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NRP2020_main_1_29
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main.cpp@2:32d2cd7d744b, 2020-01-23 (annotated)
- Committer:
- M_souta
- Date:
- Thu Jan 23 09:16:38 2020 +0000
- Revision:
- 2:32d2cd7d744b
- Parent:
- 1:5b0303768126
- Child:
- 3:8790e69f8c59
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
M_souta | 0:db8d4af513c0 | 1 | #include "mbed.h" |
M_souta | 0:db8d4af513c0 | 2 | #include "Motor.h" |
M_souta | 0:db8d4af513c0 | 3 | #include "MCP.h" |
M_souta | 0:db8d4af513c0 | 4 | #include "XBee.h" |
M_souta | 0:db8d4af513c0 | 5 | |
M_souta | 0:db8d4af513c0 | 6 | #define SDA PB_7 |
M_souta | 0:db8d4af513c0 | 7 | #define SCL PB_6 |
M_souta | 0:db8d4af513c0 | 8 | #define MCP_ADDRESS 0x40 |
M_souta | 0:db8d4af513c0 | 9 | |
M_souta | 2:32d2cd7d744b | 10 | using namespace MOTOR |
M_souta | 2:32d2cd7d744b | 11 | |
M_souta | 0:db8d4af513c0 | 12 | MCP MCP(SDA, SCL, MCP_ADDRESS); |
M_souta | 0:db8d4af513c0 | 13 | |
M_souta | 1:5b0303768126 | 14 | Serial pc(USBTX, USBRX); |
M_souta | 1:5b0303768126 | 15 | |
M_souta | 0:db8d4af513c0 | 16 | XBEE::ControllerData *controller; |
M_souta | 2:32d2cd7d744b | 17 | MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; |
M_souta | 0:db8d4af513c0 | 18 | |
M_souta | 0:db8d4af513c0 | 19 | int main() { |
M_souta | 0:db8d4af513c0 | 20 | |
M_souta | 2:32d2cd7d744b | 21 | __enable_irq(); |
M_souta | 2:32d2cd7d744b | 22 | |
M_souta | 2:32d2cd7d744b | 23 | MOTOR::Motor::Initialize(); |
M_souta | 2:32d2cd7d744b | 24 | |
M_souta | 2:32d2cd7d744b | 25 | MCP.PinMode(7, INPUT_PULLUP); |
M_souta | 2:32d2cd7d744b | 26 | MCP.PinMode(6, OUTPUT); |
M_souta | 2:32d2cd7d744b | 27 | |
M_souta | 1:5b0303768126 | 28 | |
M_souta | 0:db8d4af513c0 | 29 | while(1) { |
M_souta | 0:db8d4af513c0 | 30 | controller = XBEE::Controller::GetData(); |
M_souta | 2:32d2cd7d744b | 31 | |
M_souta | 1:5b0303768126 | 32 | MCP.Update(); |
M_souta | 0:db8d4af513c0 | 33 | |
M_souta | 2:32d2cd7d744b | 34 | int a; |
M_souta | 2:32d2cd7d744b | 35 | |
M_souta | 0:db8d4af513c0 | 36 | /* write ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */ |
M_souta | 2:32d2cd7d744b | 37 | for(int i = 0; i < 16; i++) { |
M_souta | 2:32d2cd7d744b | 38 | a = MCP.Read(i); |
M_souta | 1:5b0303768126 | 39 | pc.printf("%d",a); |
M_souta | 2:32d2cd7d744b | 40 | } |
M_souta | 1:5b0303768126 | 41 | pc.printf("\n\r"); |
M_souta | 2:32d2cd7d744b | 42 | |
M_souta | 2:32d2cd7d744b | 43 | int b = MCP.Read(7); |
M_souta | 2:32d2cd7d744b | 44 | |
M_souta | 2:32d2cd7d744b | 45 | MCP.Write(6, b); |
M_souta | 2:32d2cd7d744b | 46 | |
M_souta | 2:32d2cd7d744b | 47 | // |
M_souta | 2:32d2cd7d744b | 48 | MOTOR::Motor::Update(motor); |
M_souta | 0:db8d4af513c0 | 49 | } |
M_souta | 0:db8d4af513c0 | 50 | } |