Kiko Ishimoto / Mbed 2 deprecated sotuken_mother_2

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Dependencies:   ds3_si mbed omuni solenoid

Fork of 2017_Robocon_mother by gaku takasawa

main.cpp@1:88d73fd8099a, 2017-09-11 (annotated)

Committer:
gaku_sigu
Date:
Mon Sep 11 02:35:29 2017 +0000
Revision:
1:88d73fd8099a
Parent:
0:f2830b957dea
Child:
2:6c6c5f2796fe
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gaku_sigu 1:88d73fd8099a 1
gaku_sigu 0:f2830b957dea 2 #include "mbed.h"
gaku_sigu 1:88d73fd8099a 3 #include "omuni.h"
gaku_sigu 1:88d73fd8099a 4 #include "solenoid.h"
gaku_sigu 0:f2830b957dea 5
gaku_sigu 0:f2830b957dea 6 I2C i2c(p28, p27);
gaku_sigu 0:f2830b957dea 7 omuni omu(i2c, 0x10, 0x12, 0x14);
gaku_sigu 1:88d73fd8099a 8 solenoid sol(i2c, 0x20);
gaku_sigu 0:f2830b957dea 9
gaku_sigu 0:f2830b957dea 10 Serial con(p9, p10);
gaku_sigu 0:f2830b957dea 11 Serial master(p13,p14);
gaku_sigu 0:f2830b957dea 12 Serial pc(USBTX, USBRX);
gaku_sigu 0:f2830b957dea 13
gaku_sigu 1:88d73fd8099a 14 int ConData[2][12];
gaku_sigu 1:88d73fd8099a 15
gaku_sigu 1:88d73fd8099a 16
gaku_sigu 0:f2830b957dea 17 void GetData()
gaku_sigu 0:f2830b957dea 18 {
gaku_sigu 1:88d73fd8099a 19 if ( con.getc() == 'H' ) {
gaku_sigu 0:f2830b957dea 20 ConData[0][0] = 'H';
gaku_sigu 0:f2830b957dea 21 for (int i = 1; i < 12; i++)
gaku_sigu 0:f2830b957dea 22 {
gaku_sigu 0:f2830b957dea 23 char t = (char)con.getc();
gaku_sigu 0:f2830b957dea 24 ConData[0][i] = t;
gaku_sigu 0:f2830b957dea 25 }
gaku_sigu 0:f2830b957dea 26 for (int i = 0; i < 12; i++)
gaku_sigu 0:f2830b957dea 27 {
gaku_sigu 0:f2830b957dea 28 char t = (char)con.getc();
gaku_sigu 0:f2830b957dea 29 ConData[1][i] = t;
gaku_sigu 0:f2830b957dea 30 }
gaku_sigu 1:88d73fd8099a 31 for(int i = 0; i < 12; i++)
gaku_sigu 1:88d73fd8099a 32 {
gaku_sigu 1:88d73fd8099a 33 master.putc(ConData[0][i]);
gaku_sigu 1:88d73fd8099a 34 }
gaku_sigu 1:88d73fd8099a 35 for(int i = 0; i < 12; i++)
gaku_sigu 1:88d73fd8099a 36 {
gaku_sigu 1:88d73fd8099a 37 master.putc(ConData[1][i]);
gaku_sigu 1:88d73fd8099a 38 }
gaku_sigu 0:f2830b957dea 39 }
gaku_sigu 0:f2830b957dea 40 }
gaku_sigu 0:f2830b957dea 41
gaku_sigu 0:f2830b957dea 42 int main() {
gaku_sigu 0:f2830b957dea 43 con.baud(115200);
gaku_sigu 0:f2830b957dea 44 master.baud(115200);
gaku_sigu 0:f2830b957dea 45 pc.baud(115200);
gaku_sigu 0:f2830b957dea 46 con.attach(&GetData,Serial::RxIrq);
gaku_sigu 0:f2830b957dea 47
gaku_sigu 0:f2830b957dea 48 while(1){
gaku_sigu 0:f2830b957dea 49
gaku_sigu 1:88d73fd8099a 50 char MotorData[] = {'H', ConData[0][1]-1, ConData[0][2]-6, ConData[1][1]+1, ConData[1][2]-8};
gaku_sigu 0:f2830b957dea 51 omu.out(MotorData);
gaku_sigu 1:88d73fd8099a 52 /*
gaku_sigu 0:f2830b957dea 53 for(int i = 0; i < 12; i++)
gaku_sigu 0:f2830b957dea 54 {
gaku_sigu 1:88d73fd8099a 55 pc.printf("%3d ",ConData[0][i]);
gaku_sigu 0:f2830b957dea 56 }
gaku_sigu 0:f2830b957dea 57 for(int i = 0; i < 12; i++)
gaku_sigu 0:f2830b957dea 58 {
gaku_sigu 1:88d73fd8099a 59 pc.printf("%3d ",ConData[1][i]);
gaku_sigu 0:f2830b957dea 60 }
gaku_sigu 1:88d73fd8099a 61 pc.printf("\n\r");
gaku_sigu 1:88d73fd8099a 62 */
gaku_sigu 1:88d73fd8099a 63 char soldata = ((ConData[0][3] << 2) + ConData[1][3]) << 4d;
gaku_sigu 1:88d73fd8099a 64 //printf("%d\n",soldata);
gaku_sigu 1:88d73fd8099a 65 sol = soldata;
gaku_sigu 1:88d73fd8099a 66 }
gaku_sigu 0:f2830b957dea 67 }