Diff: main.cpp

Revision:

0:4bb9fdb82508

Child:

1:fb2003e84b92

diff -r 000000000000 -r 4bb9fdb82508 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jul 01 12:15:17 2021 +0000
@@ -0,0 +1,46 @@
+#include "mbed.h"
+Serial xbee(D1,D0);//TX,RXの順。要確認。
+PwmOut servo1(D11);
+PwmOut servo2(D12);
+DigitalOut led(LED3);//何かに使いたいね
+int value;
+
+float calc(float x){
+    return (1.45+(2.4-0.5)/180*x)/1000;
+}
+float nowarg = -1;
+float cnowarg = -1;
+
+int main()
+{
+    led = 1;
+    wait(0.25);
+    led = 0;
+    wait(0.25);
+    led = 1;
+    wait(0.25);
+    led = 0;
+    wait(0.25);
+    printf("\nToy-C example\n");
+    while(1) {
+        //Xbeeの受信
+        if (xbee.readable()){
+            value = xbee.getc();
+            if (value==1){//1を受信した時
+                nowarg = 90;
+                cnowarg = calc(nowarg);
+                servo1.pulsewidth(cnowarg);
+                servo2.pulsewidth(cnowarg);
+                led =1;
+            }else if (value ==0){
+                nowarg = 0;//0を受信した時
+                cnowarg = calc(nowarg);
+                servo1.pulsewidth(cnowarg);
+                servo2.pulsewidth(cnowarg);
+                led =0;
+            }
+        }
+        //Xbeeの送信
+        xbee.printf("Status%f\r\n",nowarg);
+    }
+}