Diff: main.cpp

Revision:

0:0deb9ab4a262

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jan 12 06:24:12 2019 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+#include "uw.h"
+
+//CAN can1(p30,p29,1000000);
+CAN can1(PA_11,PA_12,1000000);
+DigitalOut led(LED1);
+Ticker ticker;
+Uw uw1(PF_1); //機体背面の超音波センサー（三宝アーム側)
+Uw uw2(PF_0); //機体正面の超音波センサー（果物アーム側）
+Uw uw3(PB_4); //機体左側の超音波センサー
+Uw uw4(PA_0); //機体右側の超音波センサー
+
+//char can_data1[2]={0,0};
+//char can_data2[2]={0,0};
+char can_data3[2]={0,0};
+//char can_data4[2]={0,0};
+int x;
+int data1, data2, data3, data4;
+
+void can_read(){
+    
+    CANMessage msg;
+    
+    if(can1.read(msg)){
+      
+      if(msg.id == 1){
+        led = 1;
+        x = (short)((msg.data[0]<<8) | msg.data[1]);
+       printf("%d:%d,%d\n\r",msg.data[0],msg.data[1],x);
+      }
+    }
+}
+
+void can_send(){
+   
+   //printf("%f\n\r",uw1.get_dist());
+   
+    //data1 = (short)(1000 * uw1.get_dist()); //超音波センサーの値を1000倍して送る（受信側で0.001倍して元に戻す）
+    //data2 = (short)1000 * uw2.get_dist(); 
+    data3 = 1000 * uw3.get_dist(); 
+    //data4 = 1000 * uw4.get_dist(); 
+    
+    //can_data1[0] = data1 >> 8;
+    //can_data1[1] = data1 &255;
+    
+    //can_data2[0] = data2 >> 8;
+    //can_data2[1] = data2 &255;
+    
+    can_data3[0] = data3 >> 8;
+    can_data3[1] = data3 &255;
+    
+    /*can_data4[0] = data4 >> 8;
+    can_data4[1] = data4 &255;*/
+    
+    /*if(can1.write(CANMessage(1,can_data1,2))){
+       led = 1;
+       printf("send-data1 = %f", uw1.get_dist());
+       printf("send-data1 = %f\n\r", 0.01 * data1);
+    }*/
+   // if(can1.write(CANMessage(2,can_data2,2))){
+        // led = 1;
+        //printf("send-data2\n\r");
+   // }
+    if(can1.write(CANMessage(3,can_data3,2))){
+        led = 1;
+        printf("send-data3 = %f\n\r", 0.01 * data3);
+    }
+    /*if(can1.write(CANMessage(4,can_data4,2))){
+        //led = 1;
+        //printf("send-data4\n\r");
+    }*/
+        led = 0;
+        //printf("send-data1 = %f, send-data2 = %f\n\r", 0.01 * data1, 0.01 * data2);
+}
+    
+    
+    
+int main() {
+
+   ticker.attach(&can_send,0.01);
+ //ticker.attach(&can_read,0.1);
+ 
+ while(1);
+     /*{
+      //printf("%f\n\r",uw3.get_dist());
+     }*/
+     
+}