三浦 颯太
/
NRP2020_main
seisakutyu
Diff: main.cpp
- Revision:
- 3:8790e69f8c59
- Parent:
- 2:32d2cd7d744b
--- a/main.cpp Thu Jan 23 09:16:38 2020 +0000 +++ b/main.cpp Fri Jan 24 11:26:29 2020 +0000 @@ -2,49 +2,46 @@ #include "Motor.h" #include "MCP.h" #include "XBee.h" +#include <stdint.h> #define SDA PB_7 #define SCL PB_6 #define MCP_ADDRESS 0x40 -using namespace MOTOR - MCP MCP(SDA, SCL, MCP_ADDRESS); - -Serial pc(USBTX, USBRX); - XBEE::ControllerData *controller; MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; +/* ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */ + + + +/* ↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ */ + int main() { - __enable_irq(); - + XBEE::Controller::Initialize(); MOTOR::Motor::Initialize(); - MCP.PinMode(7, INPUT_PULLUP); - MCP.PinMode(6, OUTPUT); + __enable_irq(); + + /* ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */ + + /* ↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ */ + while(1) { + controller = XBEE::Controller::GetData(); - MCP.Update(); - int a; + /* ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */ + - /* write ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */ - for(int i = 0; i < 16; i++) { - a = MCP.Read(i); - pc.printf("%d",a); - } - pc.printf("\n\r"); - int b = MCP.Read(7); + /* ↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑ */ - MCP.Write(6, b); - - // MOTOR::Motor::Update(motor); } }