Diff: can/can.cpp

Revision:

8:4bdfac5b52e1

Parent:

7:44ce34007499

Child:

9:337fe0747940

--- a/can/can.cpp	Sat Mar 02 08:27:05 2019 +0000
+++ b/can/can.cpp	Tue Mar 05 04:29:49 2019 +0000
@@ -11,10 +11,22 @@
 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））
+
 void can_readsend()
 {
+    t1[0] = T1;
+    printf("t1[0] = %d\n\r",t1[0]);
+
     CANMessage msg;
 
+    if(can1.write(CANMessage(9,t1,4))) {
+        cansend_led = 1;
+    } else {
+        cansend_led = 0;
+    }
+
     if(can1.read(msg)) {
         canread_led = 1;
 
@@ -28,8 +40,8 @@
             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)
 
-            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("[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]);
         }
 
         if(msg.id == 3) {
@@ -43,7 +55,12 @@
             //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("usw_data4 = %f\n\r",usw_data4);
+        }
+
+        if(msg.id == 8) {
+            t1_r = msg.data[0];
+            //printf("t1_r = %d\n\r",t1_r);
         }
 
     } else {
@@ -56,6 +73,10 @@
         cansend_led = 0;
     }
 
+    if(t1_r > T1) {
+        T1 = t1_r;
+    }
+
 }
 void can_start()
 {