3/1
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: can/can.cpp
- Revision:
- 3:8a0faa3b08c3
- Parent:
- 2:7cba05e70367
- Child:
- 4:317c53a674fa
diff -r 7cba05e70367 -r 8a0faa3b08c3 can/can.cpp --- a/can/can.cpp Tue Feb 26 05:10:27 2019 +0000 +++ b/can/can.cpp Fri Mar 01 00:48:07 2019 +0000 @@ -14,12 +14,12 @@ void can_readsend() { CANMessage msg; - + if(can1.read(msg)) { canread_led = 1; - - if(msg.id == 1){ //from main - + + if(msg.id == 1) { //from main + id1_value[0] = msg.data[0]; //decide mode(1~3) id1_value[1] = msg.data[1]; //angle of left joystick(0~359) id1_value[2] = msg.data[2]; @@ -29,54 +29,56 @@ //debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d\n\r",id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5]); } - - if(msg.id == 3){ + + /*if(msg.id == 3) { usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); //debug_printf("usw_data1 = %f\n\r",usw_data1); - } - - /*if(msg.id == 4){ - usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); - //debug_printf("usw_data2 = %f\n\r",usw_data2); }*/ - - /*if(msg.id == 5){ - usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); - //debug_printf("usw_data3 = %f\n\r",usw_data3); - }*/ - - /*if(msg.id == 6){ + + /* if(msg.id == 4){ + usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); + //debug_printf("usw_data2 = %f\n\r",usw_data2); + }*/ + + /* if(msg.id == 5){ + usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); + //debug_printf("usw_data3 = %f\n\r",usw_data3); + }*/ + + if(msg.id == 6) { usw_data4 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); //debug_printf("usw_data4 = %f\n\r",usw_data4); - }*/ - - }else{ + } + + } else { canread_led = 0; } - + if(can1.write(CANMessage(7,ashi_data,4))) { //IDを7にして送信 cansend_led = 1; - }else{ + } else { cansend_led = 0; } + +} +void can_start() +{ + + while(1) { + + CANMessage msg; + + debug_printf("wait\n\r"); + wait(0.1); + if(can1.read(msg)) { + break; + } + } } -void can_start(){ +void UserLoopSetting_can() +{ - while(1){ - - CANMessage msg; - - debug_printf("wait\n\r"); - wait(0.1); - if(can1.read(msg)){ - break; - } - } -} - -void UserLoopSetting_can(){ - can1.frequency(1000000); can_ticker.attach(&can_readsend,0.01); //遅かったら早める } \ No newline at end of file