春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_1

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Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

Diff: can/can.cpp

Revision:
1:3c11e07da92a
Parent:
0:c61c6e4775ca
Child:
2:7cba05e70367
diff -r c61c6e4775ca -r 3c11e07da92a can/can.cpp
--- a/can/can.cpp	Wed Feb 13 03:02:19 2019 +0000
+++ b/can/can.cpp	Mon Feb 25 06:18:09 2019 +0000
@@ -31,32 +31,32 @@
         }
         
         if(msg.id == 3){
-            usw_data1 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+            usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //printf("usw_data1 = %d:%d,%lf\n\r",msg.data[0],msg.data[1],usw_data1);
             //debug_printf("%f\n\r",usw_data1);
         }
         
-        if(msg.id == 4){
-            usw_data2 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+       /* if(msg.id == 4){
+            usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //printf("usw_data2 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data2);
-        }
+        }*/
         
         if(msg.id == 5){
-            usw_data3 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+            usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //printf("usw_data3 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data3);
             //debug_printf("%f\n\r",usw_data3);
         }
         
-        if(msg.id == 6){
-            usw_data4 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
+        /*if(msg.id == 6){
+            usw_data4 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
             //printf("usw_data4 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data4);
-        }
+        }*/
           
     }else{
         canread_led = 0;
     }
     
-    if(can1.write(CANMessage(7,ashi_data,1))) {  //IDを7にして送信
+    if(can1.write(CANMessage(7,ashi_data,4))) {  //IDを7にして送信
         cansend_led = 1;
     }else{
         cansend_led = 0;