春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_19_23_30

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Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

can/can.cpp

Committer:
yuki0701
Date:
2019-03-02
Revision:
5:6cebe1c458a9
Parent:
4:317c53a674fa
Child:
6:26724c287387

File content as of revision 5:6cebe1c458a9:

#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 cansend_led(LED1);  //canread -> on
DigitalOut canread_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 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
            debug_printf("usw_data1 = %f\n\r",usw_data1);

            usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]);
            debug_printf("usw_data2 = %f\n\r",usw_data2);

            usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]);
            debug_printf("usw_data3 = %f\n\r",usw_data3);

            usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
            debug_printf("usw_data4 = %f\n\r",usw_data4);
        }

    } else {
        canread_led = 0;
    }

    if(can1.write(CANMessage(7,ashi_data,4))) {  //IDを7にして送信
        cansend_led = 1;
    } 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 UserLoopSetting_can()
{

    can1.frequency(1000000);
    can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
}