harurobo_mbed_undercarriage_sub
Dependencies: mbed Maxon_setting move4wheel2 EC PathFollowing_12_22 CruizCore_R1370P
main.cpp
- Committer:
- yuki0701
- Date:
- 2018-12-22
- Revision:
- 1:0c9f53f5c9d0
- Parent:
- 0:f0f40dddc0c4
File content as of revision 1:0c9f53f5c9d0:
#include "mbed.h" #include "EC.h" #include "R1370P.h" #include "move4wheel.h" #include "PathFollowing.h" #include "Maxon_setting.h" CAN can1(p30,p29,1000000); DigitalOut led(LED1); Ticker ticker; void can_read(){//CAN通信受信 CANMessage msg; if(can1.read(msg)){ if(msg.id == 1){ led = 1; usw_data1 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); printf("usw_data1 = %d:%d,%lf\n\r",msg.data[0],msg.data[1],usw_data1); }else if(msg.id == 2){ //led = 1; // usw_data2 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); //printf("usw_data2 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data2); }else if(msg.id == 3){ //led = 1; //usw_data3 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); //printf("usw_data3 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data3); }else if(msg.id == 4){ //led = 1; //usw_data4 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]); //printf("usw_data4 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data4); } } } //////////////////////////////////////////////////////////////以下main文///////////////////////////////////////////////////////////////// int main() { UserLoopSetting(); //UserLoopSetting2(); //Debug_Control() //purecurve2(5,1,1,0,0,-500,-500,9,1500,5,0.1,10,0.1,600,0); //gogo_straight(1,1,0,0,500,0,2000,2000,5,0.1,10,0.1,600,0); ticker.attach(&can_read,0.01); while(1); //printf("%f\n\r",usw_data1); //MotorControl(0,0,0,0); }