Revision 3:0f4f78d84ff1, committed 2019-03-12

Comitter:

AlexQian

Date:

Tue Mar 12 09:26:52 2019 +0000

Parent:

2:4704fdd9ef91

Commit message:

NRF_Template

Changed in this revision

--- a/main.cpp	Sun Dec 24 03:12:05 2017 +0000
+++ b/main.cpp	Tue Mar 12 09:26:52 2019 +0000
@@ -1,87 +0,0 @@
-#include "mbed.h"
-#include "nRF24L01P.h"
-#define TRANSFER_SIZE   12
-#define Send_Repeat_Times 10//命令重发次数
-#define command_roll 0x51
-#define command_start 0x50
-#define command_end 0x52
-#define command_slow 0x53
-
-int flag=0;//发送状态标志 0：发送姿态命令 1：发送启动命令 2：发送急停命令 3：发送缓降命令
-char txdata[TRANSFER_SIZE];
-
-nRF24L01P my_nrf24l01p(PB_15, PB_14, PB_13, PB_6, PB_5, PB_7);    // mosi, miso, sck, csn, ce, irq
-
-DigitalOut myled1(PA_6);
-DigitalOut myled2(PA_7);
-
-//DigitalIn sz_n(PB_10),sz_p(PA_5),sx_p(PB_0),sx_n(PB_1),sy_p(PB_3),sy_n(PB_4);
-AnalogIn L_X(PA_0),L_Y(PA_1),R_X(PA_2),R_Y(PA_3);
-InterruptIn START(PB_4),END(PB_3),SLOW(PB_0);
-Serial pc(PA_9,PA_10,9600);
-
-void start(){flag=1;}
-void end(){flag=2;}
-void slow(){flag = 3;}
-
-int main() {
-    for(int i=0;i!=TRANSFER_SIZE;i++)
-        txdata[i] = 0;   
-    my_nrf24l01p.powerUp();
-    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
-    my_nrf24l01p.setReceiveMode();
-    my_nrf24l01p.enable();
-    
-    myled1 = 0;
-    myled2 = 0;
-    
-    START.mode(PullDown);
-    END.mode(PullDown);
-    SLOW.mode(PullDown);
-    START.rise(&start);
-    END.rise(&end);
-    SLOW.rise(&slow);
-    while (1) {
-         switch (flag)
-        {
-            case 0:
-                txdata[0]= command_roll;    
-                short int data[4];
-                data[0] = L_X.read_u16();
-                data[1] = L_Y.read_u16();
-                data[2] = R_X.read_u16();
-                data[3] = R_Y.read_u16();
-                txdata[2] = data[0];
-                txdata[1] = data[0] >> 8;
-                txdata[4] = data[1];
-                txdata[3] = data[1] >> 8;
-                txdata[6] = data[2];
-                txdata[5] = data[2] >> 8;
-                txdata[8] = data[3];
-                txdata[7] = data[3] >> 8;
-                txdata[9] = 0;
-                txdata[10] = 0;
-                txdata[11] = 0;    
-                my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12);
-            break;        
-            case 1:
-                txdata[0] = command_start;
-                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
-                flag = 0;
-            break;
-            case 2:
-                txdata[0] = command_end;
-                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
-                flag = 0;
-            break;
-            case 3:
-                txdata[0] = command_slow;
-                for(int i=0;i<Send_Repeat_Times;i++) {my_nrf24l01p.write( NRF24L01P_PIPE_P0, txdata, 12); wait(0.01);}
-                flag = 0;
-            break;      
-        }
-        wait(0.05);//防止过快发送造成命令无法被接收     
-    }
-}
-
-