Diff: main.cpp

Revision:

0:f7be77a7663f

diff -r 000000000000 -r f7be77a7663f main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 30 12:33:22 2016 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "i2cslave.h"
+#include "define.h"
+
+char Registar[128]= {};
+void check();
+
+int main()
+{
+    PwmOut Servos[4] = { PwmOut(dp24), PwmOut(dp1), PwmOut(dp2), PwmOut(dp18) };
+    char servodata[4] = {};
+    for(int i = 0; i < 4; i++)
+    {
+        Servos[i] = 0;
+    }
+    NVIC_SetPriority(TIMER_16_0_IRQn, 20);
+    NVIC_SetPriority(TIMER_16_1_IRQn, 20);
+    NVIC_SetPriority(TIMER_32_0_IRQn, 20);
+    NVIC_SetPriority(TIMER_32_1_IRQn, 20);
+    NVIC_SetPriority(I2C_IRQn, 10);
+    i2cslave i2c(dp5, dp27, Registar);
+    /*change address every micon***********/
+    i2c.address(SERVO1_addr);
+    /**************************************/
+    i2c.frequency(1000000);
+    Ticker tic;
+    tic.attach(check, 0.1);
+    while(1)
+    {
+        for(int i = 0; i < 4; i++)
+        {
+            servodata[i] = (Registar[motor1_state] >> i) & 1;
+            if(servodata[i])
+            {
+                Servos[i].pulsewidth(0.0010);
+            }
+            else
+            {
+                Servos[i].pulsewidth(0.0006);
+            }
+            wait_ms(60);
+        }
+    }
+}
+
+void check()
+{
+    Registar[check_reg]++;
+    if(Registar[check_reg] > 2)
+    {
+        NVIC_SystemReset();
+    }
+}