Wallbot_CaaS
Dependencies: MPU6050 mbed PID
Fork of BLE_MPU6050_test6_challenge_sb by
Diff: main.cpp
- Revision:
- 19:5f1e153ef63e
- Parent:
- 18:8bab3e5c4ea2
- Child:
- 20:b0e1fa37856d
--- a/main.cpp Thu May 24 03:32:29 2018 +0000 +++ b/main.cpp Thu May 24 04:20:45 2018 +0000 @@ -30,6 +30,7 @@ uint8_t senPayload[10] = {0,}; uint8_t mpuPayload[12] = {0,}; + //Characteristic Property Setting etc GattCharacteristic cmdChar (cmd_uuid, cmdPayload, sizeof(cmdPayload), sizeof(cmdPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_WRITE); GattCharacteristic senChar (sen_uuid, senPayload, sizeof(senPayload), sizeof(senPayload), GattCharacteristic::BLE_GATT_CHAR_PROPERTIES_NOTIFY); @@ -50,7 +51,8 @@ ble.startAdvertising(); wb.set_led2(0); #ifdef DEBUG - pc.printf("Disconnected\n\r"); + //割り込みハンドラの中でシリアル通信しないこと。 + //pc.printf("Disconnected\n\r"); #endif } //====================================================================== @@ -63,24 +65,25 @@ wb.control_enable(true); wb.SetRPM(0,0); #ifdef DEBUG - pc.printf("Connected\n\r"); + //割り込みハンドラの中でシリアル通信しないこと。 + //pc.printf("Connected\n\r"); #endif } //====================================================================== //onDataWritten //====================================================================== + void onDataWritten(const GattCharacteristicWriteCBParams *params) { - float right_cmd; - float left_cmd; - + float right_cmd = 0; + float left_cmd = 0; memcpy( &right_cmd, params->data , sizeof(right_cmd)); memcpy( &left_cmd, params->data + sizeof(right_cmd), sizeof(left_cmd)); - - wb.SetRPM(left_cmd,right_cmd); + wb.SetRPM(right_cmd,left_cmd); #ifdef DEBUG - pc.printf("SetRPM %f,%f \n\r",left_cmd,right_cmd); + //割り込みハンドラの中でシリアル通信しないこと。 + //printf("SetRPM:%f,%f",left_cmd,right_cmd) #endif } /**************************************************************************/