3/6
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: can/can.cpp
- Revision:
- 9:337fe0747940
- Parent:
- 8:4bdfac5b52e1
--- a/can/can.cpp Tue Mar 05 04:29:49 2019 +0000 +++ b/can/can.cpp Wed Mar 06 03:51:08 2019 +0000 @@ -11,17 +11,16 @@ DigitalOut cansend_led(LED1); //canread -> on DigitalOut canread_led(LED2); //cansend -> on -char t1[1]; //動作番号(送信する値(char型)) -int t1_r, T1; //動作番号(受け取った値、送信する値(int型)) +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() { - t1[0] = T1; - printf("t1[0] = %d\n\r",t1[0]); + can_ashileddata[1] = T1; //動作番号(id節約のため、can_ashileddata[]と一緒に送る) + //printf("t1[0] = %d\n\r",t1[0]); CANMessage msg; - - if(can1.write(CANMessage(9,t1,4))) { + + if(can1.write(CANMessage(4,can_ashileddata,2))) { //IDを7にして送信 cansend_led = 1; } else { cansend_led = 0; @@ -58,8 +57,8 @@ // debug_printf("usw_data4 = %f\n\r",usw_data4); } - if(msg.id == 8) { - t1_r = msg.data[0]; + if(msg.id == 1) { + t1_r = msg.data[3]; //printf("t1_r = %d\n\r",t1_r); } @@ -67,13 +66,7 @@ canread_led = 0; } - if(can1.write(CANMessage(7,can_ashileddata,1))) { //IDを7にして送信 - cansend_led = 1; - } else { - cansend_led = 0; - } - - if(t1_r > T1) { + if(t1_r > T1){ T1 = t1_r; }