File content as of revision 0:c61c6e4775ca:

#include "mbed.h"
#include "PathFollowing.h"
#include "movement.h"
#include "maxonsetting.h"
#include "manual.h"
#include "can.h"

CAN can1(p30,p29/*,1000000*/);
Ticker can_ticker;  //can用ticker

DigitalOut canread_led(LED1);  //canread -> on
DigitalOut cansend_led(LED2);  //cansend -> on

void can_readsend()
{
    CANMessage msg;
    
    if(can1.read(msg)) {
        canread_led = 1;
        
        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];
            id1_value[3] = msg.data[3];  //BOTTONR1 off/on(0 or 1)
            id1_value[4] = msg.data[4];  //state of right joystick(1~3)
            id1_value[5] = msg.data[5];  //left joystick neutral position(0 or 1)

            //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){
            usw_data1 = 0.01 * (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]);
            //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]);
            //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]);
            //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
        cansend_led = 1;
    }else{
        cansend_led = 0;
    }
}

void can_start(){

    while(1){
        
        CANMessage msg;
        
        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
}