File content as of revision 0:44f9a43e4ab2:

#include "mbed.h"
#include "PathFollowing.h"
#include "movement.h"
#include "manual.h"
#include "can.h"

CAN can1(p30,p29);
Ticker can_ticker;  //can用ticker

DigitalOut cansend_led(LED1);  //cansend -> on
DigitalOut canread_led(LED2);  //canread -> on

int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
int k = 0;

void can_readsend()
{
    CANMessage msg;
    if(can1.read(msg)) {
        //printf(" CAN success\n\r");
        if(msg.id == 2) {
            t1_r = msg.data[0];
            //printf("main T1 = %d  t1_r = %d\n\r",T1,t1_r);
        }

    } else {
        canread_led = 0;
        //printf("fale\n\r");
    }
 /*   if(k > 100){
           printf("T1 in can_read = %d\n\r",T1);
           k = 0;
    }
    k++;*/
    can_num[0] = T1;  //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
    //can_num[0] = 1;
    
    can_ashileddata2[0] = m1 >> 8;
    can_ashileddata2[1] = m1 &255;

    can_ashileddata2[2] = m2 >> 8;
    can_ashileddata2[3] = m2 &255;

    can_ashileddata2[4] = m3 >> 8;
    can_ashileddata2[5] = m3 &255;

    can_ashileddata2[6] = m4 >> 8;
    can_ashileddata2[7] = m4 &255;
    
     
    if(can1.write(CANMessage(1,can_num,1))) {
        cansend_led = 1;
    }

    if(can1.write(CANMessage(4,can_ashileddata2,8))) {  //IDを4にして送信
        //printf("success : %d \n\r",m1);
        cansend_led = 1;
    }

    if(t1_r > T1) {
        T1 = t1_r;
    }
    
}

void can_start()
{

    while(1) {

        CANMessage msg;

//        debug_printf("wait\n\r");
        printf("wait\n\r");
        wait(0.1);
        if(can1.read(msg)) {
            break;
        }
    }
}

void UserLoopSetting_can()
{
    can1.frequency(1000000);
    can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
}