hsu han-lin
1.Combine library into this project 2.Use this to do the complete fuction
Dependencies: DXL_SDK_For_F446RE Matrix Modbus_For_F446RE RobotControl_7Axis mbed
Diff: main.cpp
- Revision:
- 1:249f89a36223
- Parent:
- 0:f147c77caac0
- Child:
- 4:8fc956bd0e78
--- a/main.cpp Fri Mar 31 02:08:44 2017 +0000
+++ b/main.cpp Fri Mar 31 10:39:39 2017 +0800
@@ -88,6 +88,24 @@
static USHORT usRegHoldingBuf[REG_HOLDING_NREGS];
/* ----------------------- Start implementation -----------------------------*/
+Ticker tMobusPoll;
+
+void fMobusPoll()
+{
+ //(void)eMBPoll( ); origianl
+ //
+ eMBPoll();
+
+ /* Here we simply count the number of poll cycles. */
+ usRegHoldingBuf[DEF_INX_TARGET_POSX]++;
+
+ if(usRegHoldingBuf[DEF_INX_TARGET_POSX]==200)//stanley
+ {
+ myled=!myled;
+ usRegHoldingBuf[DEF_INX_TARGET_POSX]=0;
+ }
+}
+
int main( void )
{
@@ -99,6 +117,8 @@
eMBEnable( );
//eStatus = eMBEnable( );
+
+
// Initialise some registers
// usRegInputBuf[1] = 0x1234;
// usRegInputBuf[2] = 0x5678;
@@ -125,25 +145,11 @@
}
-
+ tMobusPoll.attach_us(&fMobusPoll,10000);
myled=1;//stanley
- for( ;; )
- {
- //(void)eMBPoll( ); origianl
- //
- eStatus=eMBPoll();
-
- /* Here we simply count the number of poll cycles. */
- usRegHoldingBuf[DEF_INX_TARGET_POSX]++;
-
- wait_ms(5); //stanley
- if(usRegHoldingBuf[DEF_INX_TARGET_POSX]==200)//stanley
- {
- myled=!myled;
- usRegHoldingBuf[DEF_INX_TARGET_POSX]=0;
- }
- }
+ while(1);
+
}
eMBErrorCode