春ロボ1班(元F3RC4班+)
/
harurobo-Nucleo-sensor
harurobo_sensor
main.cpp
- Committer:
- yuki0701
- Date:
- 2019-01-12
- Revision:
- 0:0deb9ab4a262
File content as of revision 0:0deb9ab4a262:
#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()); }*/ }