Diff: main.cpp

Revision:

1:e208df501049

Parent:

0:0deb9ab4a262

--- a/main.cpp	Sat Jan 12 06:24:12 2019 +0000
+++ b/main.cpp	Wed Feb 06 05:12:33 2019 +0000
@@ -10,9 +10,9 @@
 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_data1[2]={0,0};
 //char can_data2[2]={0,0};
-char can_data3[2]={0,0};
+//char can_data3[2]={0,0};
 //char can_data4[2]={0,0};
 int x;
 int data1, data2, data3, data4;
@@ -35,39 +35,39 @@
    
    //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）
+    data1 = (short)(100 * 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(); 
+    //data3 = 100 * uw3.get_dist(); 
+    //data4 = 100 * uw4.get_dist(); 
     
-    //can_data1[0] = data1 >> 8;
-    //can_data1[1] = data1 &255;
+    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_data3[0] = data3 >> 8;
+    //can_data3[1] = data3 &255;
     
-    /*can_data4[0] = data4 >> 8;
-    can_data4[1] = data4 &255;*/
+    //can_data4[0] = data4 >> 8;
+    //can_data4[1] = data4 &255;
     
-    /*if(can1.write(CANMessage(1,can_data1,2))){
+    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);
-    }*/
+       //printf("send-data1 = %f", uw1.get_dist());
+       printf("send-data1 = %f\n\r", 0.1 * data1);
+    }
    // if(can1.write(CANMessage(2,can_data2,2))){
         // led = 1;
         //printf("send-data2\n\r");
    // }
-    if(can1.write(CANMessage(3,can_data3,2))){
+    /*if(can1.write(CANMessage(3,can_data3,8))){
         led = 1;
-        printf("send-data3 = %f\n\r", 0.01 * data3);
-    }
+        printf("send-data3 = %f\n\r", 0.1 * data3);
+    }*/
     /*if(can1.write(CANMessage(4,can_data4,2))){
-        //led = 1;
-        //printf("send-data4\n\r");
+        led = 1;
+        printf("send-data4 = %f\n\r", 0.1 * data4);
     }*/
         led = 0;
         //printf("send-data1 = %f, send-data2 = %f\n\r", 0.01 * data1, 0.01 * data2);
@@ -77,12 +77,12 @@
     
 int main() {
 
-   ticker.attach(&can_send,0.01);
+  // ticker.attach(&can_send,0.01);
  //ticker.attach(&can_read,0.1);
  
- while(1);
-     /*{
+ while(1){
+      can_send();
       //printf("%f\n\r",uw3.get_dist());
-     }*/
+     }
      
 }