Diff: can/can.cpp

Revision:

6:26724c287387

Parent:

5:6cebe1c458a9

Child:

7:44ce34007499

--- a/can/can.cpp	Sat Mar 02 07:18:38 2019 +0000
+++ b/can/can.cpp	Sat Mar 02 07:48:18 2019 +0000
@@ -20,14 +20,16 @@
 
         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[0] = (msg.data[0]>>6)%4;  //decide wait/auto/manual(0~2)
+            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)
+            id1_value[3] = (msg.data[0]>>5)%2;  //BOTTONR1 off/on(0 or 1)
+            id1_value[4] = (msg.data[0]>>3)%4;  //state of right joystick(1~3)
+            id1_value[5] = (msg.data[0]>>2)%2;  //left joystick neutral position(0 or 1)
+            id1_value[6] = (msg.data[0]>>1)%2;  //decide right/left(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]);
+            debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
+                         ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
         }
 
         if(msg.id == 3) {
@@ -48,7 +50,7 @@
         canread_led = 0;
     }
 
-    if(can1.write(CANMessage(7,ashi_data,4))) {  //IDを7にして送信
+    if(can1.write(CANMessage(7,can_ashileddata,1))) {  //IDを7にして送信
         cansend_led = 1;
     } else {
         cansend_led = 0;
@@ -72,7 +74,6 @@
 
 void UserLoopSetting_can()
 {
-
     can1.frequency(1000000);
     can_ticker.attach(&can_readsend,0.01);  //遅かったら早める
 }
\ No newline at end of file