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

can出来ない～

Dependencies:   mbed move4wheel2 EC CruizCore_R1370P

can/can.cpp@8:4bdfac5b52e1, 2019-03-05 (annotated)

Committer:
yuki0701
Date:
Tue Mar 05 04:29:49 2019 +0000
Revision:
8:4bdfac5b52e1
Parent:
7:44ce34007499
Child:
9:337fe0747940
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
yuki0701 8:4bdfac5b52e1 14 char t1[1]; //動作番号（送信する値（char型））
yuki0701 8:4bdfac5b52e1 15 int t1_r, T1; //動作番号（受け取った値、送信する値（int型））
yuki0701 8:4bdfac5b52e1 16
la00noix 0:c61c6e4775ca 17 void can_readsend()
la00noix 0:c61c6e4775ca 18 {
yuki0701 8:4bdfac5b52e1 19 t1[0] = T1;
yuki0701 8:4bdfac5b52e1 20 printf("t1[0] = %d\n\r",t1[0]);
yuki0701 8:4bdfac5b52e1 21
la00noix 0:c61c6e4775ca 22 CANMessage msg;
yuki0701 3:8a0faa3b08c3 23
yuki0701 8:4bdfac5b52e1 24 if(can1.write(CANMessage(9,t1,4))) {
yuki0701 8:4bdfac5b52e1 25 cansend_led = 1;
yuki0701 8:4bdfac5b52e1 26 } else {
yuki0701 8:4bdfac5b52e1 27 cansend_led = 0;
yuki0701 8:4bdfac5b52e1 28 }
yuki0701 8:4bdfac5b52e1 29
la00noix 0:c61c6e4775ca 30 if(can1.read(msg)) {
la00noix 0:c61c6e4775ca 31 canread_led = 1;
yuki0701 3:8a0faa3b08c3 32
yuki0701 3:8a0faa3b08c3 33 if(msg.id == 1) { //from main
yuki0701 3:8a0faa3b08c3 34
la00noix 6:26724c287387 35 id1_value[0] = (msg.data[0]>>6)%4; //decide wait/auto/manual(0~2)
la00noix 6:26724c287387 36 id1_value[1] = msg.data[1]; //angle of left joystick(0~359)
la00noix 0:c61c6e4775ca 37 id1_value[2] = msg.data[2];
la00noix 6:26724c287387 38 id1_value[3] = (msg.data[0]>>5)%2; //BOTTONR1 off/on(0 or 1)
la00noix 6:26724c287387 39 id1_value[4] = (msg.data[0]>>3)%4; //state of right joystick(1~3)
la00noix 6:26724c287387 40 id1_value[5] = (msg.data[0]>>2)%2; //left joystick neutral position(0 or 1)
la00noix 6:26724c287387 41 id1_value[6] = (msg.data[0]>>1)%2; //decide right/left(0 or 1)
la00noix 0:c61c6e4775ca 42
yuki0701 8:4bdfac5b52e1 43 //debug_printf("[0]=%d [1]=%d [2]=%d [3]=%d [4]=%d [5]=%d [6]=%d\n\r"
yuki0701 8:4bdfac5b52e1 44 // ,id1_value[0],id1_value[1],id1_value[2],id1_value[3],id1_value[4],id1_value[5],id1_value[6]);
la00noix 0:c61c6e4775ca 45 }
yuki0701 3:8a0faa3b08c3 46
la00noix 4:317c53a674fa 47 if(msg.id == 3) {
yuki0701 1:3c11e07da92a 48 usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]);
la00noix 7:44ce34007499 49 //debug_printf("usw_data1 = %f\n\r",usw_data1);
yuki0701 3:8a0faa3b08c3 50
yuki0701 5:6cebe1c458a9 51 usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]);
la00noix 7:44ce34007499 52 //debug_printf("usw_data2 = %f\n\r",usw_data2);
yuki0701 3:8a0faa3b08c3 53
yuki0701 5:6cebe1c458a9 54 usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]);
la00noix 7:44ce34007499 55 //debug_printf("usw_data3 = %f\n\r",usw_data3);
yuki0701 3:8a0faa3b08c3 56
yuki0701 5:6cebe1c458a9 57 usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]);
yuki0701 8:4bdfac5b52e1 58 // debug_printf("usw_data4 = %f\n\r",usw_data4);
yuki0701 8:4bdfac5b52e1 59 }
yuki0701 8:4bdfac5b52e1 60
yuki0701 8:4bdfac5b52e1 61 if(msg.id == 8) {
yuki0701 8:4bdfac5b52e1 62 t1_r = msg.data[0];
yuki0701 8:4bdfac5b52e1 63 //printf("t1_r = %d\n\r",t1_r);
yuki0701 3:8a0faa3b08c3 64 }
yuki0701 3:8a0faa3b08c3 65
yuki0701 3:8a0faa3b08c3 66 } else {
la00noix 0:c61c6e4775ca 67 canread_led = 0;
la00noix 0:c61c6e4775ca 68 }
yuki0701 3:8a0faa3b08c3 69
la00noix 6:26724c287387 70 if(can1.write(CANMessage(7,can_ashileddata,1))) { //IDを7にして送信
la00noix 0:c61c6e4775ca 71 cansend_led = 1;
yuki0701 3:8a0faa3b08c3 72 } else {
la00noix 0:c61c6e4775ca 73 cansend_led = 0;
la00noix 0:c61c6e4775ca 74 }
yuki0701 3:8a0faa3b08c3 75
yuki0701 8:4bdfac5b52e1 76 if(t1_r > T1) {
yuki0701 8:4bdfac5b52e1 77 T1 = t1_r;
yuki0701 8:4bdfac5b52e1 78 }
yuki0701 8:4bdfac5b52e1 79
yuki0701 3:8a0faa3b08c3 80 }
yuki0701 3:8a0faa3b08c3 81 void can_start()
yuki0701 3:8a0faa3b08c3 82 {
yuki0701 3:8a0faa3b08c3 83
yuki0701 3:8a0faa3b08c3 84 while(1) {
yuki0701 3:8a0faa3b08c3 85
yuki0701 3:8a0faa3b08c3 86 CANMessage msg;
yuki0701 3:8a0faa3b08c3 87
yuki0701 3:8a0faa3b08c3 88 debug_printf("wait\n\r");
yuki0701 3:8a0faa3b08c3 89 wait(0.1);
yuki0701 3:8a0faa3b08c3 90 if(can1.read(msg)) {
yuki0701 3:8a0faa3b08c3 91 break;
yuki0701 3:8a0faa3b08c3 92 }
yuki0701 3:8a0faa3b08c3 93 }
la00noix 0:c61c6e4775ca 94 }
la00noix 0:c61c6e4775ca 95
yuki0701 3:8a0faa3b08c3 96 void UserLoopSetting_can()
yuki0701 3:8a0faa3b08c3 97 {
la00noix 0:c61c6e4775ca 98 can1.frequency(1000000);
la00noix 0:c61c6e4775ca 99 can_ticker.attach(&can_readsend,0.01); //遅かったら早める
la00noix 0:c61c6e4775ca 100 }