Diff: main.cpp

Revision:

4:5ba58456c3ee

Parent:

3:1a3ed86511d3

Child:

5:72e5a850678a

--- a/main.cpp	Thu Aug 24 04:49:21 2017 +0000
+++ b/main.cpp	Fri Aug 25 12:23:46 2017 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 
 Serial pc(USBTX,USBRX);
-SPISlave spi(PA_7,PA_6,PA_5,PA_4);
+BusIn in(PA_7,PA_6,PA_5,PA_4);
 PwmOut moter_1(PB_14);
 PwmOut moter_2(PB_15);
 DigitalOut cyli_1(PB_5);
@@ -12,7 +12,7 @@
 //フォトインタラプタ下
 InterruptIn photo_2(PC_3);
 
-int L_up,L_down,L_open,L_close,R_up,R_down,R_open,R_close;
+int num;
 
 //モーターの出力の設定
 double moter_power = 0.7;
@@ -58,8 +58,7 @@
 }
 int main()
 {
-    spi.format(8,3);
-    spi.frequency(1000000);
+
 
 //フォトインタラプタ１
     photo_1.rise(&photo_1_rise);
@@ -70,52 +69,38 @@
     photo_2.fall(&photo_2_fall);
     while(1) {
 
-        if(spi.receive()) {
-
-            int L_up = spi.read() & 0b1;
-            int L_down = (spi.read() & 0b10)>>1;
-            int L_open = (spi.read() & 0b100)>>2;
-            int L_close = (spi.read() & 0b1000)>>3;
-            int R_up = (spi.read() & 0b10000)>>4;
-            int R_down = (spi.read() & 0b100000)>>5;
-            int R_open = (spi.read() & 0b1000000)>>6;
-            int R_close = (spi.read() & 0b10000000)>>7;
-
-//spiの値プリント
-            pc.printf("L_up:%d\tL_down:%d\tL_open:%d\tL_close:%d\t\nR_up:%d\tR_down:%d\tR_open:%d\tR_close:%d\tsend:%d\r\n",L_up,L_down,L_open,L_close,R_up,R_down,R_open,R_close,spi.read());
-
-        }
+        num=in;
 
 
 //腕１　上昇下降
-        if(L_up == 1 && up_flag==1) {//上昇
+        if(num == 1 && up_flag==1) {//上昇
             up();
-        } else if(L_down == 1 && down_flag==1) {//下降
+        } else if(num == 2 && down_flag==1) {//下降
             down();
         } else {
             stop();
         }
 
 //腕１　開閉
-        if(L_open == 1) {
+        if(num == 3) {
             cyli_1=1;
-        } else if(L_close == 1) {
+        } else if(num == 4) {
             cyli_1=0;
         }
 
 //腕２　上昇下降
-        if(R_up == 1) {
+        if(num == 5) {
             cyli_2=1;
-        } else if(R_down == 1) {
+        } else if(num == 6) {
             cyli_2=0;
         }
 
 //腕２　開閉
-        if(R_open == 1) {
+        if(num == 7) {
             cyli_3=1;
-        } else if(R_close == 1) {
+        } else if(num == 8) {
             cyli_3=0;
         }
+        pc.printf("%d\n\r",num);
     }
-
 }