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@1:3c11e07da92a, 2019-02-25 (annotated)

Committer:
yuki0701
Date:
Mon Feb 25 06:18:09 2019 +0000
Revision:
1:3c11e07da92a
Parent:
0:c61c6e4775ca
Child:
2:7cba05e70367
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 0:c61c6e4775ca 8 CAN can1(p30,p29/*,1000000*/);
la00noix 0:c61c6e4775ca 9 Ticker can_ticker; //can用ticker
la00noix 0:c61c6e4775ca 10
la00noix 0:c61c6e4775ca 11 DigitalOut canread_led(LED1); //canread -> on
la00noix 0:c61c6e4775ca 12 DigitalOut cansend_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;
la00noix 0:c61c6e4775ca 17
la00noix 0:c61c6e4775ca 18 if(can1.read(msg)) {
la00noix 0:c61c6e4775ca 19 canread_led = 1;
la00noix 0:c61c6e4775ca 20
la00noix 0:c61c6e4775ca 21 if(msg.id == 1){ //from main
la00noix 0:c61c6e4775ca 22
la00noix 0:c61c6e4775ca 23 id1_value[0] = msg.data[0]; //decide mode(1~3)
la00noix 0:c61c6e4775ca 24 id1_value[1] = msg.data[1]; //angle of left joystick(0~359)
la00noix 0:c61c6e4775ca 25 id1_value[2] = msg.data[2];
la00noix 0:c61c6e4775ca 26 id1_value[3] = msg.data[3]; //BOTTONR1 off/on(0 or 1)
la00noix 0:c61c6e4775ca 27 id1_value[4] = msg.data[4]; //state of right joystick(1~3)
la00noix 0:c61c6e4775ca 28 id1_value[5] = msg.data[5]; //left joystick neutral position(0 or 1)
la00noix 0:c61c6e4775ca 29
la00noix 0:c61c6e4775ca 30 //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]);
la00noix 0:c61c6e4775ca 31 }
la00noix 0:c61c6e4775ca 32
la00noix 0:c61c6e4775ca 33 if(msg.id == 3){
yuki0701 1:3c11e07da92a 34 usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
la00noix 0:c61c6e4775ca 35 //printf("usw_data1 = %d:%d,%lf\n\r",msg.data[0],msg.data[1],usw_data1);
la00noix 0:c61c6e4775ca 36 //debug_printf("%f\n\r",usw_data1);
la00noix 0:c61c6e4775ca 37 }
la00noix 0:c61c6e4775ca 38
yuki0701 1:3c11e07da92a 39 /* if(msg.id == 4){
yuki0701 1:3c11e07da92a 40 usw_data2 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
la00noix 0:c61c6e4775ca 41 //printf("usw_data2 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data2);
yuki0701 1:3c11e07da92a 42 }*/
la00noix 0:c61c6e4775ca 43
la00noix 0:c61c6e4775ca 44 if(msg.id == 5){
yuki0701 1:3c11e07da92a 45 usw_data3 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
la00noix 0:c61c6e4775ca 46 //printf("usw_data3 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data3);
la00noix 0:c61c6e4775ca 47 //debug_printf("%f\n\r",usw_data3);
la00noix 0:c61c6e4775ca 48 }
la00noix 0:c61c6e4775ca 49
yuki0701 1:3c11e07da92a 50 /*if(msg.id == 6){
yuki0701 1:3c11e07da92a 51 usw_data4 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
la00noix 0:c61c6e4775ca 52 //printf("usw_data4 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data4);
yuki0701 1:3c11e07da92a 53 }*/
la00noix 0:c61c6e4775ca 54
la00noix 0:c61c6e4775ca 55 }else{
la00noix 0:c61c6e4775ca 56 canread_led = 0;
la00noix 0:c61c6e4775ca 57 }
la00noix 0:c61c6e4775ca 58
yuki0701 1:3c11e07da92a 59 if(can1.write(CANMessage(7,ashi_data,4))) { //IDを7にして送信
la00noix 0:c61c6e4775ca 60 cansend_led = 1;
la00noix 0:c61c6e4775ca 61 }else{
la00noix 0:c61c6e4775ca 62 cansend_led = 0;
la00noix 0:c61c6e4775ca 63 }
la00noix 0:c61c6e4775ca 64 }
la00noix 0:c61c6e4775ca 65
la00noix 0:c61c6e4775ca 66 void can_start(){
la00noix 0:c61c6e4775ca 67
la00noix 0:c61c6e4775ca 68 while(1){
la00noix 0:c61c6e4775ca 69
la00noix 0:c61c6e4775ca 70 CANMessage msg;
la00noix 0:c61c6e4775ca 71
la00noix 0:c61c6e4775ca 72 if(can1.read(msg)){
la00noix 0:c61c6e4775ca 73 break;
la00noix 0:c61c6e4775ca 74 }
la00noix 0:c61c6e4775ca 75 }
la00noix 0:c61c6e4775ca 76 }
la00noix 0:c61c6e4775ca 77
la00noix 0:c61c6e4775ca 78 void UserLoopSetting_can(){
la00noix 0:c61c6e4775ca 79
la00noix 0:c61c6e4775ca 80 can1.frequency(1000000);
la00noix 0:c61c6e4775ca 81 can_ticker.attach(&can_readsend,0.01); //遅かったら早める
la00noix 0:c61c6e4775ca 82 }