春ロボ 2班 2017
/
asimawari
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Fork of
asimawari
by 
yuto kawamura
Revision 3:73625a6c9750, committed 2017-10-26
- Comitter:
- yuto17320508
- Date:
- Thu Oct 26 13:10:28 2017 +0000
- Parent:
- 2:0a99389df632
- Commit message:
- a
Changed in this revision
| GET_position/jyairo.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r 0a99389df632 -r 73625a6c9750 GET_position/jyairo.h
--- a/GET_position/jyairo.h Wed Oct 25 08:54:30 2017 +0000
+++ b/GET_position/jyairo.h Thu Oct 26 13:10:28 2017 +0000
@@ -0,0 +1,53 @@
+#include "RawSerial.h"
+
+Serial pc(USBTX, USBRX); // tx, rx
+//Serial device(p13, p14); // tx, rx
+RawSerial device(p13,p14);
+AnalogIn tx(p19);
+AnalogIn rx(p20);
+#define CAN_ID 10
+CAN can1(p30, p29);
+DigitalOut led1(LED1); //check
+
+Ticker ticker;
+
+uint8_t val[15]= {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
+uint8_t check_sum=0;
+int16_t data_angle=0;
+double angle=0;
+bool protect=0;
+
+char send_data[8]={0,0,0,0,0,0,0,0};
+
+void dev_rx ()
+{
+ val[0]=device.getc();
+ val[1]=device.getc();
+ if(val[0]==170 && val[1]==0) {
+ for(int i=2; i<14; i++) {
+ val[i]=device.getc();
+ check_sum+=val[i];
+ }
+ val[14]=device.getc();
+ if(check_sum==val[14]) {
+ if(val[4]>0x80)data_angle=((val[3]&0xFF)|((val[4]<<8)&0xFF00))-0xFFFF;
+ else data_angle=((val[3]&0xFF)|((val[4]<<8)&0xFF00));
+ angle=data_angle/100.0;
+ send_data[0]=data_angle>>8;
+ send_data[1]=data_angle&255;
+ if(can1.write(CANMessage(CAN_ID,send_data,2))) {
+ //pc.printf("send\r\n");
+ }
+ check_sum=0;
+ }
+ }
+}
+
+//setting
+ device.baud(115200);
+ device.format(8,Serial::None,1);
+ can1.frequency(1000000);
+ //ticker.attach(&dev_rx,0.05);
+ device.attach(dev_rx, Serial::RxIrq);
+ int a=0;
+