Naoya Muramatsu / Mbed 2 deprecated ROBOT_v02

ロボカップのブロック大会2014で使用したプログラムです。 ロボットには、mbedを2台使ってI2C通信しています。 これはSlave側です。 ※独自規格を使用しています。

Dependencies:   ACM1602NI Ping mbed-rtos mbed

I2C_Slave.h@0:b9cd980ee324, 2014-03-10 (annotated)

Committer:
denden
Date:
Mon Mar 10 07:58:40 2014 +0000
Revision:
0:b9cd980ee324
????????????2014????????????? ???????mbed?2????I2C???????? ???Slave????; ;  ??????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
denden 0:b9cd980ee324 1 // Slave側プログラム
denden 0:b9cd980ee324 2
denden 0:b9cd980ee324 3
denden 0:b9cd980ee324 4
denden 0:b9cd980ee324 5 /*---- FWの進行方向の処理 -----*/
denden 0:b9cd980ee324 6 // IRのデータによるAngleの処理
denden 0:b9cd980ee324 7 int FW_000(void) {return 001;}
denden 0:b9cd980ee324 8 int FW_001(void) {return 000;}
denden 0:b9cd980ee324 9 int FW_002(void) {return 90;}
denden 0:b9cd980ee324 10 int FW_003(void) {return 045;}
denden 0:b9cd980ee324 11 int FW_004(void) {return 135;}
denden 0:b9cd980ee324 12 int FW_005(void) {return 90;}
denden 0:b9cd980ee324 13 int FW_006(void) {return 113;}
denden 0:b9cd980ee324 14 int FW_007(void) {return 90;}
denden 0:b9cd980ee324 15 int FW_008(void) {return 180;}
denden 0:b9cd980ee324 16 int FW_009(void) {return 001;}
denden 0:b9cd980ee324 17 int FW_010(void) {return 135;}
denden 0:b9cd980ee324 18 int FW_011(void) {return 001;}
denden 0:b9cd980ee324 19 int FW_012(void) {return 158;}
denden 0:b9cd980ee324 20 int FW_013(void) {return 001;}
denden 0:b9cd980ee324 21 int FW_014(void) {return 135;}
denden 0:b9cd980ee324 22 int FW_015(void) {return 113;}
denden 0:b9cd980ee324 23 int FW_016(void) {return 90;}
denden 0:b9cd980ee324 24 int FW_017(void) {return 001;}
denden 0:b9cd980ee324 25 int FW_018(void) {return 001;}
denden 0:b9cd980ee324 26 int FW_019(void) {return 001;}
denden 0:b9cd980ee324 27 int FW_020(void) {return 001;}
denden 0:b9cd980ee324 28 int FW_021(void) {return 001;}
denden 0:b9cd980ee324 29 int FW_022(void) {return 001;}
denden 0:b9cd980ee324 30 int FW_023(void) {return 001;}
denden 0:b9cd980ee324 31 int FW_024(void) {return 225;}
denden 0:b9cd980ee324 32 int FW_025(void) {return 001;}
denden 0:b9cd980ee324 33 int FW_026(void) {return 001;}
denden 0:b9cd980ee324 34 int FW_027(void) {return 001;}
denden 0:b9cd980ee324 35 int FW_028(void) {return 195;}
denden 0:b9cd980ee324 36 int FW_029(void) {return 001;}
denden 0:b9cd980ee324 37 int FW_030(void) {return 203;}
denden 0:b9cd980ee324 38 int FW_031(void) {return 180;}
denden 0:b9cd980ee324 39 int FW_032(void) {return 180;}
denden 0:b9cd980ee324 40 int FW_033(void) {return 001;}
denden 0:b9cd980ee324 41 int FW_034(void) {return 001;}
denden 0:b9cd980ee324 42 int FW_035(void) {return 001;}
denden 0:b9cd980ee324 43 int FW_036(void) {return 001;}
denden 0:b9cd980ee324 44 int FW_037(void) {return 001;}
denden 0:b9cd980ee324 45 int FW_038(void) {return 001;}
denden 0:b9cd980ee324 46 int FW_039(void) {return 001;}
denden 0:b9cd980ee324 47 int FW_040(void) {return 001;}
denden 0:b9cd980ee324 48 int FW_041(void) {return 001;}
denden 0:b9cd980ee324 49 int FW_042(void) {return 001;}
denden 0:b9cd980ee324 50 int FW_043(void) {return 001;}
denden 0:b9cd980ee324 51 int FW_044(void) {return 001;}
denden 0:b9cd980ee324 52 int FW_045(void) {return 001;}
denden 0:b9cd980ee324 53 int FW_046(void) {return 001;}
denden 0:b9cd980ee324 54 int FW_047(void) {return 001;}
denden 0:b9cd980ee324 55 int FW_048(void) {return 135;}
denden 0:b9cd980ee324 56 int FW_049(void) {return 001;}
denden 0:b9cd980ee324 57 int FW_050(void) {return 001;}
denden 0:b9cd980ee324 58 int FW_051(void) {return 001;}
denden 0:b9cd980ee324 59 int FW_052(void) {return 001;}
denden 0:b9cd980ee324 60 int FW_053(void) {return 001;}
denden 0:b9cd980ee324 61 int FW_054(void) {return 001;}
denden 0:b9cd980ee324 62 int FW_055(void) {return 001;}
denden 0:b9cd980ee324 63 int FW_056(void) {return 90;}
denden 0:b9cd980ee324 64 int FW_057(void) {return 001;}
denden 0:b9cd980ee324 65 int FW_058(void) {return 001;}
denden 0:b9cd980ee324 66 int FW_059(void) {return 001;}
denden 0:b9cd980ee324 67 int FW_060(void) {return 248;}
denden 0:b9cd980ee324 68 int FW_061(void) {return 001;}
denden 0:b9cd980ee324 69 int FW_062(void) {return 225;}
denden 0:b9cd980ee324 70 int FW_063(void) {return 203;}
denden 0:b9cd980ee324 71 int FW_064(void) {return 225;}
denden 0:b9cd980ee324 72 int FW_065(void) {return 001;}
denden 0:b9cd980ee324 73 int FW_066(void) {return 001;}
denden 0:b9cd980ee324 74 int FW_067(void) {return 001;}
denden 0:b9cd980ee324 75 int FW_068(void) {return 001;}
denden 0:b9cd980ee324 76 int FW_069(void) {return 001;}
denden 0:b9cd980ee324 77 int FW_070(void) {return 001;}
denden 0:b9cd980ee324 78 int FW_071(void) {return 001;}
denden 0:b9cd980ee324 79 int FW_072(void) {return 001;}
denden 0:b9cd980ee324 80 int FW_073(void) {return 001;}
denden 0:b9cd980ee324 81 int FW_074(void) {return 001;}
denden 0:b9cd980ee324 82 int FW_075(void) {return 001;}
denden 0:b9cd980ee324 83 int FW_076(void) {return 001;}
denden 0:b9cd980ee324 84 int FW_077(void) {return 001;}
denden 0:b9cd980ee324 85 int FW_078(void) {return 001;}
denden 0:b9cd980ee324 86 int FW_079(void) {return 001;}
denden 0:b9cd980ee324 87 int FW_080(void) {return 001;}
denden 0:b9cd980ee324 88 int FW_081(void) {return 001;}
denden 0:b9cd980ee324 89 int FW_082(void) {return 001;}
denden 0:b9cd980ee324 90 int FW_083(void) {return 001;}
denden 0:b9cd980ee324 91 int FW_084(void) {return 001;}
denden 0:b9cd980ee324 92 int FW_085(void) {return 001;}
denden 0:b9cd980ee324 93 int FW_086(void) {return 001;}
denden 0:b9cd980ee324 94 int FW_087(void) {return 001;}
denden 0:b9cd980ee324 95 int FW_088(void) {return 001;}
denden 0:b9cd980ee324 96 int FW_089(void) {return 001;}
denden 0:b9cd980ee324 97 int FW_090(void) {return 001;}
denden 0:b9cd980ee324 98 int FW_091(void) {return 001;}
denden 0:b9cd980ee324 99 int FW_092(void) {return 001;}
denden 0:b9cd980ee324 100 int FW_093(void) {return 001;}
denden 0:b9cd980ee324 101 int FW_094(void) {return 001;}
denden 0:b9cd980ee324 102 int FW_095(void) {return 001;}
denden 0:b9cd980ee324 103 int FW_096(void) {return 203;}
denden 0:b9cd980ee324 104 int FW_097(void) {return 001;}
denden 0:b9cd980ee324 105 int FW_098(void) {return 001;}
denden 0:b9cd980ee324 106 int FW_099(void) {return 001;}
denden 0:b9cd980ee324 107 int FW_100(void) {return 001;}
denden 0:b9cd980ee324 108 int FW_101(void) {return 001;}
denden 0:b9cd980ee324 109 int FW_102(void) {return 001;}
denden 0:b9cd980ee324 110 int FW_103(void) {return 001;}
denden 0:b9cd980ee324 111 int FW_104(void) {return 001;}
denden 0:b9cd980ee324 112 int FW_105(void) {return 001;}
denden 0:b9cd980ee324 113 int FW_106(void) {return 001;}
denden 0:b9cd980ee324 114 int FW_107(void) {return 001;}
denden 0:b9cd980ee324 115 int FW_108(void) {return 001;}
denden 0:b9cd980ee324 116 int FW_109(void) {return 001;}
denden 0:b9cd980ee324 117 int FW_110(void) {return 001;}
denden 0:b9cd980ee324 118 int FW_111(void) {return 001;}
denden 0:b9cd980ee324 119 int FW_112(void) {return 135;}
denden 0:b9cd980ee324 120 int FW_113(void) {return 001;}
denden 0:b9cd980ee324 121 int FW_114(void) {return 001;}
denden 0:b9cd980ee324 122 int FW_115(void) {return 001;}
denden 0:b9cd980ee324 123 int FW_116(void) {return 001;}
denden 0:b9cd980ee324 124 int FW_117(void) {return 001;}
denden 0:b9cd980ee324 125 int FW_118(void) {return 001;}
denden 0:b9cd980ee324 126 int FW_119(void) {return 001;}
denden 0:b9cd980ee324 127 int FW_120(void) {return 112;}
denden 0:b9cd980ee324 128 int FW_121(void) {return 001;}
denden 0:b9cd980ee324 129 int FW_122(void) {return 001;}
denden 0:b9cd980ee324 130 int FW_123(void) {return 001;}
denden 0:b9cd980ee324 131 int FW_124(void) {return 90;}
denden 0:b9cd980ee324 132 int FW_125(void) {return 001;}
denden 0:b9cd980ee324 133 int FW_126(void) {return 248;}
denden 0:b9cd980ee324 134 int FW_127(void) {return 225;}
denden 0:b9cd980ee324 135 int FW_128(void) {return 270;}
denden 0:b9cd980ee324 136 int FW_129(void) {return 310;}
denden 0:b9cd980ee324 137 int FW_130(void) {return 001;}
denden 0:b9cd980ee324 138 int FW_131(void) {return 000;}
denden 0:b9cd980ee324 139 int FW_132(void) {return 001;}
denden 0:b9cd980ee324 140 int FW_133(void) {return 001;}
denden 0:b9cd980ee324 141 int FW_134(void) {return 001;}
denden 0:b9cd980ee324 142 int FW_135(void) {return 045;}
denden 0:b9cd980ee324 143 int FW_136(void) {return 001;}
denden 0:b9cd980ee324 144 int FW_137(void) {return 001;}
denden 0:b9cd980ee324 145 int FW_138(void) {return 001;}
denden 0:b9cd980ee324 146 int FW_139(void) {return 001;}
denden 0:b9cd980ee324 147 int FW_140(void) {return 001;}
denden 0:b9cd980ee324 148 int FW_141(void) {return 001;}
denden 0:b9cd980ee324 149 int FW_142(void) {return 001;}
denden 0:b9cd980ee324 150 int FW_143(void) {return 135;}
denden 0:b9cd980ee324 151 int FW_144(void) {return 001;}
denden 0:b9cd980ee324 152 int FW_145(void) {return 001;}
denden 0:b9cd980ee324 153 int FW_146(void) {return 001;}
denden 0:b9cd980ee324 154 int FW_147(void) {return 001;}
denden 0:b9cd980ee324 155 int FW_148(void) {return 001;}
denden 0:b9cd980ee324 156 int FW_149(void) {return 001;}
denden 0:b9cd980ee324 157 int FW_150(void) {return 001;}
denden 0:b9cd980ee324 158 int FW_151(void) {return 001;}
denden 0:b9cd980ee324 159 int FW_152(void) {return 001;}
denden 0:b9cd980ee324 160 int FW_153(void) {return 001;}
denden 0:b9cd980ee324 161 int FW_154(void) {return 001;}
denden 0:b9cd980ee324 162 int FW_155(void) {return 001;}
denden 0:b9cd980ee324 163 int FW_156(void) {return 001;}
denden 0:b9cd980ee324 164 int FW_157(void) {return 001;}
denden 0:b9cd980ee324 165 int FW_158(void) {return 001;}
denden 0:b9cd980ee324 166 int FW_159(void) {return 158;}
denden 0:b9cd980ee324 167 int FW_160(void) {return 001;}
denden 0:b9cd980ee324 168 int FW_161(void) {return 001;}
denden 0:b9cd980ee324 169 int FW_162(void) {return 001;}
denden 0:b9cd980ee324 170 int FW_163(void) {return 001;}
denden 0:b9cd980ee324 171 int FW_164(void) {return 001;}
denden 0:b9cd980ee324 172 int FW_165(void) {return 001;}
denden 0:b9cd980ee324 173 int FW_166(void) {return 001;}
denden 0:b9cd980ee324 174 int FW_167(void) {return 001;}
denden 0:b9cd980ee324 175 int FW_168(void) {return 001;}
denden 0:b9cd980ee324 176 int FW_169(void) {return 001;}
denden 0:b9cd980ee324 177 int FW_170(void) {return 001;}
denden 0:b9cd980ee324 178 int FW_171(void) {return 001;}
denden 0:b9cd980ee324 179 int FW_172(void) {return 001;}
denden 0:b9cd980ee324 180 int FW_173(void) {return 001;}
denden 0:b9cd980ee324 181 int FW_174(void) {return 001;}
denden 0:b9cd980ee324 182 int FW_175(void) {return 001;}
denden 0:b9cd980ee324 183 int FW_176(void) {return 001;}
denden 0:b9cd980ee324 184 int FW_177(void) {return 001;}
denden 0:b9cd980ee324 185 int FW_178(void) {return 001;}
denden 0:b9cd980ee324 186 int FW_179(void) {return 001;}
denden 0:b9cd980ee324 187 int FW_180(void) {return 001;}
denden 0:b9cd980ee324 188 int FW_181(void) {return 001;}
denden 0:b9cd980ee324 189 int FW_182(void) {return 001;}
denden 0:b9cd980ee324 190 int FW_183(void) {return 001;}
denden 0:b9cd980ee324 191 int FW_184(void) {return 001;}
denden 0:b9cd980ee324 192 int FW_185(void) {return 001;}
denden 0:b9cd980ee324 193 int FW_186(void) {return 001;}
denden 0:b9cd980ee324 194 int FW_187(void) {return 001;}
denden 0:b9cd980ee324 195 int FW_188(void) {return 001;}
denden 0:b9cd980ee324 196 int FW_189(void) {return 001;}
denden 0:b9cd980ee324 197 int FW_190(void) {return 001;}
denden 0:b9cd980ee324 198 int FW_191(void) {return 180;}
denden 0:b9cd980ee324 199 int FW_192(void) {return 247;}
denden 0:b9cd980ee324 200 int FW_193(void) {return 001;}
denden 0:b9cd980ee324 201 int FW_194(void) {return 001;}
denden 0:b9cd980ee324 202 int FW_195(void) {return 001;}
denden 0:b9cd980ee324 203 int FW_196(void) {return 001;}
denden 0:b9cd980ee324 204 int FW_197(void) {return 001;}
denden 0:b9cd980ee324 205 int FW_198(void) {return 001;}
denden 0:b9cd980ee324 206 int FW_199(void) {return 000;}
denden 0:b9cd980ee324 207 int FW_200(void) {return 001;}
denden 0:b9cd980ee324 208 int FW_201(void) {return 001;}
denden 0:b9cd980ee324 209 int FW_202(void) {return 001;}
denden 0:b9cd980ee324 210 int FW_203(void) {return 001;}
denden 0:b9cd980ee324 211 int FW_204(void) {return 001;}
denden 0:b9cd980ee324 212 int FW_205(void) {return 001;}
denden 0:b9cd980ee324 213 int FW_206(void) {return 001;}
denden 0:b9cd980ee324 214 int FW_207(void) {return 001;}
denden 0:b9cd980ee324 215 int FW_208(void) {return 001;}
denden 0:b9cd980ee324 216 int FW_209(void) {return 001;}
denden 0:b9cd980ee324 217 int FW_210(void) {return 001;}
denden 0:b9cd980ee324 218 int FW_211(void) {return 001;}
denden 0:b9cd980ee324 219 int FW_212(void) {return 001;}
denden 0:b9cd980ee324 220 int FW_213(void) {return 001;}
denden 0:b9cd980ee324 221 int FW_214(void) {return 001;}
denden 0:b9cd980ee324 222 int FW_215(void) {return 001;}
denden 0:b9cd980ee324 223 int FW_216(void) {return 001;}
denden 0:b9cd980ee324 224 int FW_217(void) {return 001;}
denden 0:b9cd980ee324 225 int FW_218(void) {return 001;}
denden 0:b9cd980ee324 226 int FW_219(void) {return 001;}
denden 0:b9cd980ee324 227 int FW_220(void) {return 001;}
denden 0:b9cd980ee324 228 int FW_221(void) {return 001;}
denden 0:b9cd980ee324 229 int FW_222(void) {return 001;}
denden 0:b9cd980ee324 230 int FW_223(void) {return 001;}
denden 0:b9cd980ee324 231 int FW_224(void) {return 180;}
denden 0:b9cd980ee324 232 int FW_225(void) {return 001;}
denden 0:b9cd980ee324 233 int FW_226(void) {return 001;}
denden 0:b9cd980ee324 234 int FW_227(void) {return 001;}
denden 0:b9cd980ee324 235 int FW_228(void) {return 001;}
denden 0:b9cd980ee324 236 int FW_229(void) {return 001;}
denden 0:b9cd980ee324 237 int FW_230(void) {return 001;}
denden 0:b9cd980ee324 238 int FW_231(void) {return 001;}
denden 0:b9cd980ee324 239 int FW_232(void) {return 001;}
denden 0:b9cd980ee324 240 int FW_233(void) {return 001;}
denden 0:b9cd980ee324 241 int FW_234(void) {return 001;}
denden 0:b9cd980ee324 242 int FW_235(void) {return 001;}
denden 0:b9cd980ee324 243 int FW_236(void) {return 001;}
denden 0:b9cd980ee324 244 int FW_237(void) {return 001;}
denden 0:b9cd980ee324 245 int FW_238(void) {return 001;}
denden 0:b9cd980ee324 246 int FW_239(void) {return 000;}
denden 0:b9cd980ee324 247 int FW_240(void) {return 158;}
denden 0:b9cd980ee324 248 int FW_241(void) {return 001;}
denden 0:b9cd980ee324 249 int FW_242(void) {return 001;}
denden 0:b9cd980ee324 250 int FW_243(void) {return 001;}
denden 0:b9cd980ee324 251 int FW_244(void) {return 001;}
denden 0:b9cd980ee324 252 int FW_245(void) {return 001;}
denden 0:b9cd980ee324 253 int FW_246(void) {return 001;}
denden 0:b9cd980ee324 254 int FW_247(void) {return 001;}
denden 0:b9cd980ee324 255 int FW_248(void) {return 135;}
denden 0:b9cd980ee324 256 int FW_249(void) {return 001;}
denden 0:b9cd980ee324 257 int FW_250(void) {return 001;}
denden 0:b9cd980ee324 258 int FW_251(void) {return 001;}
denden 0:b9cd980ee324 259 int FW_252(void) {return 202;}
denden 0:b9cd980ee324 260 int FW_253(void) {return 001;}
denden 0:b9cd980ee324 261 int FW_254(void) {return 90;}
denden 0:b9cd980ee324 262 int FW_255(void) {return 001;}
denden 0:b9cd980ee324 263 // IRのデータからAngleの分岐
denden 0:b9cd980ee324 264 int (*FW_AngApi[])(void) = {FW_001, FW_001, FW_002, FW_003, FW_004, FW_005, FW_006, FW_007, FW_008, FW_009, FW_010, FW_011, FW_012, FW_013, FW_014, FW_015, FW_016, FW_017, FW_018, FW_019, FW_020, FW_021, FW_022, FW_023, FW_024, FW_025, FW_026, FW_027, FW_028, FW_029, FW_030, FW_031, FW_032, FW_033, FW_034, FW_035, FW_036, FW_037, FW_038, FW_039, FW_040, FW_041, FW_042, FW_043, FW_044, FW_045, FW_046, FW_047, FW_048, FW_049, FW_050, FW_051, FW_052, FW_053, FW_054, FW_055, FW_056, FW_057, FW_058, FW_059, FW_060, FW_061, FW_062, FW_063, FW_064, FW_065, FW_066, FW_067, FW_068, FW_069, FW_070, FW_071, FW_072, FW_073, FW_074, FW_075, FW_076, FW_077, FW_078, FW_079, FW_080, FW_081, FW_082, FW_083, FW_084, FW_085, FW_086, FW_087, FW_088, FW_089, FW_090, FW_091, FW_092, FW_093, FW_094, FW_095, FW_096, FW_097, FW_098, FW_099, FW_100, FW_101, FW_102, FW_103, FW_104, FW_105, FW_106, FW_107, FW_108, FW_109, FW_110, FW_111, FW_112, FW_113, FW_114, FW_115, FW_116, FW_117, FW_118, FW_119, FW_120, FW_121, FW_122, FW_123, FW_124, FW_125, FW_126, FW_127, FW_128, FW_129, FW_130, FW_131, FW_132, FW_133, FW_134, FW_135, FW_136, FW_137, FW_138, FW_139, FW_140, FW_141, FW_142, FW_143, FW_144, FW_145, FW_146, FW_147, FW_148, FW_149, FW_150, FW_151, FW_152, FW_153, FW_154, FW_155, FW_156, FW_157, FW_158, FW_159, FW_160, FW_161, FW_162, FW_163, FW_164, FW_165, FW_166, FW_167, FW_168, FW_169, FW_170, FW_171, FW_172, FW_173, FW_174, FW_175, FW_176, FW_177, FW_178, FW_179, FW_180, FW_181, FW_182, FW_183, FW_184, FW_185, FW_186, FW_187, FW_188, FW_189, FW_190, FW_191, FW_192, FW_193, FW_194, FW_195, FW_196, FW_197, FW_198, FW_199, FW_200, FW_201, FW_202, FW_203, FW_204, FW_205, FW_206, FW_207, FW_208, FW_209, FW_210, FW_211, FW_212, FW_213, FW_214, FW_215, FW_216, FW_217, FW_218, FW_219, FW_220, FW_221, FW_222, FW_223, FW_224, FW_225, FW_226, FW_227, FW_228, FW_229, FW_230, FW_231, FW_232, FW_233, FW_234, FW_235, FW_236, FW_237, FW_238, FW_239, FW_240, FW_241, FW_242, FW_243, FW_244, FW_245, FW_246, FW_247, FW_248, FW_249, FW_250, FW_251, FW_252, FW_253, FW_254, FW_255};
denden 0:b9cd980ee324 265
denden 0:b9cd980ee324 266
denden 0:b9cd980ee324 267 /*---- DFの進行方向の処理 -----*/
denden 0:b9cd980ee324 268 // IRのデータによるAngleの処理
denden 0:b9cd980ee324 269 int DF_000(void) {return 001;}
denden 0:b9cd980ee324 270 int DF_001(void) {return 001;}
denden 0:b9cd980ee324 271 int DF_002(void) {return 90;}
denden 0:b9cd980ee324 272 int DF_003(void) {return 023;}
denden 0:b9cd980ee324 273 int DF_004(void) {return 90;}
denden 0:b9cd980ee324 274 int DF_005(void) {return 001;}
denden 0:b9cd980ee324 275 int DF_006(void) {return 90;}
denden 0:b9cd980ee324 276 int DF_007(void) {return 045;}
denden 0:b9cd980ee324 277 int DF_008(void) {return 180;}
denden 0:b9cd980ee324 278 int DF_009(void) {return 001;}
denden 0:b9cd980ee324 279 int DF_010(void) {return 001;}
denden 0:b9cd980ee324 280 int DF_011(void) {return 001;}
denden 0:b9cd980ee324 281 int DF_012(void) {return 180;}
denden 0:b9cd980ee324 282 int DF_013(void) {return 001;}
denden 0:b9cd980ee324 283 int DF_014(void) {return 135;}
denden 0:b9cd980ee324 284 int DF_015(void) {return 90;}
denden 0:b9cd980ee324 285 int DF_016(void) {return 90;}
denden 0:b9cd980ee324 286 int DF_017(void) {return 001;}
denden 0:b9cd980ee324 287 int DF_018(void) {return 001;}
denden 0:b9cd980ee324 288 int DF_019(void) {return 001;}
denden 0:b9cd980ee324 289 int DF_020(void) {return 001;}
denden 0:b9cd980ee324 290 int DF_021(void) {return 001;}
denden 0:b9cd980ee324 291 int DF_022(void) {return 001;}
denden 0:b9cd980ee324 292 int DF_023(void) {return 001;}
denden 0:b9cd980ee324 293 int DF_024(void) {return 203;}
denden 0:b9cd980ee324 294 int DF_025(void) {return 001;}
denden 0:b9cd980ee324 295 int DF_026(void) {return 001;}
denden 0:b9cd980ee324 296 int DF_027(void) {return 001;}
denden 0:b9cd980ee324 297 int DF_028(void) {return 180;}
denden 0:b9cd980ee324 298 int DF_029(void) {return 001;}
denden 0:b9cd980ee324 299 int DF_030(void) {return 157;}
denden 0:b9cd980ee324 300 int DF_031(void) {return 90;}
denden 0:b9cd980ee324 301 int DF_032(void) {return 180;}
denden 0:b9cd980ee324 302 int DF_033(void) {return 001;}
denden 0:b9cd980ee324 303 int DF_034(void) {return 001;}
denden 0:b9cd980ee324 304 int DF_035(void) {return 001;}
denden 0:b9cd980ee324 305 int DF_036(void) {return 001;}
denden 0:b9cd980ee324 306 int DF_037(void) {return 001;}
denden 0:b9cd980ee324 307 int DF_038(void) {return 001;}
denden 0:b9cd980ee324 308 int DF_039(void) {return 001;}
denden 0:b9cd980ee324 309 int DF_040(void) {return 001;}
denden 0:b9cd980ee324 310 int DF_041(void) {return 001;}
denden 0:b9cd980ee324 311 int DF_042(void) {return 001;}
denden 0:b9cd980ee324 312 int DF_043(void) {return 001;}
denden 0:b9cd980ee324 313 int DF_044(void) {return 001;}
denden 0:b9cd980ee324 314 int DF_045(void) {return 001;}
denden 0:b9cd980ee324 315 int DF_046(void) {return 001;}
denden 0:b9cd980ee324 316 int DF_047(void) {return 001;}
denden 0:b9cd980ee324 317 int DF_048(void) {return 157;}
denden 0:b9cd980ee324 318 int DF_049(void) {return 001;}
denden 0:b9cd980ee324 319 int DF_050(void) {return 001;}
denden 0:b9cd980ee324 320 int DF_051(void) {return 001;}
denden 0:b9cd980ee324 321 int DF_052(void) {return 001;}
denden 0:b9cd980ee324 322 int DF_053(void) {return 001;}
denden 0:b9cd980ee324 323 int DF_054(void) {return 001;}
denden 0:b9cd980ee324 324 int DF_055(void) {return 001;}
denden 0:b9cd980ee324 325 int DF_056(void) {return 90;}
denden 0:b9cd980ee324 326 int DF_057(void) {return 001;}
denden 0:b9cd980ee324 327 int DF_058(void) {return 001;}
denden 0:b9cd980ee324 328 int DF_059(void) {return 001;}
denden 0:b9cd980ee324 329 int DF_060(void) {return 225;}
denden 0:b9cd980ee324 330 int DF_061(void) {return 001;}
denden 0:b9cd980ee324 331 int DF_062(void) {return 180;}
denden 0:b9cd980ee324 332 int DF_063(void) {return 180;}
denden 0:b9cd980ee324 333 int DF_064(void) {return 180;}
denden 0:b9cd980ee324 334 int DF_065(void) {return 001;}
denden 0:b9cd980ee324 335 int DF_066(void) {return 001;}
denden 0:b9cd980ee324 336 int DF_067(void) {return 001;}
denden 0:b9cd980ee324 337 int DF_068(void) {return 001;}
denden 0:b9cd980ee324 338 int DF_069(void) {return 001;}
denden 0:b9cd980ee324 339 int DF_070(void) {return 001;}
denden 0:b9cd980ee324 340 int DF_071(void) {return 001;}
denden 0:b9cd980ee324 341 int DF_072(void) {return 001;}
denden 0:b9cd980ee324 342 int DF_073(void) {return 001;}
denden 0:b9cd980ee324 343 int DF_074(void) {return 001;}
denden 0:b9cd980ee324 344 int DF_075(void) {return 001;}
denden 0:b9cd980ee324 345 int DF_076(void) {return 001;}
denden 0:b9cd980ee324 346 int DF_077(void) {return 001;}
denden 0:b9cd980ee324 347 int DF_078(void) {return 001;}
denden 0:b9cd980ee324 348 int DF_079(void) {return 001;}
denden 0:b9cd980ee324 349 int DF_080(void) {return 001;}
denden 0:b9cd980ee324 350 int DF_081(void) {return 001;}
denden 0:b9cd980ee324 351 int DF_082(void) {return 001;}
denden 0:b9cd980ee324 352 int DF_083(void) {return 001;}
denden 0:b9cd980ee324 353 int DF_084(void) {return 001;}
denden 0:b9cd980ee324 354 int DF_085(void) {return 001;}
denden 0:b9cd980ee324 355 int DF_086(void) {return 001;}
denden 0:b9cd980ee324 356 int DF_087(void) {return 001;}
denden 0:b9cd980ee324 357 int DF_088(void) {return 001;}
denden 0:b9cd980ee324 358 int DF_089(void) {return 001;}
denden 0:b9cd980ee324 359 int DF_090(void) {return 001;}
denden 0:b9cd980ee324 360 int DF_091(void) {return 001;}
denden 0:b9cd980ee324 361 int DF_092(void) {return 001;}
denden 0:b9cd980ee324 362 int DF_093(void) {return 001;}
denden 0:b9cd980ee324 363 int DF_094(void) {return 001;}
denden 0:b9cd980ee324 364 int DF_095(void) {return 001;}
denden 0:b9cd980ee324 365 int DF_096(void) {return 180;}
denden 0:b9cd980ee324 366 int DF_097(void) {return 001;}
denden 0:b9cd980ee324 367 int DF_098(void) {return 001;}
denden 0:b9cd980ee324 368 int DF_099(void) {return 001;}
denden 0:b9cd980ee324 369 int DF_100(void) {return 001;}
denden 0:b9cd980ee324 370 int DF_101(void) {return 001;}
denden 0:b9cd980ee324 371 int DF_102(void) {return 001;}
denden 0:b9cd980ee324 372 int DF_103(void) {return 001;}
denden 0:b9cd980ee324 373 int DF_104(void) {return 001;}
denden 0:b9cd980ee324 374 int DF_105(void) {return 001;}
denden 0:b9cd980ee324 375 int DF_106(void) {return 001;}
denden 0:b9cd980ee324 376 int DF_107(void) {return 001;}
denden 0:b9cd980ee324 377 int DF_108(void) {return 001;}
denden 0:b9cd980ee324 378 int DF_109(void) {return 001;}
denden 0:b9cd980ee324 379 int DF_110(void) {return 001;}
denden 0:b9cd980ee324 380 int DF_111(void) {return 001;}
denden 0:b9cd980ee324 381 int DF_112(void) {return 135;}
denden 0:b9cd980ee324 382 int DF_113(void) {return 001;}
denden 0:b9cd980ee324 383 int DF_114(void) {return 001;}
denden 0:b9cd980ee324 384 int DF_115(void) {return 001;}
denden 0:b9cd980ee324 385 int DF_116(void) {return 001;}
denden 0:b9cd980ee324 386 int DF_117(void) {return 001;}
denden 0:b9cd980ee324 387 int DF_118(void) {return 001;}
denden 0:b9cd980ee324 388 int DF_119(void) {return 001;}
denden 0:b9cd980ee324 389 int DF_120(void) {return 067;}
denden 0:b9cd980ee324 390 int DF_121(void) {return 001;}
denden 0:b9cd980ee324 391 int DF_122(void) {return 001;}
denden 0:b9cd980ee324 392 int DF_123(void) {return 001;}
denden 0:b9cd980ee324 393 int DF_124(void) {return 90;}
denden 0:b9cd980ee324 394 int DF_125(void) {return 001;}
denden 0:b9cd980ee324 395 int DF_126(void) {return 203;}
denden 0:b9cd980ee324 396 int DF_127(void) {return 180;}
denden 0:b9cd980ee324 397 int DF_128(void) {return 270;}
denden 0:b9cd980ee324 398 int DF_129(void) {return 315;}
denden 0:b9cd980ee324 399 int DF_130(void) {return 001;}
denden 0:b9cd980ee324 400 int DF_131(void) {return 000;}
denden 0:b9cd980ee324 401 int DF_132(void) {return 001;}
denden 0:b9cd980ee324 402 int DF_133(void) {return 001;}
denden 0:b9cd980ee324 403 int DF_134(void) {return 001;}
denden 0:b9cd980ee324 404 int DF_135(void) {return 023;}
denden 0:b9cd980ee324 405 int DF_136(void) {return 001;}
denden 0:b9cd980ee324 406 int DF_137(void) {return 001;}
denden 0:b9cd980ee324 407 int DF_138(void) {return 001;}
denden 0:b9cd980ee324 408 int DF_139(void) {return 001;}
denden 0:b9cd980ee324 409 int DF_140(void) {return 001;}
denden 0:b9cd980ee324 410 int DF_141(void) {return 001;}
denden 0:b9cd980ee324 411 int DF_142(void) {return 001;}
denden 0:b9cd980ee324 412 int DF_143(void) {return 045;}
denden 0:b9cd980ee324 413 int DF_144(void) {return 001;}
denden 0:b9cd980ee324 414 int DF_145(void) {return 001;}
denden 0:b9cd980ee324 415 int DF_146(void) {return 001;}
denden 0:b9cd980ee324 416 int DF_147(void) {return 001;}
denden 0:b9cd980ee324 417 int DF_148(void) {return 001;}
denden 0:b9cd980ee324 418 int DF_149(void) {return 001;}
denden 0:b9cd980ee324 419 int DF_150(void) {return 001;}
denden 0:b9cd980ee324 420 int DF_151(void) {return 001;}
denden 0:b9cd980ee324 421 int DF_152(void) {return 001;}
denden 0:b9cd980ee324 422 int DF_153(void) {return 001;}
denden 0:b9cd980ee324 423 int DF_154(void) {return 001;}
denden 0:b9cd980ee324 424 int DF_155(void) {return 001;}
denden 0:b9cd980ee324 425 int DF_156(void) {return 001;}
denden 0:b9cd980ee324 426 int DF_157(void) {return 001;}
denden 0:b9cd980ee324 427 int DF_158(void) {return 001;}
denden 0:b9cd980ee324 428 int DF_159(void) {return 067;}
denden 0:b9cd980ee324 429 int DF_160(void) {return 001;}
denden 0:b9cd980ee324 430 int DF_161(void) {return 001;}
denden 0:b9cd980ee324 431 int DF_162(void) {return 001;}
denden 0:b9cd980ee324 432 int DF_163(void) {return 001;}
denden 0:b9cd980ee324 433 int DF_164(void) {return 001;}
denden 0:b9cd980ee324 434 int DF_165(void) {return 001;}
denden 0:b9cd980ee324 435 int DF_166(void) {return 001;}
denden 0:b9cd980ee324 436 int DF_167(void) {return 001;}
denden 0:b9cd980ee324 437 int DF_168(void) {return 001;}
denden 0:b9cd980ee324 438 int DF_169(void) {return 001;}
denden 0:b9cd980ee324 439 int DF_170(void) {return 001;}
denden 0:b9cd980ee324 440 int DF_171(void) {return 001;}
denden 0:b9cd980ee324 441 int DF_172(void) {return 001;}
denden 0:b9cd980ee324 442 int DF_173(void) {return 001;}
denden 0:b9cd980ee324 443 int DF_174(void) {return 001;}
denden 0:b9cd980ee324 444 int DF_175(void) {return 001;}
denden 0:b9cd980ee324 445 int DF_176(void) {return 001;}
denden 0:b9cd980ee324 446 int DF_177(void) {return 001;}
denden 0:b9cd980ee324 447 int DF_178(void) {return 001;}
denden 0:b9cd980ee324 448 int DF_179(void) {return 001;}
denden 0:b9cd980ee324 449 int DF_180(void) {return 001;}
denden 0:b9cd980ee324 450 int DF_181(void) {return 001;}
denden 0:b9cd980ee324 451 int DF_182(void) {return 001;}
denden 0:b9cd980ee324 452 int DF_183(void) {return 001;}
denden 0:b9cd980ee324 453 int DF_184(void) {return 001;}
denden 0:b9cd980ee324 454 int DF_185(void) {return 001;}
denden 0:b9cd980ee324 455 int DF_186(void) {return 001;}
denden 0:b9cd980ee324 456 int DF_187(void) {return 001;}
denden 0:b9cd980ee324 457 int DF_188(void) {return 001;}
denden 0:b9cd980ee324 458 int DF_189(void) {return 001;}
denden 0:b9cd980ee324 459 int DF_190(void) {return 001;}
denden 0:b9cd980ee324 460 int DF_191(void) {return 90;}
denden 0:b9cd980ee324 461 int DF_192(void) {return 270;}
denden 0:b9cd980ee324 462 int DF_193(void) {return 315;}
denden 0:b9cd980ee324 463 int DF_194(void) {return 001;}
denden 0:b9cd980ee324 464 int DF_195(void) {return 337;}
denden 0:b9cd980ee324 465 int DF_196(void) {return 001;}
denden 0:b9cd980ee324 466 int DF_197(void) {return 001;}
denden 0:b9cd980ee324 467 int DF_198(void) {return 001;}
denden 0:b9cd980ee324 468 int DF_199(void) {return 000;}
denden 0:b9cd980ee324 469 int DF_200(void) {return 001;}
denden 0:b9cd980ee324 470 int DF_201(void) {return 001;}
denden 0:b9cd980ee324 471 int DF_202(void) {return 001;}
denden 0:b9cd980ee324 472 int DF_203(void) {return 001;}
denden 0:b9cd980ee324 473 int DF_204(void) {return 001;}
denden 0:b9cd980ee324 474 int DF_205(void) {return 001;}
denden 0:b9cd980ee324 475 int DF_206(void) {return 001;}
denden 0:b9cd980ee324 476 int DF_207(void) {return 045;}
denden 0:b9cd980ee324 477 int DF_208(void) {return 001;}
denden 0:b9cd980ee324 478 int DF_209(void) {return 001;}
denden 0:b9cd980ee324 479 int DF_210(void) {return 001;}
denden 0:b9cd980ee324 480 int DF_211(void) {return 001;}
denden 0:b9cd980ee324 481 int DF_212(void) {return 001;}
denden 0:b9cd980ee324 482 int DF_213(void) {return 001;}
denden 0:b9cd980ee324 483 int DF_214(void) {return 001;}
denden 0:b9cd980ee324 484 int DF_215(void) {return 001;}
denden 0:b9cd980ee324 485 int DF_216(void) {return 001;}
denden 0:b9cd980ee324 486 int DF_217(void) {return 001;}
denden 0:b9cd980ee324 487 int DF_218(void) {return 001;}
denden 0:b9cd980ee324 488 int DF_219(void) {return 001;}
denden 0:b9cd980ee324 489 int DF_220(void) {return 001;}
denden 0:b9cd980ee324 490 int DF_221(void) {return 001;}
denden 0:b9cd980ee324 491 int DF_222(void) {return 001;}
denden 0:b9cd980ee324 492 int DF_223(void) {return 001;}
denden 0:b9cd980ee324 493 int DF_224(void) {return 225;}
denden 0:b9cd980ee324 494 int DF_225(void) {return 270;}
denden 0:b9cd980ee324 495 int DF_226(void) {return 001;}
denden 0:b9cd980ee324 496 int DF_227(void) {return 315;}
denden 0:b9cd980ee324 497 int DF_228(void) {return 001;}
denden 0:b9cd980ee324 498 int DF_229(void) {return 001;}
denden 0:b9cd980ee324 499 int DF_230(void) {return 001;}
denden 0:b9cd980ee324 500 int DF_231(void) {return 337;}
denden 0:b9cd980ee324 501 int DF_232(void) {return 001;}
denden 0:b9cd980ee324 502 int DF_233(void) {return 001;}
denden 0:b9cd980ee324 503 int DF_234(void) {return 001;}
denden 0:b9cd980ee324 504 int DF_235(void) {return 001;}
denden 0:b9cd980ee324 505 int DF_236(void) {return 001;}
denden 0:b9cd980ee324 506 int DF_237(void) {return 001;}
denden 0:b9cd980ee324 507 int DF_238(void) {return 001;}
denden 0:b9cd980ee324 508 int DF_239(void) {return 000;}
denden 0:b9cd980ee324 509 int DF_240(void) {return 180;}
denden 0:b9cd980ee324 510 int DF_241(void) {return 001;}
denden 0:b9cd980ee324 511 int DF_242(void) {return 001;}
denden 0:b9cd980ee324 512 int DF_243(void) {return 001;}
denden 0:b9cd980ee324 513 int DF_244(void) {return 001;}
denden 0:b9cd980ee324 514 int DF_245(void) {return 001;}
denden 0:b9cd980ee324 515 int DF_246(void) {return 001;}
denden 0:b9cd980ee324 516 int DF_247(void) {return 001;}
denden 0:b9cd980ee324 517 int DF_248(void) {return 135;}
denden 0:b9cd980ee324 518 int DF_249(void) {return 001;}
denden 0:b9cd980ee324 519 int DF_250(void) {return 001;}
denden 0:b9cd980ee324 520 int DF_251(void) {return 001;}
denden 0:b9cd980ee324 521 int DF_252(void) {return 113;}
denden 0:b9cd980ee324 522 int DF_253(void) {return 001;}
denden 0:b9cd980ee324 523 int DF_254(void) {return 90;}
denden 0:b9cd980ee324 524 int DF_255(void) {return 001;}
denden 0:b9cd980ee324 525 // IRのデータからAngleの分岐
denden 0:b9cd980ee324 526 int (*DF_AngApi[])(void) = {DF_000, DF_001, DF_002, DF_003, DF_004, DF_005, DF_006, DF_007, DF_008, DF_009, DF_010, DF_011, DF_012, DF_013, DF_014, DF_015, DF_016, DF_017, DF_018, DF_019, DF_020, DF_021, DF_022, DF_023, DF_024, DF_025, DF_026, DF_027, DF_028, DF_029, DF_030, DF_031, DF_032, DF_033, DF_034, DF_035, DF_036, DF_037, DF_038, DF_039, DF_040, DF_041, DF_042, DF_043, DF_044, DF_045, DF_046, DF_047, DF_048, DF_049, DF_050, DF_051, DF_052, DF_053, DF_054, DF_055, DF_056, DF_057, DF_058, DF_059, DF_060, DF_061, DF_062, DF_063, DF_064, DF_065, DF_066, DF_067, DF_068, DF_069, DF_070, DF_071, DF_072, DF_073, DF_074, DF_075, DF_076, DF_077, DF_078, DF_079, DF_080, DF_081, DF_082, DF_083, DF_084, DF_085, DF_086, DF_087, DF_088, DF_089, DF_090, DF_091, DF_092, DF_093, DF_094, DF_095, DF_096, DF_097, DF_098, DF_099, DF_100, DF_101, DF_102, DF_103, DF_104, DF_105, DF_106, DF_107, DF_108, DF_109, DF_110, DF_111, DF_112, DF_113, DF_114, DF_115, DF_116, DF_117, DF_118, DF_119, DF_120, DF_121, DF_122, DF_123, DF_124, DF_125, DF_126, DF_127, DF_128, DF_129, DF_130, DF_131, DF_132, DF_133, DF_134, DF_135, DF_136, DF_137, DF_138, DF_139, DF_140, DF_141, DF_142, DF_143, DF_144, DF_145, DF_146, DF_147, DF_148, DF_149, DF_150, DF_151, DF_152, DF_153, DF_154, DF_155, DF_156, DF_157, DF_158, DF_159, DF_160, DF_161, DF_162, DF_163, DF_164, DF_165, DF_166, DF_167, DF_168, DF_169, DF_170, DF_171, DF_172, DF_173, DF_174, DF_175, DF_176, DF_177, DF_178, DF_179, DF_180, DF_181, DF_182, DF_183, DF_184, DF_185, DF_186, DF_187, DF_188, DF_189, DF_190, DF_191, DF_192, DF_193, DF_194, DF_195, DF_196, DF_197, DF_198, DF_199, DF_200, DF_201, DF_202, DF_203, DF_204, DF_205, DF_206, DF_207, DF_208, DF_209, DF_210, DF_211, DF_212, DF_213, DF_214, DF_215, DF_216, DF_217, DF_218, DF_219, DF_220, DF_221, DF_222, DF_223, DF_224, DF_225, DF_226, DF_227, DF_228, DF_229, DF_230, DF_231, DF_232, DF_233, DF_234, DF_235, DF_236, DF_237, DF_238, DF_239, DF_240, DF_241, DF_242, DF_243, DF_244, DF_245, DF_246, DF_247, DF_248, DF_249, DF_250, DF_251, DF_252, DF_253, DF_254, DF_255};
denden 0:b9cd980ee324 527
denden 0:b9cd980ee324 528
denden 0:b9cd980ee324 529
denden 0:b9cd980ee324 530
denden 0:b9cd980ee324 531
denden 0:b9cd980ee324 532 /*---- mbed_masterからのデータ送信要求の処理 ----*/
denden 0:b9cd980ee324 533 // i=0のとき PING
denden 0:b9cd980ee324 534 void MBED_PING(void) {
denden 0:b9cd980ee324 535 PING_slots.wait();
denden 0:b9cd980ee324 536 val = I2C_master.write(Ping_data, 4);
denden 0:b9cd980ee324 537 PING_slots.release();
denden 0:b9cd980ee324 538 if(!val) led2 = 1;
denden 0:b9cd980ee324 539 }
denden 0:b9cd980ee324 540
denden 0:b9cd980ee324 541 // i=1のとき IR
denden 0:b9cd980ee324 542 void MBED_IR(void) {
denden 0:b9cd980ee324 543 Angle_char[3] = (BallCheck) ? 1 : 0; // ボールの保持を確認
denden 0:b9cd980ee324 544 val = I2C_master.write(Angle_char, 4); // 0,1:進行方向 2:スピード 3:ボールの保持
denden 0:b9cd980ee324 545 if(!val) led2 = 1;
denden 0:b9cd980ee324 546 }
denden 0:b9cd980ee324 547
denden 0:b9cd980ee324 548
denden 0:b9cd980ee324 549 // i=2のとき LCD
denden 0:b9cd980ee324 550 void MBED_LCD(void) {
denden 0:b9cd980ee324 551 val = I2C_master.write(lcd, strlen(lcd)+1);
denden 0:b9cd980ee324 552 if(!val) led2 = 1;
denden 0:b9cd980ee324 553 }
denden 0:b9cd980ee324 554
denden 0:b9cd980ee324 555 // i=3のとき ロータリースイッチ
denden 0:b9cd980ee324 556 void MBED_ROTARY(void) {
denden 0:b9cd980ee324 557 val = I2C_master.write(Mode, 1);
denden 0:b9cd980ee324 558 if(!val) {
denden 0:b9cd980ee324 559 led2 = 1;
denden 0:b9cd980ee324 560 Flag = 1;
denden 0:b9cd980ee324 561 }
denden 0:b9cd980ee324 562 }
denden 0:b9cd980ee324 563
denden 0:b9cd980ee324 564 void (*MBED_ORDER[])(void) = {MBED_PING, MBED_IR, MBED_LCD, MBED_ROTARY};
denden 0:b9cd980ee324 565
denden 0:b9cd980ee324 566
denden 0:b9cd980ee324 567
denden 0:b9cd980ee324 568
denden 0:b9cd980ee324 569
denden 0:b9cd980ee324 570 // mbedMasterとのI2C通信用プログラム
denden 0:b9cd980ee324 571 void MBED_MASTER(void) {
denden 0:b9cd980ee324 572 int i = I2C_master.receive();
denden 0:b9cd980ee324 573 int j = I2C_avr.receive();
denden 0:b9cd980ee324 574
denden 0:b9cd980ee324 575 /* mbed_masterとの通信 */
denden 0:b9cd980ee324 576 switch (i) {
denden 0:b9cd980ee324 577 case I2CSlave::ReadAddressed: // データ送信命令時の動作
denden 0:b9cd980ee324 578 (*MBED_ORDER[Order])();
denden 0:b9cd980ee324 579 break;
denden 0:b9cd980ee324 580 case I2CSlave::WriteAddressed: // 命令受信用の動作
denden 0:b9cd980ee324 581 val = I2C_master.read(MBED_data, 1);
denden 0:b9cd980ee324 582 if(!val) led1 = 1;
denden 0:b9cd980ee324 583 Order = MBED_data[0];
denden 0:b9cd980ee324 584 break;
denden 0:b9cd980ee324 585 // 基本的に使わない処理
denden 0:b9cd980ee324 586 case I2CSlave::WriteGeneral: // 念のため一斉通信用の処理
denden 0:b9cd980ee324 587 break;
denden 0:b9cd980ee324 588 default:
denden 0:b9cd980ee324 589 break;
denden 0:b9cd980ee324 590 }
denden 0:b9cd980ee324 591
denden 0:b9cd980ee324 592 /* avrとの通信 */
denden 0:b9cd980ee324 593 switch (j) {
denden 0:b9cd980ee324 594 case I2CSlave::WriteAddressed:
denden 0:b9cd980ee324 595 val = I2C_avr.read(IR_data, 2); // 0:near 1:long
denden 0:b9cd980ee324 596 if(!val) led3 = 1;
denden 0:b9cd980ee324 597 switch(Mode[0]){
denden 0:b9cd980ee324 598 case 0: int_char((*FW_AngApi[IR_data[0]])()); break;
denden 0:b9cd980ee324 599 case 1: int_char((*DF_AngApi[IR_data[0]])()); break;
denden 0:b9cd980ee324 600 default : break;
denden 0:b9cd980ee324 601 }
denden 0:b9cd980ee324 602 break;
denden 0:b9cd980ee324 603 // 基本的に使わない処理
denden 0:b9cd980ee324 604 case I2CSlave::ReadAddressed:
denden 0:b9cd980ee324 605 break;
denden 0:b9cd980ee324 606 case I2CSlave::WriteGeneral:
denden 0:b9cd980ee324 607 break;
denden 0:b9cd980ee324 608 }
denden 0:b9cd980ee324 609 }
denden 0:b9cd980ee324 610
denden 0:b9cd980ee324 611
denden 0:b9cd980ee324 612
denden 0:b9cd980ee324 613
denden 0:b9cd980ee324 614 // int -> char
denden 0:b9cd980ee324 615 void int_char(int x) {
denden 0:b9cd980ee324 616 if (x>255) { // char一つに収まらないとき
denden 0:b9cd980ee324 617 Angle_char[0] = 255;
denden 0:b9cd980ee324 618 Angle_char[1] = x - 255;
denden 0:b9cd980ee324 619 } else { // char一つに収まるとき
denden 0:b9cd980ee324 620 Angle_char[0] = x;
denden 0:b9cd980ee324 621 Angle_char[1] = 0;
denden 0:b9cd980ee324 622 }
denden 0:b9cd980ee324 623 }
denden 0:b9cd980ee324 624
denden 0:b9cd980ee324 625
denden 0:b9cd980ee324 626
denden 0:b9cd980ee324 627
denden 0:b9cd980ee324 628
denden 0:b9cd980ee324 629
denden 0:b9cd980ee324 630