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?
User | Revision | Line number | New 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 |