mbed_robotcar / Mbed OS kumitate

desu

Dependencies:   RemoteIR TextLCD

main.cpp@0:0d0037aabe41, 2020-07-14 (annotated)

Committer:
yangtzuli
Date:
Tue Jul 14 01:20:09 2020 +0000
Revision:
0:0d0037aabe41
Child:
1:5bb497a38344
mode-rimokon

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yangtzuli 0:0d0037aabe41 1 /* mbed Microcontroller Library
yangtzuli 0:0d0037aabe41 2 * Copyright (c) 2019 ARM Limited
yangtzuli 0:0d0037aabe41 3 * SPDX-License-Identifier: Apache-2.0
yangtzuli 0:0d0037aabe41 4 */
yangtzuli 0:0d0037aabe41 5
yangtzuli 0:0d0037aabe41 6 #include "mbed.h"
yangtzuli 0:0d0037aabe41 7 #include "ReceiverIR.h"
yangtzuli 0:0d0037aabe41 8 #include "rtos.h"
yangtzuli 0:0d0037aabe41 9 #include <stdint.h>
yangtzuli 0:0d0037aabe41 10 #include "platform/mbed_thread.h"
yangtzuli 0:0d0037aabe41 11
yangtzuli 0:0d0037aabe41 12 Serial pc(USBTX, USBRX);
yangtzuli 0:0d0037aabe41 13
yangtzuli 0:0d0037aabe41 14
yangtzuli 0:0d0037aabe41 15 DigitalIn button(p15);
yangtzuli 0:0d0037aabe41 16 // ポートp15を赤外線受信モジュールの接続先に指定
yangtzuli 0:0d0037aabe41 17 ReceiverIR ir_rx(p15);
yangtzuli 0:0d0037aabe41 18 RemoteIR::Format format;
yangtzuli 0:0d0037aabe41 19 uint8_t buf[32];
yangtzuli 0:0d0037aabe41 20 uint32_t bitcount;
yangtzuli 0:0d0037aabe41 21 uint8_t code;
yangtzuli 0:0d0037aabe41 22 char mode[20];
yangtzuli 0:0d0037aabe41 23
yangtzuli 0:0d0037aabe41 24 void rimokon();
yangtzuli 0:0d0037aabe41 25
yangtzuli 0:0d0037aabe41 26 void rimokon(/*void const *argument*/){
yangtzuli 0:0d0037aabe41 27
yangtzuli 0:0d0037aabe41 28
yangtzuli 0:0d0037aabe41 29 // 受信待ち
yangtzuli 0:0d0037aabe41 30 if (ir_rx.getState() == ReceiverIR::Received) {
yangtzuli 0:0d0037aabe41 31 // コード受信
yangtzuli 0:0d0037aabe41 32 bitcount = ir_rx.getData(&format, buf, sizeof(buf) * 8);
yangtzuli 0:0d0037aabe41 33 if(bitcount > 1){
yangtzuli 0:0d0037aabe41 34 // 受信成功
yangtzuli 0:0d0037aabe41 35 code = buf[2];
yangtzuli 0:0d0037aabe41 36 pc.printf("%x\r\n",code);
yangtzuli 0:0d0037aabe41 37 switch(code){
yangtzuli 0:0d0037aabe41 38 case 0x40://ok
yangtzuli 0:0d0037aabe41 39 strcpy(mode,"Default");
yangtzuli 0:0d0037aabe41 40 pc.printf("%s\r\n",mode);
yangtzuli 0:0d0037aabe41 41 break;
yangtzuli 0:0d0037aabe41 42 case 0x42://*
yangtzuli 0:0d0037aabe41 43 strcpy(mode,"Avoidance");
yangtzuli 0:0d0037aabe41 44 pc.printf("%s\r\n",mode);
yangtzuli 0:0d0037aabe41 45 break;
yangtzuli 0:0d0037aabe41 46 case 0x4a://#
yangtzuli 0:0d0037aabe41 47 strcpy(mode,"Line_Trace");
yangtzuli 0:0d0037aabe41 48 pc.printf("%s\r\n",mode);
yangtzuli 0:0d0037aabe41 49 break;
yangtzuli 0:0d0037aabe41 50 default:
yangtzuli 0:0d0037aabe41 51 ;
yangtzuli 0:0d0037aabe41 52 }
yangtzuli 0:0d0037aabe41 53 }
yangtzuli 0:0d0037aabe41 54 }
yangtzuli 0:0d0037aabe41 55
yangtzuli 0:0d0037aabe41 56 }
yangtzuli 0:0d0037aabe41 57
yangtzuli 0:0d0037aabe41 58 int main() {
yangtzuli 0:0d0037aabe41 59
yangtzuli 0:0d0037aabe41 60 //RtosTimer rimokon_timer(rimokon, osTimerPeriodic, (void *)0); // set RTOS timer for sensor
yangtzuli 0:0d0037aabe41 61 //rimokon_timer.start(10);
yangtzuli 0:0d0037aabe41 62 //Thread thread1(rimokon , NULL , osPriorityHigh);
yangtzuli 0:0d0037aabe41 63 while(1){
yangtzuli 0:0d0037aabe41 64 if(button.read()==0){
yangtzuli 0:0d0037aabe41 65 rimokon();
yangtzuli 0:0d0037aabe41 66 }
yangtzuli 0:0d0037aabe41 67 }
yangtzuli 0:0d0037aabe41 68 }