Diff: main.cpp

Revision:

1:5a6c8683a7cf

Parent:

0:f31ecffcad13

Child:

2:2d5326f8aa64

--- a/main.cpp	Tue Feb 26 05:00:17 2019 +0000
+++ b/main.cpp	Tue Feb 26 05:07:37 2019 +0000
@@ -5,7 +5,7 @@
 //CAN can1(p30,p29,1000000);
 DigitalOut led(LED1);
 Ticker ticker;//タイマー割り込み
-char can_data[8]= {0}; //CAN送信用の配列
+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)
@@ -17,10 +17,7 @@
 char can_data3[2]= {0,0};
 //char can_data4[2]={0,0};
 
-int data1;
-int data2;
-
-int x;
+int data1,data2;
 int dataA, dataB, dataC, dataD;
 
 void can_send()
@@ -35,14 +32,14 @@
     can_data1[0] = dataA >> 8;
     can_data1[1] = dataA &255;
 
-    /*can_data2[0] = data2 >> 8;
-    can_data2[1] = data2 &255;*/
+    /*can_data2[0] = dataB >> 8;
+    can_data2[1] = dataB &255;*/
 
     can_data3[0] = dataC >> 8;
     can_data3[1] = dataC &255;
 
-    /*can_data4[0] = data4 >> 8;
-    can_data4[1] = data4 &255;*/
+    /*can_data4[0] = dataD >> 8;
+    can_data4[1] = dataD &255;*/
 
     if(can1.write(CANMessage(3,can_data1,2))) {
         led = 1;
@@ -52,6 +49,14 @@
         printf("not send\n\r");
     }
 
+    /*if(can1.write(CANMessage(4,can_data2,2))) {
+        led = 1;
+        printf("%fcm\r\n",uw2.get_dist());
+        //printf("send\n\r");
+    } else {
+        printf("not send\n\r");
+    }*/
+
     if(can1.write(CANMessage(5,can_data3,2))) {
         led = 1;
         printf("%fcm\r\n",uw3.get_dist());
@@ -60,7 +65,17 @@
         printf("not send\n\r");
     }
 
-    /*data1 = 500;
+    /*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
+    
+    data1 = 500;
     can_data[0] = data1>>8;
     can_data[1] = data1&255;
 
@@ -71,6 +86,7 @@
         printf("not send\n\r");
     }*/
 }
+
 int main()
 {
     can1.frequency(1000000);