can出来ない~
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Diff: can/can.cpp
- Revision:
- 10:6d60c0927770
- Parent:
- 9:337fe0747940
--- a/can/can.cpp Wed Mar 06 03:51:08 2019 +0000 +++ b/can/can.cpp Wed Mar 06 06:19:53 2019 +0000 @@ -16,9 +16,11 @@ void can_readsend() { 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]); + //printf("t1[0] = %d\n\r",can_ashileddata[1]); CANMessage msg; + CANMessage msg2; + CANMessage msg3; if(can1.write(CANMessage(4,can_ashileddata,2))) { //IDを7にして送信 cansend_led = 1; @@ -41,27 +43,24 @@ //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]); + + t1_r = msg.data[3]; } if(msg.id == 3) { - usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); + usw_data1 = 0.1 * (short)((msg2.data[0]<<8) | msg2.data[1]); //debug_printf("usw_data1 = %f\n\r",usw_data1); - usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]); + usw_data2 = 0.1 * (short)((msg2.data[2]<<8) | msg2.data[3]); //debug_printf("usw_data2 = %f\n\r",usw_data2); - usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]); + usw_data3 = 0.1 * (short)((msg2.data[4]<<8) | msg2.data[5]); //debug_printf("usw_data3 = %f\n\r",usw_data3); - usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]); + usw_data4 = 0.1 * (short)((msg2.data[6]<<8) | msg2.data[7]); // debug_printf("usw_data4 = %f\n\r",usw_data4); } - if(msg.id == 1) { - t1_r = msg.data[3]; - //printf("t1_r = %d\n\r",t1_r); - } - } else { canread_led = 0; }