 }
 
-void cadenceInit(){
-    cadenceTwe.baud(115200);
-    
-}
-
-void cadenceRead(){
-    if(twe.readable()){
-        data[data_count]=twe.getc();
-    
-        if(data[data_count]=='\r'){
-            for(int i=0;i<73;i++) data[i]= NULL;
-            data_num=0;
-            data_count=0;
-        }else{
-            if(data[data_count]==';'){
-                data_num++;
-            }
-            if(data_num==15){
-                z_int = (int)data[data_count-1] + (int)data[data_count-2]*10 + (int)data[data_count-3]*100 - offset*111;
-                if(data[data_count-4]!='0') z_int *= -1;
-                cadence = (double)z_int/6; //角度補正前ふつうに
-            }
-            data_count++; 
-        }//else
-            
-    } //readable
-}
-
 void SdInit(){
     mkdir("/sd/mydir", 0777);
     fp = fopen("/sd/mydir/sdtest2.csv", "w");
@@ -205,7 +171,7 @@
     led2 = !led2;
     //pc.printf("received\n\r");
     for(int i = 0; i < SOUDA_DATAS_NUM; i++){
-        if(soudaSerial.readable()) soudaDatas[i] = (char)soudaSerial.getc();
+        if(soudaSerial.readable()) soudaDatas[i] = soudaSerial.getc();
     }
 }
 
@@ -310,9 +276,7 @@
 int main(){
     init();
     while(1){
-//        pc.printf("test\n\r");
-//        if(test.readable()) pc.printf("%d   ",test.getc());
-//        pc.printf("<-softserial\n\r");
+        pc.printf("test\n\r");
         mpuProcessing();
         RollAlarm();
         DataReceiveFromSouda();