春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo-Nucleo-sensor_2_6

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Dependencies:   uw_28015 mbed

main.cpp

Committer:
yuki0701
Date:
2019-01-12
Revision:
0:0deb9ab4a262
Child:
1:e208df501049

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());
     }*/
     
}