Diff: main.cpp

Revision:

0:fafac0045ad3

Child:

1:563b7d0b896f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 04 22:42:20 2015 +0000
@@ -0,0 +1,52 @@
+//相互通信確認用
+#include "mbed.h"
+#define BUFFER 30
+
+Serial rs485(p9,p10);
+Serial pc(USBTX,USBRX);
+DigitalOut Receiver(p5);
+PwmOut servo1(p21);
+PwmOut servo2(p22);
+
+int counter = 0;
+int servo_deg1 = 0;
+int servo_deg2 = 0;
+
+void rs485_rx()
+{
+    int rec_data = rs485.getc();
+    switch(rec_data){
+    case 'A':    
+        servo_deg1 = rs485.getc();
+        pc.printf("counter1:%d\n\r",servo_deg1);
+        break;
+    case 'B':
+        servo_deg2 = rs485.getc();
+        pc.printf("counter2:%d\n\r",servo_deg2);
+        break;
+    case 'C':
+        Receiver = 1;
+        wait_ms(1);
+        rs485.putc(counter++);
+        wait_ms(1);
+        Receiver = 0;
+        break;
+    default:
+        wait_us(5);
+        pc.printf("%d\n\r",rec_data);
+    }
+}
+
+int main()
+{
+    Receiver = 0;
+    pc.printf("Receiver\n\r");
+    rs485.baud(38400);
+    servo1.period_ms(20);
+    servo2.period_ms(20);
+    rs485.attach(rs485_rx, Serial::RxIrq);
+    while(1){
+        servo1.pulsewidth(0.00093 + (servo_deg1 / 180.0) * (0.00235 - 0.00077));
+        servo2.pulsewidth(0.00093 + (servo_deg2 / 180.0) * (0.00235 - 0.00077));
+    }
+}