Revision 5:6604ec9044a0, committed 2014-03-17

Comitter:

com3

Date:

Mon Mar 17 06:37:37 2014 +0000

Parent:

4:536cd493a337

Commit message:

main

Changed in this revision

diff -r 536cd493a337 -r 6604ec9044a0 main.cpp
--- a/main.cpp	Mon Mar 17 05:41:07 2014 +0000
+++ b/main.cpp	Mon Mar 17 06:37:37 2014 +0000
@@ -48,6 +48,7 @@
 Timeout liner_R;
 Ticker pidupdata;
 Ticker xbeetx;
+Ticker xbeerx;
 //HMC6352 dcompass(p9,p10);
 
 extern string StringFIN;
@@ -266,8 +267,8 @@
     motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
     motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
     sensor.attach(&micon_rx,Serial::RxIrq);         //送信空き割り込み（センサ用）
-    xbee.attach(&xbee_rx,Serial::RxIrq);
-    xbeetx.attach(&xbee_tx,1);
+    xbeerx.attach(&xbee_rx,5);
+    xbeetx.attach(&xbee_tx,5);
     //compassdef = (compass / 10);           //コンパス初期値保存
     //compassdef = (dcompass.sample() / 10);
     pid.setInputLimits(0.0,360.0);

diff -r 536cd493a337 -r 6604ec9044a0 usart.cpp
--- a/usart.cpp	Mon Mar 17 05:41:07 2014 +0000
+++ b/usart.cpp	Mon Mar 17 06:37:37 2014 +0000
@@ -12,6 +12,7 @@
 extern Serial xbee;
 extern Serial sensor;
 extern Serial pc;
+extern DigitalOut myled[4];
 
 extern uint8_t value_ir, ir_num, ir_dis, ball_on;
 extern uint8_t ping[4];
@@ -19,12 +20,18 @@
 extern uint8_t ir_max, ir_num;
 extern int compass;
 
+int count = 0;
 void xbee_tx(){
-    
+    xbee.putc(1);
 }
 
 void xbee_rx(){
-    
+    if(xbee.readable()){
+        count = xbee.getc();
+    } else {
+        count = 0;
+    }
+    //pc.printf("%d\n", count);
 }
 
 void micon_rx(){