Diff: main.cpp

Revision:

0:a9dfabcb2d9a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 06 00:23:03 2019 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+//2017/07/07-send
+
+#define Js_X_Margin 0.2
+#define Js_Y_Margin 0.2
+#define Size_Of_Data 5
+#define Plus_F 'A'
+#define Minus_F 'X'
+double Js_X_Center;
+double Js_Y_Center;
+
+int i = 0;
+int j;
+int xbee_send_data[Size_Of_Data];
+double Js_X,Js_Y;
+char Speed_X,Speed_Y,Direction_Of_Rotation_X,Direction_Of_Rotation_Y;
+//////////////////////////
+Serial Xbee(A0,A1);
+DigitalOut led(D12);
+AnalogIn analog_value_X(A3);
+AnalogIn analog_value_Y(A4);
+DigitalOut Vcc(A5);
+DigitalOut Gnd(A2);
+DigitalOut analog_setup_led(D13);
+//////////////////////////
+
+void analog_setup()
+{
+    Vcc=1;
+    Gnd=0;
+    for(int i=0; i<100; i++) {
+        analog_setup_led=!analog_setup_led;
+        Js_X_Center+=analog_value_X.read();
+        Js_Y_Center+=analog_value_Y.read();
+        wait_ms(10);
+    }
+    Js_X_Center=Js_X_Center/100;
+    Js_Y_Center=Js_Y_Center/100;
+}
+
+void get_data()
+{
+    xbee_send_data[Size_Of_Data-1]=false;
+    Js_X=analog_value_X.read()-Js_X_Center;
+    Js_Y=analog_value_Y.read()-Js_Y_Center;
+    if     (Js_X > Js_X_Margin)xbee_send_data[0]=Plus_F; //Direction_Of_Rotation_X
+    else if(Js_X <-Js_X_Margin)xbee_send_data[0]=Minus_F;//Direction_Of_Rotation_X
+    else                       xbee_send_data[0]=0;      //Direction_Of_Rotation_X
+    if     (Js_Y > Js_Y_Margin)xbee_send_data[1]=Plus_F; //Direction_Of_Rotation_Y
+    else if(Js_Y <-Js_Y_Margin)xbee_send_data[1]=Minus_F;//Direction_Of_Rotation_Y
+    else                       xbee_send_data[1]=0;      //Direction_Of_Rotation_Y
+    xbee_send_data[2]=char(abs(Js_X)*255);//Speed_X
+    xbee_send_data[3]=char(abs(Js_Y)*255);//Speed_Y
+    xbee_send_data[Size_Of_Data-1]=true;
+    led=!led;
+}
+int main()
+{
+    analog_setup();
+    Xbee.baud(9600);
+    xbee_send_data[Size_Of_Data-1]=true;
+    Xbee.printf("%c",'s');
+    while(1) {
+        if(xbee_send_data[Size_Of_Data-1]) {
+            led=1;
+            j=Xbee.getc();
+            if(j<Size_Of_Data)Xbee.printf("%c",xbee_send_data[j]);
+            if(j==0)get_data();
+
+        }
+    }
+}
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