Diff: main.cpp

Revision:

2:2d5326f8aa64

Parent:

1:5a6c8683a7cf

Child:

3:6ea13ffa4631

--- a/main.cpp	Tue Feb 26 05:07:37 2019 +0000
+++ b/main.cpp	Fri Mar 01 00:47:02 2019 +0000
@@ -7,47 +7,48 @@
 Ticker ticker;//タイマー割り込み
 char can_data[8] = {0}; //CAN送信用の配列
 
-Uw uw1(PF_1); //機体背面の超音波センサー（三宝アーム側)
-//Uw uw2(PF_0); //機体正面の超音波センサー（果物アーム側)
-Uw uw3(PB_4); //機体左側の超音波センサー
-//Uw uw4(PA_0); //機体右側の超音波センサー
+//Uw uw2(PF_1); //機体背面の超音波センサー（三宝アーム側)
+//Uw uw1(PF_0); //機体正面の超音波センサー（果物アーム側)
+Uw uw4(PB_4); //機体左側の超音波センサー
+//Uw uw3(PA_0); //機体右側の超音波センサー
 
-char can_data1[2]= {0,0};
-//char can_data2[2]={0,0};
-char can_data3[2]= {0,0};
-//char can_data4[2]={0,0};
+//char can_data1[2]= {0,0};
+//char can_data2[2]= {0,0};
+//char can_data3[2]= {0,0};
+char can_data4[2]= {0,0};
 
 int data1,data2;
 int dataA, dataB, dataC, dataD;
 
 void can_send()
 {
+    printf("a\n\r");
     //printf("%fcm\r\n",uw1.get_dist());
 
-    dataA = (short)(100 * uw1.get_dist()); //超音波センサーの値を1000倍して送る（受信側で0.001倍して元に戻す）
-    //dataB = (short)1000 * uw2.get_dist();
-    dataC = (short)(100 * uw3.get_dist());
-    //dataD = 100 * uw4.get_dist();
+//    dataA = (short)(100 * uw1.get_dist()); //超音波センサーの値を1000倍して送る（受信側で0.001倍して元に戻す）
+   // dataB = (short)(100 * uw2.get_dist());
+    //dataC = (short)(100 * uw3.get_dist());
+    dataD = (short)(100 * uw4.get_dist());
 
-    can_data1[0] = dataA >> 8;
-    can_data1[1] = dataA &255;
+  //  can_data1[0] = dataA >> 8;
+    //can_data1[1] = dataA &255;
 
-    /*can_data2[0] = dataB >> 8;
-    can_data2[1] = dataB &255;*/
+    //can_data2[0] = dataB >> 8;
+    //can_data2[1] = dataB &255;
 
-    can_data3[0] = dataC >> 8;
+  /*  can_data3[0] = dataC >> 8;
     can_data3[1] = dataC &255;
+*/
+    can_data4[0] = dataD >> 8;
+    can_data4[1] = dataD &255;
 
-    /*can_data4[0] = dataD >> 8;
-    can_data4[1] = dataD &255;*/
-
-    if(can1.write(CANMessage(3,can_data1,2))) {
+    /*if(can1.write(CANMessage(3,can_data1,2))) {
         led = 1;
         printf("%fcm\r\n",uw1.get_dist());
         //printf("send\n\r");
     } else {
         printf("not send\n\r");
-    }
+    }*/
 
     /*if(can1.write(CANMessage(4,can_data2,2))) {
         led = 1;
@@ -57,21 +58,21 @@
         printf("not send\n\r");
     }*/
 
-    if(can1.write(CANMessage(5,can_data3,2))) {
+    /*if(can1.write(CANMessage(5,can_data3,2))) {
         led = 1;
         printf("%fcm\r\n",uw3.get_dist());
         //printf("send\n\r");
     } else {
         printf("not send\n\r");
-    }
+    }*/
 
-    /*if(can1.write(CANMessage(6,can_data4,2))) {
+   if(can1.write(CANMessage(6,can_data4,2))) {
         led = 1;
         printf("%fcm\r\n",uw4.get_dist());
         //printf("send\n\r");
     } else {
         printf("not send\n\r");
-    }*/
+    }
 
     /*動確用プログラム
     
@@ -93,4 +94,5 @@
     //can1.frequency(10000);
     ticker.attach(&can_send,0.01);  //can_send関数に0.001秒間隔で割り込み
     while(1);
+        
 }
\ No newline at end of file