2月25日

Dependencies:   mbed SpeedController___2_25 ros_lib_kinetic

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Show/hide line numbers can.cpp Source File

can.cpp

00001 //#include "mbed.h"
00002 //#include "can.h"
00003 //
00004 //CAN can1(p30,p29);
00005 //Ticker can_ticker;  //can用ticker
00006 //
00007 //DigitalOut cansend_led(LED1);  //cansend -> on
00008 //DigitalOut canread_led(LED2);  //canread -> on
00009 //
00010 //double mt_out1=0.0,mt_out2=0.0;
00011 //
00012 //int t1_r=0, T1=0; //動作番号(受け取った値、送信する値(int型))
00013 //
00014 //void can_readsend()
00015 //{
00016 //    CANMessage msg;
00017 //
00018 //
00019 //    if(can1.read(msg)) {
00020 //        //printf(" CAN success\n\r");
00021 //        if(msg.id == 4) {
00022 //            //mt_out1 = 1/(double)50*(short)((msg.data[0]<<8) | msg.data[1]);
00023 //            //mt_out2 = 1/(double)50*(short)((msg.data[2]<<8) | msg.data[3]);
00024 //            mt_out1 = 1/(double)200*(short)((msg.data[4]<<8) | msg.data[5]);
00025 //            mt_out2 = 1/(double)200*(short)((msg.data[6]<<8) | msg.data[7]);
00026 //            //debug_printf("usw_data1 = %f\n\r",usw_data1);
00027 //            printf("mt_out3 = %f,mt_out4 = %f\n\r",mt_out1,mt_out2);
00028 //        }
00029 //      //  if(msg.id == 7){
00030 ////            mt_out2 = 1/(double)50*(short)((msg.data[0]<<8) | msg.data[1]);
00031 ////            printf("id = 5 mt_out2 = %f, data[0] = %d, data[1] = %d\n\r",mt_out2,msg.data[0],msg.data[1]);
00032 ////        }
00033 //
00034 //    } else {
00035 //        canread_led = 0;
00036 //        printf("fale\n\r");
00037 //    }
00038 //
00039 //
00040 //    // can_ashileddata[1] = T1;  //動作番号(id節約のため、can_ashileddata[]と一緒に送る)
00041 //
00042 ////    can_ashileddata2[0] = m1 >> 8;
00043 ////    can_ashileddata2[1] = m1 &255;
00044 ////
00045 ////    can_ashileddata3[0] = m1 >> 8;
00046 ////    can_ashileddata3[1] = m1 &255;
00047 ////
00048 ////    can_ashileddata4[0] = m1 >> 8;
00049 ////    can_ashileddata4[1] = m1 &255;
00050 ////
00051 ////    can_ashileddata5[0] = m1 >> 8;
00052 ////    can_ashileddata5[1] = m1 &255;
00053 ////
00054 ////    if(can1.write(CANMessage(4,can_ashileddata2,2))) {  //IDを4にして送信
00055 ////        cansend_led = 1;
00056 ////    } else {
00057 ////        cansend_led = 0;
00058 ////    }
00059 ////
00060 ////    if(can1.write(CANMessage(4,can_ashileddata3,2))) {  //IDを4にして送信
00061 ////        cansend_led = 1;
00062 ////    } else {
00063 ////        cansend_led = 0;
00064 ////    }
00065 ////
00066 ////    if(can1.write(CANMessage(4,can_ashileddata4,2))) {  //IDを4にして送信
00067 ////        cansend_led = 1;
00068 ////    } else {
00069 ////        cansend_led = 0;
00070 ////    }
00071 ////
00072 ////    if(can1.write(CANMessage(4,can_ashileddata5,2))) {  //IDを4にして送信
00073 ////        cansend_led = 1;
00074 ////    } else {
00075 ////        cansend_led = 0;
00076 ////    }
00077 //
00078 //    /*if(t1_r > T1) {
00079 //        T1 = t1_r;
00080 //    }*/
00081 //}
00082 //
00083 //void can_start()
00084 //{
00085 //
00086 //    while(1) {
00087 //
00088 //        CANMessage msg;
00089 //
00090 ////        debug_printf("wait\n\r");
00091 //        printf("wait\n\r");
00092 //        wait(0.1);
00093 //        if(can1.read(msg)) {
00094 //            break;
00095 //        }
00096 //    }
00097 //}
00098 //
00099 //void UserLoopSetting_can()
00100 //{
00101 //    can1.frequency(1000000);
00102 //    can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
00103 //}