Diff: can/can.cpp

Revision:

8:2ba338b4590e

Parent:

7:44ce34007499

Child:

9:7667dcfc7ce5

--- a/can/can.cpp	Sat Mar 02 08:27:05 2019 +0000
+++ b/can/can.cpp	Thu Mar 07 02:54:55 2019 +0000
@@ -11,11 +11,14 @@
 DigitalOut cansend_led(LED1);  //canread -> on
 DigitalOut canread_led(LED2);  //cansend -> on
 
+int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
+
 void can_readsend()
 {
     CANMessage msg;
 
     if(can1.read(msg)) {
+
         canread_led = 1;
 
         if(msg.id == 1) { //from main
@@ -27,9 +30,11 @@
             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)
-
+            t1_r = msg.data[3];                 //value of t(0~7)
+            
             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]);
+            debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
         }
 
         if(msg.id == 3) {
@@ -50,13 +55,20 @@
         canread_led = 0;
     }
 
-    if(can1.write(CANMessage(7,can_ashileddata,1))) {  //IDを7にして送信
+
+    can_ashileddata[1] = T1;  //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
+
+    if(can1.write(CANMessage(4,can_ashileddata,2))) {  //IDを4にして送信
         cansend_led = 1;
     } else {
         cansend_led = 0;
     }
 
+    if(t1_r > T1) {
+        T1 = t1_r;
+    }
 }
+
 void can_start()
 {