Diff: main.cpp

Revision:

0:4f5b9889cbc4

Child:

1:ab1c94d6f4fb

diff -r 000000000000 -r 4f5b9889cbc4 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 17 10:01:19 2021 +0000
@@ -0,0 +1,85 @@
+#include "mbed.h"
+#include "platform/mbed_thread.h"
+#include "Controller.h"
+
+#define INT_TIME 0.001
+#define INT_TIME_MS INT_TIME*1000
+
+Serial pc(USBTX, USBRX);
+Controller con(P7_4,P7_5, 115200);
+
+DigitalOut led_user(LED_USER);
+DigitalOut led_red(LED_RED);
+DigitalOut pin_emergency(D0); //非常停止信号
+
+Ticker interrupt;
+bool flag_10ms = false;
+bool flag_1s = false;
+
+void interrupt_func()
+{
+    static int count_10ms = 0;
+    if(count_10ms++ > (INT_TIME_MS*10 - 1))
+    {
+        flag_10ms = true;
+        count_10ms = 0;
+        
+        static int count_1s = 0;
+        if(count_1s++ > (INT_TIME_MS*100 -1))
+        {
+            flag_1s = true;
+            count_1s = 0;
+        }
+    }
+}
+
+int main()
+{   
+    pc.baud(115200);
+    
+    /* 第一引数はタイムアウト時間[ms]，第二引数はupdate関数の呼び出し周期[ms] */
+    con.init(1000, INT_TIME_MS*10); //init関数を呼び出さなければタイムアウトの処理は行われない（available関数は常にtrueを返す）
+    
+    interrupt.attach(&interrupt_func, INT_TIME);
+    
+    while(1) 
+    {
+        if(flag_10ms)
+        {
+            con.update();
+            if(con.available())
+            {
+                int buttonState = con.getButtonState();
+                uint8_t joyRx = con.readJoyRXbyte();
+                uint8_t joyRy = con.readJoyRYbyte();
+                uint8_t joyLx = con.readJoyLXbyte();
+                uint8_t joyLy = con.readJoyLYbyte();
+                
+                pc.printf("%d\t", buttonState);
+                pc.printf("%d\t", joyRx);
+                pc.printf("%d\t", joyRy);
+                pc.printf("%d\t", joyLx);
+                pc.printf("%d\r\n", joyLy);
+                
+                led_red.write(1);
+                pin_emergency.write(1); //非常停止を解除する
+            }
+            else
+            {
+                pc.printf("disconnected\r\n");
+                led_red.write(0);
+                pin_emergency.write(0); //非常停止を作動させる
+            }
+            
+            flag_10ms = false;
+        }
+        
+        if(flag_1s)
+        {
+            led_user.write(!led_user.read());
+            flag_1s = false;
+        }
+        
+        thread_sleep_for(1);
+    }
+}