Revision 10:6d60c0927770, committed 2019-03-06

Comitter:

yuki0701

Date:

Wed Mar 06 06:19:53 2019 +0000

Parent:

9:337fe0747940

Commit message:

a

Changed in this revision

--- 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;
     }

--- a/main.cpp	Wed Mar 06 03:51:08 2019 +0000
+++ b/main.cpp	Wed Mar 06 06:19:53 2019 +0000
@@ -46,6 +46,7 @@
 
         //スタート位置からみかんの木まで移動
         printf("T1 = 0\n\r");
+        wait(0.5);
         T1++;
         //printf("t = %d\n\r",T1);
     }
@@ -54,7 +55,7 @@
         while(1) {
             printf("T1 = 1\n\r");
             wait(0.5);
-            if(T1 == 2) {
+            if(T1 > 1) {
                 break;
             }
         }
@@ -70,7 +71,8 @@
     if(T1 == 3) {
         while(1) {
             printf("T1 = 3\n\r");
-            if(T1 == 4) {
+            wait(0.5);
+            if(T1 > 3) {
                 
                 break;
             }
@@ -80,13 +82,16 @@
     if(T1 == 4) {
 
         //三宝置き場からりんごの木まで移動
-        printf("t = 4");
+        printf("T1 = 4\n\r");
+        wait(0.5);
         T1++;
     }
 
     if(T1 == 5) {
         while(1) {
-            if(T1 == 6) {
+            printf("T1 = 5\n\r");
+            wait(0.5);
+            if(T1 > 5) {
                 break;
             }
         }
@@ -95,7 +100,8 @@
     if(T1 == 6) {
 
         //りんごの木からお供え台まで移動
-        printf("t = 6");
+        printf("T1 = 6\n\r");
+        wait(0.5);
         T1++;
     }
 #endif