Yosuke Kirihata / Mbed 2 deprecated Nucleo_CaitSith_Firmware_added_delayServo

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Dependencies:   mbed

Fork of Nucleo_CaitSith_Firmware by Yosuke Kirihata

Diff: main.cpp

Revision:
2:91135f19ac12
Parent:
1:5f6dd444850a
Child:
3:9ac9fdf1856e
--- a/main.cpp	Sat Sep 20 07:04:09 2014 +0000
+++ b/main.cpp	Tue Sep 23 04:45:25 2014 +0000
@@ -18,9 +18,7 @@
 #define BUFFER_SIZE 11
 #define COMMAND_TOTAL 3
 
-Serial pc(SERIAL_TX, SERIAL_RX);
- 
-DigitalOut myled(LED1);
+
 
 char receive[BUFFER_SIZE]; 
 //char* p_receive;
@@ -29,6 +27,8 @@
 int head0;
 int head1;
 
+int oyatsuCnt = 0;
+
 void pc_rx ();
 
 int serial_gets (char *buffer, int size);
@@ -60,11 +60,52 @@
           ret = true;
         } else if (size >= 3) {
           switch (buffer[2]) {
+          case 'N':
+            ret = true;
+            if (buffer[3] == '0') {
+              nyandaLight = 0;
+            } else if (buffer[3] == '1') {
+              nyandaLight = 1;
+            } else {
+              ret = false;    
+            }
+
+            break;
+              
           case 'O':
-           
-            //TODO:Move OYATSU bender.
-            
+          
             ret = true;
+            if (buffer[3] == '0') {
+              oyatsuCnt = 0;
+              oyatsuFeeder.setAngle(0);
+            } else if (buffer[3] == '1') {
+              if (oyatsuCnt <= 3) {
+                oyatsuCnt++;
+              }
+              
+              switch (oyatsuCnt) {
+                //case 0:
+                //    oyatusFeeder.setAngle(0);
+                //break;
+                case 1:
+                    oyatsuFeeder.setAngle(60);
+                break;
+                
+                case 2:
+                    oyatsuFeeder.setAngle(90);
+                break;
+                
+                case 3:
+                    oyatsuFeeder.setAngle(120);
+                break;
+                
+                default:
+                break;
+              }
+            } else {
+              ret = false;
+            }
+          
             break;
           case 'H':