春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_ashi_3_8

改良版位置補正プログラム動作未確認

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

can/can.cpp@10:cf5c159e729a, 2019-03-08 (annotated)

Committer:
yuki0701
Date:
Fri Mar 08 07:09:33 2019 +0000
Revision:
10:cf5c159e729a
Parent:
8:2ba338b4590e 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:c61c6e4775ca 1 #include "mbed.h"
la00noix 0:c61c6e4775ca 2 #include "PathFollowing.h"
la00noix 0:c61c6e4775ca 3 #include "movement.h"
la00noix 0:c61c6e4775ca 4 #include "maxonsetting.h"
la00noix 0:c61c6e4775ca 5 #include "manual.h"
la00noix 0:c61c6e4775ca 6 #include "can.h"
la00noix 0:c61c6e4775ca 7
la00noix 2:7cba05e70367 8 CAN can1(p30,p29,1000000);
la00noix 0:c61c6e4775ca 9 Ticker can_ticker; //can用ticker
la00noix 0:c61c6e4775ca 10
yuki0701 5:6cebe1c458a9 11 DigitalOut cansend_led(LED1); //canread -> on
yuki0701 5:6cebe1c458a9 12 DigitalOut canread_led(LED2); //cansend -> on
la00noix 0:c61c6e4775ca 13
la00noix 8:2ba338b4590e 14 int t1_r=0, T1=0; //動作番号（受け取った値、送信する値（int型））
la00noix 8:2ba338b4590e 15
la00noix 0:c61c6e4775ca 16 void can_readsend()
la00noix 0:c61c6e4775ca 17 {
la00noix 0:c61c6e4775ca 18 CANMessage msg;
yuki0701 3:8a0faa3b08c3 19
la00noix 0:c61c6e4775ca 20 if(can1.read(msg)) {
la00noix 8:2ba338b4590e 21
la00noix 0:c61c6e4775ca 22 canread_led = 1;
yuki0701 3:8a0faa3b08c3 23
yuki0701 3:8a0faa3b08c3 24 if(msg.id == 1) { //from main
yuki0701 3:8a0faa3b08c3 25
la00noix 6:26724c287387 26 id1_value[0] = (msg.data[0]>>6)%4; //decide wait/auto/manual(0~2)
la00noix 6:26724c287387 27 id1_value[1] = msg.data[1]; //angle of left joystick(0~359)
la00noix 0:c61c6e4775ca 28 id1_value[2] = msg.data[2];
la00noix 6:26724c287387 29 id1_value[3] = (msg.data[0]>>5)%2; //BOTTONR1 off/on(0 or 1)
la00noix 6:26724c287387 30 id1_value[4] = (msg.data[0]>>3)%4; //state of right joystick(1~3)
la00noix 6:26724c287387 31 id1_value[5] = (msg.data[0]>>2)%2; //left joystick neutral position(0 or 1)
la00noix 6:26724c287387 32 id1_value[6] = (msg.data[0]>>1)%2; //decide right/left(0 or 1)
la00noix 8:2ba338b4590e 33 t1_r = msg.data[3]; //value of t(0~7)
la00noix 8:2ba338b4590e 34
yuki0701 10:cf5c159e729a 35 //debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
yuki0701 10:cf5c159e729a 36 // ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
yuki0701 10:cf5c159e729a 37 //debug_printf("t1_r=%d T1=%d can_ashileddata[1]=%d\n\r",t1_r,T1,can_ashileddata[1]);
la00noix 0:c61c6e4775ca 38 }
yuki0701 3:8a0faa3b08c3 39
la00noix 4:317c53a674fa 40 if(msg.id == 3) {
yuki0701 1:3c11e07da92a 41 usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
la00noix 7:44ce34007499 42 //debug_printf("usw_data1 = %f\n\r",usw_data1);
yuki0701 3:8a0faa3b08c3 43
yuki0701 5:6cebe1c458a9 44 usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]);
la00noix 7:44ce34007499 45 //debug_printf("usw_data2 = %f\n\r",usw_data2);
yuki0701 3:8a0faa3b08c3 46
yuki0701 5:6cebe1c458a9 47 usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]);
la00noix 7:44ce34007499 48 //debug_printf("usw_data3 = %f\n\r",usw_data3);
yuki0701 3:8a0faa3b08c3 49
yuki0701 5:6cebe1c458a9 50 usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
la00noix 7:44ce34007499 51 //debug_printf("usw_data4 = %f\n\r",usw_data4);
yuki0701 3:8a0faa3b08c3 52 }
yuki0701 3:8a0faa3b08c3 53
yuki0701 3:8a0faa3b08c3 54 } else {
la00noix 0:c61c6e4775ca 55 canread_led = 0;
la00noix 0:c61c6e4775ca 56 }
yuki0701 3:8a0faa3b08c3 57
la00noix 8:2ba338b4590e 58
la00noix 8:2ba338b4590e 59 can_ashileddata[1] = T1; //動作番号（id節約のため、can_ashileddata[]と一緒に送る）
la00noix 8:2ba338b4590e 60
la00noix 8:2ba338b4590e 61 if(can1.write(CANMessage(4,can_ashileddata,2))) { //IDを4にして送信
la00noix 0:c61c6e4775ca 62 cansend_led = 1;
yuki0701 3:8a0faa3b08c3 63 } else {
la00noix 0:c61c6e4775ca 64 cansend_led = 0;
la00noix 0:c61c6e4775ca 65 }
yuki0701 3:8a0faa3b08c3 66
la00noix 8:2ba338b4590e 67 if(t1_r > T1) {
la00noix 8:2ba338b4590e 68 T1 = t1_r;
la00noix 8:2ba338b4590e 69 }
yuki0701 3:8a0faa3b08c3 70 }
la00noix 8:2ba338b4590e 71
yuki0701 3:8a0faa3b08c3 72 void can_start()
yuki0701 3:8a0faa3b08c3 73 {
yuki0701 3:8a0faa3b08c3 74
yuki0701 3:8a0faa3b08c3 75 while(1) {
yuki0701 3:8a0faa3b08c3 76
yuki0701 3:8a0faa3b08c3 77 CANMessage msg;
yuki0701 3:8a0faa3b08c3 78
yuki0701 3:8a0faa3b08c3 79 debug_printf("wait\n\r");
yuki0701 3:8a0faa3b08c3 80 wait(0.1);
yuki0701 3:8a0faa3b08c3 81 if(can1.read(msg)) {
yuki0701 3:8a0faa3b08c3 82 break;
yuki0701 3:8a0faa3b08c3 83 }
yuki0701 3:8a0faa3b08c3 84 }
la00noix 0:c61c6e4775ca 85 }
la00noix 0:c61c6e4775ca 86
yuki0701 3:8a0faa3b08c3 87 void UserLoopSetting_can()
yuki0701 3:8a0faa3b08c3 88 {
la00noix 0:c61c6e4775ca 89 can1.frequency(1000000);
la00noix 0:c61c6e4775ca 90 can_ticker.attach(&can_readsend,0.01); //遅かったら早める
la00noix 0:c61c6e4775ca 91 }