Hayato Kikuchi / Mbed 2 deprecated XBee3-test

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Dependencies:   mbed

main.cpp@3:c751c9e54791, 2021-04-16 (annotated)

Committer:
kikuchi8810
Date:
Fri Apr 16 09:37:28 2021 +0000
Revision:
3:c751c9e54791
Parent:
1:cb2c4d733c1b 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kikuchi8810 0:0322e37424fa 1 #include "mbed.h"
kikuchi8810 1:cb2c4d733c1b 2 #include "Controller.h"
kikuchi8810 3:c751c9e54791 3 #include "Filter.h"
kikuchi8810 3:c751c9e54791 4
kikuchi8810 3:c751c9e54791 5 #define INT_TIME 0.01
kikuchi8810 3:c751c9e54791 6 Filter joyRX_filter(INT_TIME);
kikuchi8810 3:c751c9e54791 7 Filter joyRY_filter(INT_TIME);
kikuchi8810 3:c751c9e54791 8 Filter joyLX_filter(INT_TIME);
kikuchi8810 3:c751c9e54791 9 Filter joyLY_filter(INT_TIME);
kikuchi8810 0:0322e37424fa 10
kikuchi8810 1:cb2c4d733c1b 11 Controller Con(p28,p27,115200);
kikuchi8810 0:0322e37424fa 12 Serial pc(USBTX,USBRX,115200);
kikuchi8810 0:0322e37424fa 13
kikuchi8810 0:0322e37424fa 14 int main()
kikuchi8810 0:0322e37424fa 15 {
kikuchi8810 3:c751c9e54791 16 joyRX_filter.setLowPassPara(0.16,0.0);
kikuchi8810 3:c751c9e54791 17 joyRY_filter.setLowPassPara(0.16,0.0);
kikuchi8810 3:c751c9e54791 18 joyLX_filter.setLowPassPara(0.16,0.0);
kikuchi8810 3:c751c9e54791 19 joyLY_filter.setLowPassPara(0.16,0.0);
kikuchi8810 3:c751c9e54791 20
kikuchi8810 0:0322e37424fa 21 while(1) {
kikuchi8810 3:c751c9e54791 22 double joyRX = joyRX_filter.LowPassFilter(Con.readJoyRXbyte());
kikuchi8810 3:c751c9e54791 23 double joyRY = joyRY_filter.LowPassFilter(Con.readJoyRYbyte());
kikuchi8810 3:c751c9e54791 24 double joyLX = joyLX_filter.LowPassFilter(Con.readJoyLXbyte());
kikuchi8810 3:c751c9e54791 25 double joyLY = joyLY_filter.LowPassFilter(Con.readJoyLYbyte());
kikuchi8810 1:cb2c4d733c1b 26 unsigned int buttonstate = Con.getButtonState();
kikuchi8810 1:cb2c4d733c1b 27 if(buttonstate & BUTTON_MARU) pc.printf("%d\n",Con.getButtonState());
kikuchi8810 1:cb2c4d733c1b 28 else if(buttonstate & BUTTON_L2) pc.printf("%3.0lf %3.0lf %3.0lf %3.0lf\n",joyRX,joyRY,joyLX,joyLY);
kikuchi8810 1:cb2c4d733c1b 29 else pc.printf("PUSH!\n");
kikuchi8810 1:cb2c4d733c1b 30 //wait(0.01);
kikuchi8810 0:0322e37424fa 31 }
kikuchi8810 0:0322e37424fa 32 }