main.cpp

00001 #include "mbed.h"
00002 #include"HEPTA_EPS.h"
00003 #include"HEPTA_SENSOR.h"
00004 #include"HEPTA_COM.h"
00005 
00006 Serial pc(USBTX,USBRX);
00007 HEPTA_EPS eps(p16,p26);
00008 HEPTA_SENSOR sensor(p17,
00009                     p28,p27,0xD0,0x18,
00010                     p13, p14,p25,p24);
00011 HEPTA_COM com(p9,p10);
00012 
00013 int main()
00014 {
00015     int i = 0,rcmd=0,cmdflag=0;
00016     float bt,ax,ay,az;
00017     com.printf("Count Up!\r\n");
00018     while(1) {
00019         com.printf("num = %d\r\n",i);
00020         i++;
00021         wait(1.0);
00022         com.xbee_receive(&rcmd,&cmdflag);
00023         pc.printf("rcmd=%d, cmdflag=%d\r\n",rcmd, cmdflag);
00024         if (cmdflag == 1) {
00025             if (rcmd == 'a') {
00026                 pc.printf("Command Get %d\r\n",rcmd);
00027                 com.printf("HEPTA Uplink OK\r\n");
00028                 pc.printf("===================\r\n");
00029                 pc.printf("Accel sensing Mode\r\n");
00030                 pc.printf("===================\r\n");
00031                 for(int ii = 0; ii < 10; ii++) {
00032                     sensor.sen_acc(&ax,&ay,&az);
00033                     eps.vol(&bt);
00034                     com.printf("AX = %f\r\n",ax);
00035                     com.printf("AY = %f\r\n",ay);
00036                     com.printf("AZ = %f\r\n",az);
00037                     com.printf("V = %f\r\n",bt);
00038                     wait(0.5);
00039                 }
00040             }
00041             com.initialize();
00042         }
00043     }
00044 }