kazuki ishibashi
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Cat_Bot_sub
cat_bot_sub
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main.cpp
00001 #include "mbed.h" 00002 #include "hcsr04.h" 00003 00004 Serial to_main(dp4,dp5); 00005 //Serial pc(USBTX,USBRX); 00006 00007 HCSR04 front(dp24,dp25); 00008 HCSR04 back(dp22,dp23); 00009 HCSR04 right(dp20,dp21); 00010 HCSR04 left(dp18,dp19); 00011 00012 00013 00014 int main() { 00015 char dist[4]={0}; 00016 //to_main.baud(19200); 00017 while(1) { 00018 front.start(); 00019 back.start(); 00020 right.start(); 00021 left.start(); 00022 if(front.get_dist_cm()>255) 00023 dist[0]=255; 00024 else 00025 dist[0]=front.get_dist_cm(); 00026 if(back.get_dist_cm()>255) 00027 dist[1]=255; 00028 else 00029 dist[1]=back.get_dist_cm(); 00030 if(right.get_dist_cm()>255) 00031 dist[2]=255; 00032 else 00033 dist[2]=right.get_dist_cm(); 00034 if(left.get_dist_cm()>255) 00035 dist[3]=255; 00036 else 00037 dist[3]=left.get_dist_cm(); 00038 00039 to_main.putc(1); 00040 for(int i=0;i<4;i++){ 00041 to_main.putc(dist[i]); 00042 } 00043 //pc.putc('\n'); 00044 } 00045 }
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