3/2
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Revision 5:6cebe1c458a9, committed 2019-03-02
- Comitter:
- yuki0701
- Date:
- Sat Mar 02 07:18:38 2019 +0000
- Parent:
- 4:317c53a674fa
- Commit message:
- a
Changed in this revision
can/can.cpp | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/can/can.cpp Fri Mar 01 08:00:53 2019 +0000 +++ b/can/can.cpp Sat Mar 02 07:18:38 2019 +0000 @@ -8,8 +8,8 @@ CAN can1(p30,p29,1000000); Ticker can_ticker; //can用ticker -DigitalOut canread_led(LED1); //canread -> on -DigitalOut cansend_led(LED2); //cansend -> on +DigitalOut cansend_led(LED1); //canread -> on +DigitalOut canread_led(LED2); //cansend -> on void can_readsend() { @@ -32,22 +32,16 @@ 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); - } + 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); - } + usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]); + 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); - } + usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]); + 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); + usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]); + debug_printf("usw_data4 = %f\n\r",usw_data4); } } else {
--- a/main.cpp Fri Mar 01 08:00:53 2019 +0000 +++ b/main.cpp Sat Mar 02 07:18:38 2019 +0000 @@ -52,6 +52,7 @@ if(go_waitmode == 0){ + while(1); //can_start(); //set_cond(2,1,-700,1,-700); gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);