Diff: main.cpp

Revision:

3:6dbba9951f9e

Parent:

2:3a4f83edb424

Child:

4:dd8c3543adc7

--- a/main.cpp	Wed Apr 15 15:03:49 2015 +0000
+++ b/main.cpp	Thu Apr 16 02:18:04 2015 +0000
@@ -102,7 +102,8 @@
     
     Dyna_init();
     
-    char S_data[200], R_data[2];
+    char S_data[200];
+    int R_data;
     int Joy_mode, linear_mode, pitch_mode, yaw_mode;
     
     while(1) {
@@ -110,8 +111,7 @@
 //        sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得
         R_data=pc.getc();
         wait_ms(1);
-        int J = atoi(R_data);
-        Joy_mode = J & 0x03; //ジョイスティックのモード判定
+        Joy_mode = R_data & 0x03; //ジョイスティックのモード判定
         
         switch(Joy_mode){
             case 0: //通常モード
@@ -124,9 +124,9 @@
                 myled1=0;
 
                 //Dynamixelへの命令を判定
-                linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
-                pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
-                yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;                
+                linear_mode = R_data & 0x0c; linear_mode = linear_mode >> 2;
+                pitch_mode = R_data & 0x30; pitch_mode = linear_mode >> 4;
+                yaw_mode = R_data & 0xc0; yaw_mode = linear_mode >> 6;                
 
                 //目標角度を変更
                 myled2=1;
@@ -175,7 +175,7 @@
                 ThD2[8],ThD2[9],ThD2[10],ThD2[11],ThD2[12],ThD2[13],ThD2[14],ThD2[15]);
                 sprintf(S_data, "%f %f %f %f %f %f %s %f",lP,lV,pP,pC,yP,yC,Thermo_data,CO2_data);
 //                sock.sendTo(echo_server, S_data, sizeof(S_data));
-                pc.printf("%s\n",S_data)
+                pc.printf("%s\n",S_data);
                 myled3=0;           
                 break;