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Dependencies:   ds3_si mbed omuni solenoid

Fork of 2017_Robocon_mother by gaku takasawa

main.cpp@5:d5aa02f1acbb, 2017-10-11 (annotated)

Committer:
gaku_sigu
Date:
Wed Oct 11 04:33:26 2017 +0000
Revision:
5:d5aa02f1acbb
Parent:
3:2d189409c3c3
Child:
6:f5f0b60cd380
2017/10/11;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gaku_sigu 0:f2830b957dea 1 #include "mbed.h"
gaku_sigu 1:88d73fd8099a 2 #include "omuni.h"
gaku_sigu 1:88d73fd8099a 3 #include "solenoid.h"
gaku_sigu 0:f2830b957dea 4
gaku_sigu 5:d5aa02f1acbb 5 //#define DEBUG
gaku_sigu 5:d5aa02f1acbb 6
gaku_sigu 0:f2830b957dea 7 I2C i2c(p28, p27);
gaku_sigu 3:2d189409c3c3 8 omuni omu(&i2c, 0x10, 0x14, 0x16);
gaku_sigu 3:2d189409c3c3 9 solenoid sol(&i2c, 0x20);
gaku_sigu 0:f2830b957dea 10
gaku_sigu 0:f2830b957dea 11 Serial con(p9, p10);
gaku_sigu 0:f2830b957dea 12 Serial master(p13,p14);
gaku_sigu 0:f2830b957dea 13 Serial pc(USBTX, USBRX);
gaku_sigu 0:f2830b957dea 14
gaku_sigu 5:d5aa02f1acbb 15 char ConData[2][12];
gaku_sigu 1:88d73fd8099a 16
gaku_sigu 1:88d73fd8099a 17
gaku_sigu 0:f2830b957dea 18 void GetData()
gaku_sigu 0:f2830b957dea 19 {
gaku_sigu 1:88d73fd8099a 20 if ( con.getc() == 'H' ) {
gaku_sigu 0:f2830b957dea 21 ConData[0][0] = 'H';
gaku_sigu 0:f2830b957dea 22 for (int i = 1; i < 12; i++)
gaku_sigu 0:f2830b957dea 23 {
gaku_sigu 0:f2830b957dea 24 char t = (char)con.getc();
gaku_sigu 0:f2830b957dea 25 ConData[0][i] = t;
gaku_sigu 0:f2830b957dea 26 }
gaku_sigu 0:f2830b957dea 27 for (int i = 0; i < 12; i++)
gaku_sigu 0:f2830b957dea 28 {
gaku_sigu 0:f2830b957dea 29 char t = (char)con.getc();
gaku_sigu 0:f2830b957dea 30 ConData[1][i] = t;
gaku_sigu 0:f2830b957dea 31 }
gaku_sigu 1:88d73fd8099a 32 for(int i = 0; i < 12; i++)
gaku_sigu 1:88d73fd8099a 33 {
gaku_sigu 1:88d73fd8099a 34 master.putc(ConData[0][i]);
gaku_sigu 1:88d73fd8099a 35 }
gaku_sigu 1:88d73fd8099a 36 for(int i = 0; i < 12; i++)
gaku_sigu 1:88d73fd8099a 37 {
gaku_sigu 1:88d73fd8099a 38 master.putc(ConData[1][i]);
gaku_sigu 1:88d73fd8099a 39 }
gaku_sigu 0:f2830b957dea 40 }
gaku_sigu 0:f2830b957dea 41 }
gaku_sigu 0:f2830b957dea 42
gaku_sigu 0:f2830b957dea 43 int main() {
gaku_sigu 0:f2830b957dea 44 con.baud(115200);
gaku_sigu 0:f2830b957dea 45 master.baud(115200);
gaku_sigu 0:f2830b957dea 46 pc.baud(115200);
gaku_sigu 0:f2830b957dea 47 con.attach(&GetData,Serial::RxIrq);
gaku_sigu 0:f2830b957dea 48
gaku_sigu 0:f2830b957dea 49 while(1){
gaku_sigu 0:f2830b957dea 50
gaku_sigu 1:88d73fd8099a 51 char MotorData[] = {'H', ConData[0][1]-1, ConData[0][2]-6, ConData[1][1]+1, ConData[1][2]-8};
gaku_sigu 0:f2830b957dea 52 omu.out(MotorData);
gaku_sigu 5:d5aa02f1acbb 53
gaku_sigu 5:d5aa02f1acbb 54 char soldata = ((ConData[0][3] << 2) + ConData[1][3]) << 4;
gaku_sigu 5:d5aa02f1acbb 55 sol = soldata;
gaku_sigu 5:d5aa02f1acbb 56
gaku_sigu 5:d5aa02f1acbb 57 #ifdef DEBUG
gaku_sigu 0:f2830b957dea 58 for(int i = 0; i < 12; i++)
gaku_sigu 0:f2830b957dea 59 {
gaku_sigu 1:88d73fd8099a 60 pc.printf("%3d ",ConData[0][i]);
gaku_sigu 0:f2830b957dea 61 }
gaku_sigu 0:f2830b957dea 62 for(int i = 0; i < 12; i++)
gaku_sigu 0:f2830b957dea 63 {
gaku_sigu 1:88d73fd8099a 64 pc.printf("%3d ",ConData[1][i]);
gaku_sigu 0:f2830b957dea 65 }
gaku_sigu 1:88d73fd8099a 66 pc.printf("\n\r");
gaku_sigu 3:2d189409c3c3 67
gaku_sigu 5:d5aa02f1acbb 68 printf("%d\n",soldata);
gaku_sigu 5:d5aa02f1acbb 69 #endif
gaku_sigu 5:d5aa02f1acbb 70
gaku_sigu 1:88d73fd8099a 71 }
gaku_sigu 0:f2830b957dea 72 }