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/
NRP2020_main_1_29
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Diff: main.cpp
- Revision:
- 2:32d2cd7d744b
- Parent:
- 1:5b0303768126
- Child:
- 3:8790e69f8c59
diff -r 5b0303768126 -r 32d2cd7d744b main.cpp --- a/main.cpp Tue Jan 21 11:10:33 2020 +0000 +++ b/main.cpp Thu Jan 23 09:16:38 2020 +0000 @@ -7,27 +7,44 @@ #define SCL PB_6 #define MCP_ADDRESS 0x40 +using namespace MOTOR + MCP MCP(SDA, SCL, MCP_ADDRESS); Serial pc(USBTX, USBRX); XBEE::ControllerData *controller; +MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; int main() { - for(int i = 0; i < 16; i++) { - MCP.PinMode(i, INPUT_PULLUP); - } + __enable_irq(); + + MOTOR::Motor::Initialize(); + + MCP.PinMode(7, INPUT_PULLUP); + MCP.PinMode(6, OUTPUT); + while(1) { controller = XBEE::Controller::GetData(); + MCP.Update(); + int a; + /* write ↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓ */ - //for(int i = 0; i < 16; i++) { - int a = MCP.Read(7); + for(int i = 0; i < 16; i++) { + a = MCP.Read(i); pc.printf("%d",a); - //} + } pc.printf("\n\r"); + + int b = MCP.Read(7); + + MCP.Write(6, b); + + // + MOTOR::Motor::Update(motor); } }