春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_19

3/19

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

can/can.cpp@6:26724c287387, 2019-03-02 (annotated)

Committer:
la00noix
Date:
Sat Mar 02 07:48:18 2019 +0000
Revision:
6:26724c287387
Parent:
5:6cebe1c458a9
Child:
7:44ce34007499
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:c61c6e4775ca 1 #include "mbed.h"
la00noix 0:c61c6e4775ca 2 #include "PathFollowing.h"
la00noix 0:c61c6e4775ca 3 #include "movement.h"
la00noix 0:c61c6e4775ca 4 #include "maxonsetting.h"
la00noix 0:c61c6e4775ca 5 #include "manual.h"
la00noix 0:c61c6e4775ca 6 #include "can.h"
la00noix 0:c61c6e4775ca 7
la00noix 2:7cba05e70367 8 CAN can1(p30,p29,1000000);
la00noix 0:c61c6e4775ca 9 Ticker can_ticker; //can用ticker
la00noix 0:c61c6e4775ca 10
yuki0701 5:6cebe1c458a9 11 DigitalOut cansend_led(LED1); //canread -> on
yuki0701 5:6cebe1c458a9 12 DigitalOut canread_led(LED2); //cansend -> on
la00noix 0:c61c6e4775ca 13
la00noix 0:c61c6e4775ca 14 void can_readsend()
la00noix 0:c61c6e4775ca 15 {
la00noix 0:c61c6e4775ca 16 CANMessage msg;
yuki0701 3:8a0faa3b08c3 17
la00noix 0:c61c6e4775ca 18 if(can1.read(msg)) {
la00noix 0:c61c6e4775ca 19 canread_led = 1;
yuki0701 3:8a0faa3b08c3 20
yuki0701 3:8a0faa3b08c3 21 if(msg.id == 1) { //from main
yuki0701 3:8a0faa3b08c3 22
la00noix 6:26724c287387 23 id1_value[0] = (msg.data[0]>>6)%4; //decide wait/auto/manual(0~2)
la00noix 6:26724c287387 24 id1_value[1] = msg.data[1]; //angle of left joystick(0~359)
la00noix 0:c61c6e4775ca 25 id1_value[2] = msg.data[2];
la00noix 6:26724c287387 26 id1_value[3] = (msg.data[0]>>5)%2; //BOTTONR1 off/on(0 or 1)
la00noix 6:26724c287387 27 id1_value[4] = (msg.data[0]>>3)%4; //state of right joystick(1~3)
la00noix 6:26724c287387 28 id1_value[5] = (msg.data[0]>>2)%2; //left joystick neutral position(0 or 1)
la00noix 6:26724c287387 29 id1_value[6] = (msg.data[0]>>1)%2; //decide right/left(0 or 1)
la00noix 0:c61c6e4775ca 30
la00noix 6:26724c287387 31 debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
la00noix 6:26724c287387 32 ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
la00noix 0:c61c6e4775ca 33 }
yuki0701 3:8a0faa3b08c3 34
la00noix 4:317c53a674fa 35 if(msg.id == 3) {
yuki0701 1:3c11e07da92a 36 usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
yuki0701 5:6cebe1c458a9 37 debug_printf("usw_data1 = %f\n\r",usw_data1);
yuki0701 3:8a0faa3b08c3 38
yuki0701 5:6cebe1c458a9 39 usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]);
yuki0701 5:6cebe1c458a9 40 debug_printf("usw_data2 = %f\n\r",usw_data2);
yuki0701 3:8a0faa3b08c3 41
yuki0701 5:6cebe1c458a9 42 usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]);
yuki0701 5:6cebe1c458a9 43 debug_printf("usw_data3 = %f\n\r",usw_data3);
yuki0701 3:8a0faa3b08c3 44
yuki0701 5:6cebe1c458a9 45 usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
yuki0701 5:6cebe1c458a9 46 debug_printf("usw_data4 = %f\n\r",usw_data4);
yuki0701 3:8a0faa3b08c3 47 }
yuki0701 3:8a0faa3b08c3 48
yuki0701 3:8a0faa3b08c3 49 } else {
la00noix 0:c61c6e4775ca 50 canread_led = 0;
la00noix 0:c61c6e4775ca 51 }
yuki0701 3:8a0faa3b08c3 52
la00noix 6:26724c287387 53 if(can1.write(CANMessage(7,can_ashileddata,1))) { //IDを7にして送信
la00noix 0:c61c6e4775ca 54 cansend_led = 1;
yuki0701 3:8a0faa3b08c3 55 } else {
la00noix 0:c61c6e4775ca 56 cansend_led = 0;
la00noix 0:c61c6e4775ca 57 }
yuki0701 3:8a0faa3b08c3 58
yuki0701 3:8a0faa3b08c3 59 }
yuki0701 3:8a0faa3b08c3 60 void can_start()
yuki0701 3:8a0faa3b08c3 61 {
yuki0701 3:8a0faa3b08c3 62
yuki0701 3:8a0faa3b08c3 63 while(1) {
yuki0701 3:8a0faa3b08c3 64
yuki0701 3:8a0faa3b08c3 65 CANMessage msg;
yuki0701 3:8a0faa3b08c3 66
yuki0701 3:8a0faa3b08c3 67 debug_printf("wait\n\r");
yuki0701 3:8a0faa3b08c3 68 wait(0.1);
yuki0701 3:8a0faa3b08c3 69 if(can1.read(msg)) {
yuki0701 3:8a0faa3b08c3 70 break;
yuki0701 3:8a0faa3b08c3 71 }
yuki0701 3:8a0faa3b08c3 72 }
la00noix 0:c61c6e4775ca 73 }
la00noix 0:c61c6e4775ca 74
yuki0701 3:8a0faa3b08c3 75 void UserLoopSetting_can()
yuki0701 3:8a0faa3b08c3 76 {
la00noix 0:c61c6e4775ca 77 can1.frequency(1000000);
la00noix 0:c61c6e4775ca 78 can_ticker.attach(&can_readsend,0.01); //遅かったら早める
la00noix 0:c61c6e4775ca 79 }