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Dependencies:   ds3_si mbed omuni solenoid

Fork of 2017_Robocon_mother by gaku takasawa

main.cpp

Committer:
gaku_sigu
Date:
2017-09-14
Revision:
2:6c6c5f2796fe
Parent:
1:88d73fd8099a
Child:
3:2d189409c3c3

File content as of revision 2:6c6c5f2796fe:


#include "mbed.h"
#include "omuni.h"
#include "solenoid.h"

I2C i2c(p28, p27);
omuni omu(i2c, 0x10, 0x14, 0x16);
solenoid sol(i2c, 0x20);

Serial con(p9, p10);
Serial master(p13,p14);
Serial pc(USBTX, USBRX);

int ConData[2][12];


void GetData()
{
    if ( con.getc() == 'H' ) {
         ConData[0][0] = 'H';
         for (int i = 1; i < 12; i++)
         {
             char t = (char)con.getc();
             ConData[0][i] = t;
         }
         for (int i = 0; i < 12; i++)
         {
             char t = (char)con.getc();
             ConData[1][i] = t;
         }
        for(int i = 0; i < 12; i++)
        {
                master.putc(ConData[0][i]);
        }
        for(int i = 0; i < 12; i++)
        {
                master.putc(ConData[1][i]);
        }
    }
}

int main() {
        con.baud(115200);
        master.baud(115200);
        pc.baud(115200);
        con.attach(&GetData,Serial::RxIrq);
        
        while(1){
            
            char MotorData[] = {'H', ConData[0][1]-1, ConData[0][2]-6, ConData[1][1]+1, ConData[1][2]-8};
            omu.out(MotorData);
            /*
            for(int i = 0; i < 12; i++)
            {
                    pc.printf("%3d ",ConData[0][i]);
            }
            for(int i = 0; i < 12; i++)
            {
                    pc.printf("%3d ",ConData[1][i]);
            }
            pc.printf("\n\r");
            */
            char soldata = ((ConData[0][3] << 2) + ConData[1][3]) << 4;
            //printf("%d\n",soldata);
            sol = soldata;
        }  
}