Revision 3:8790e69f8c59, committed 2020-01-24

Comitter:

M_souta

Date:

Fri Jan 24 11:26:29 2020 +0000

Parent:

2:32d2cd7d744b

Child:

4:15547d07f8e5

Commit message:

lll;

Changed in this revision

--- a/Motor/Motor.h	Thu Jan 23 09:16:38 2020 +0000
+++ b/Motor/Motor.h	Fri Jan 24 11:26:29 2020 +0000
@@ -25,8 +25,8 @@
     #define MOTOR4_D2 directions[9]
 
     #define MOTOR0_D1_PIN D3
-    #define MOTOR0_D2_PIN D4
-    #define MOTOR1_D1_PIN D5
+    #define MOTOR0_D2_PIN A4
+    #define MOTOR1_D1_PIN A5
     #define MOTOR1_D2_PIN D6
     #define MOTOR2_D1_PIN D8
     #define MOTOR2_D2_PIN D9

--- 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);
     }
 }