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all publish
main.cpp
- Committer:
- daikinect
- Date:
- 2019-05-06
- Revision:
- 0:a9dfabcb2d9a
File content as of revision 0:a9dfabcb2d9a:
#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(); } } }