File content as of revision 14:6c1b36c55915:

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

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

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

int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
int usw_flag;

void can_readsend()
{
    CANMessage msg;
   // printf("readsend\n\r");

    if(can1.read(msg)) {
        //printf("read\n\r");

        canread_led = 1;

        if(msg.id == 1) { //from main

            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[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)
            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) {
            usw_flag = 0;
            
            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);
            //debug_printf("usw1=%f usw2=%f usw3=%f usw4=%f\n\r",usw_data1,usw_data2,usw_data3,usw_data4);
        }else{
            usw_flag = 1;    
        }

    } else {
        canread_led = 0;
    }


    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
       // printf("send\n\r");
        cansend_led = 1;
    } else {
        //printf("not_send\n\r");
        cansend_led = 0;
    }

    if(t1_r > T1) {
        T1 = t1_r;
    }
}

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
}