Miya Miyagawa / Mbed 2 deprecated NRP2020_main

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Dependencies:   mbed MCP23017

main.cpp

Committer:
M_souta
Date:
2020-01-23
Revision:
2:32d2cd7d744b
Parent:
1:5b0303768126
Child:
3:8790e69f8c59

File content as of revision 2:32d2cd7d744b:

#include "mbed.h"
#include "Motor.h"
#include "MCP.h"
#include "XBee.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();
    
    MOTOR::Motor::Initialize();
    
    MCP.PinMode(7, INPUT_PULLUP);
    MCP.PinMode(6, OUTPUT);
    
    
    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);
    }
}