Hajime Muraki
/
program_SensorBlock
sensor
Fork of program_SensorBlock by
Diff: main.cpp
- Revision:
- 3:7de2c50339bd
- Parent:
- 2:f7da3aa0520a
- Child:
- 4:1d54610dba80
--- a/main.cpp Mon Feb 24 05:23:18 2014 +0000 +++ b/main.cpp Mon Feb 24 07:05:48 2014 +0000 @@ -22,6 +22,7 @@ Serial sensor(p13,p14); Serial pc(USBTX,USBRX); HMC6352 compass(p9, p10); + Timer time_ping; Timer time_ir; @@ -35,7 +36,8 @@ volatile unsigned int value_ir_min = 0; volatile unsigned int ir_min_num = 0; volatile unsigned int value_line[ALL_LINE] = {0}; -volatile unsigned int value_compass = 0; +volatile unsigned int value_compass0 = 0; +volatile unsigned int value_compass[2] = {0}; /*unsigned int*/void moving_ave(enum sensors kind,int num, unsigned int data){ @@ -169,7 +171,7 @@ } int main() { //enum sensors kinds; - uint8_t compassdef = 0; + int compassdef = 0; int num[ALL_KIND] = {0}; //送信開始 sensor.putc(1); @@ -179,10 +181,16 @@ compassdef = (compass.sample() / 10); while(1) { - value_compass = ((compass.sample() / 10) + 540 - compassdef) % 360; + value_compass0 = ((compass.sample() / 10) + 540 - compassdef) % 360; + if(value_compass0 >=255 ){ + value_compass[0] = 255; + value_compass[1] = value_compass0 - 255 ; + }else{ + value_compass[0] = value_compass0; + value_compass[1] = 0; + } moving_ave(Ping,num[Ping],ping_function(num[Ping])); - - pc.printf("value_compass=%d\n",value_compass); + pc.printf("compass0=%d compass[0]= %d compass[1]= %d\n",value_compass0,value_compass[0],value_compass[1]); //ir_min_fun(); //num[Ping]++; //num[Ir]++;