Diff: main.cpp

Revision:

0:b9cd980ee324

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 10 07:58:40 2014 +0000
@@ -0,0 +1,105 @@
+// Slave側プログラム
+
+#include <math.h>
+#include "mbed.h"
+#include "rtos.h"
+#include "ACM1602NI.h"
+#include "Ping.h"
+
+#define PI 3.14159265358979 // 円周率πの定義
+
+Semaphore PING_slots(2);
+
+#include "PinMode.h"
+#include "GlobalVariable.h"
+#include "Prototype.h"
+
+#include "I2C_Slave.h"
+#include "RotarySW.h"
+
+
+
+/*---- PINGの値を並列処理で取得し続ける ----*/
+void PING_thread(void const *ping_data) {
+    /* 距離記録用変数 */
+    int Ping_F = 0;
+    int Ping_R = 0;
+    int Ping_B = 0;
+    int Ping_L = 0;
+
+    while(1) {
+        /* 超音波発射 */
+        PING_F.Send();
+        PING_R.Send();
+        PING_B.Send();
+        PING_L.Send();
+
+        wait_ms(30);    // 待つ
+
+        /* 結果から距離を算出 */
+        Ping_F = PING_F.Read_cm() / 2;  // 正面の距離を記録 [cm]
+        Ping_R = PING_R.Read_cm() / 2;  // 右側の距離を記録 [cm]
+        Ping_B = PING_B.Read_cm() / 2;  // 後ろの距離を記録 [cm]
+        Ping_L = PING_L.Read_cm() / 2;  // 左側の距離を記録 [cm]
+        
+        // PING_F.Send();  wait_ms(30);  Ping_F=PING_F.Read_cm()/2;
+        // PING_R.Send();  wait_ms(30);  Ping_R=PING_R.Read_cm()/2;
+        // PING_B.Send();  wait_ms(30);  Ping_B=PING_B.Read_cm()/2;
+        // PING_L.Send();  wait_ms(30);  Ping_L=PING_L.Read_cm()/2;
+
+
+        /* アクセス可能になるまで待機してから、値を代入 */
+        PING_slots.wait();
+            Ping_data[0] = Ping_F;
+            Ping_data[1] = Ping_R;
+            Ping_data[2] = Ping_B;
+            Ping_data[3] = Ping_L;
+        PING_slots.release();
+
+        wait(0.1);      // PINGに愛を！！
+    }
+}
+
+
+
+/*---- 並列処理で各装置との通信を制御 ----*/
+int main() {
+    Thread PING_t(PING_thread);
+
+    /*---- 初期化処理 ----*/
+    I2C_avr.address(0x80);
+    I2C_master.address(0xA0);
+
+    /*---- modeを確認 ----*/
+    Mode[0] = ((Rotary1)?0:1)*1 + ((Rotary2)?0:1)*2 + ((Rotary3)?0:1)*4 + ((Rotary4)?0:1)*8;
+
+    /*---- mode_masterにmodeを伝える ---*/
+    while (!Flag) MBED_MASTER();
+
+    /*---- 各モードに移行 ----*/
+    switch(Mode[0]) {
+        case 0: while(1) FW();
+        case 1: while(1) DF();
+        case 2: while(1) DEBUG_IR();
+        case 3: while(1) DEBUG_PING();
+        case 4: while(1) DEBUG_ANGLE();
+        case 5: while(1) DEBUG_KICKER();
+        case 6: while(1) DEBUG_MOTER();
+        case 7: while(1) DEBUG_LINE();
+        case 8: while(1) FW();
+        case 9: while(1) FW();
+    }
+}
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