春ロボ1班(元F3RC4班+) / Mbed 2 deprecated harurobo_sensor_3_8

3/8z

Dependencies:   uw_28015 mbed

main.cpp@1:5a6c8683a7cf, 2019-02-26 (annotated)

Committer:
la00noix
Date:
Tue Feb 26 05:07:37 2019 +0000
Revision:
1:5a6c8683a7cf
Parent:
0:f31ecffcad13
Child:
2:2d5326f8aa64
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:f31ecffcad13 1 #include "mbed.h"
la00noix 0:f31ecffcad13 2 #include "uw.h"
la00noix 0:f31ecffcad13 3
la00noix 0:f31ecffcad13 4 CAN can1(PA_11,PA_12,1000000);//ピン宣言
la00noix 0:f31ecffcad13 5 //CAN can1(p30,p29,1000000);
la00noix 0:f31ecffcad13 6 DigitalOut led(LED1);
la00noix 0:f31ecffcad13 7 Ticker ticker;//タイマー割り込み
la00noix 1:5a6c8683a7cf 8 char can_data[8] = {0}; //CAN送信用の配列
la00noix 0:f31ecffcad13 9
la00noix 0:f31ecffcad13 10 Uw uw1(PF_1); //機体背面の超音波センサー（三宝アーム側)
la00noix 0:f31ecffcad13 11 //Uw uw2(PF_0); //機体正面の超音波センサー（果物アーム側)
la00noix 0:f31ecffcad13 12 Uw uw3(PB_4); //機体左側の超音波センサー
la00noix 0:f31ecffcad13 13 //Uw uw4(PA_0); //機体右側の超音波センサー
la00noix 0:f31ecffcad13 14
la00noix 0:f31ecffcad13 15 char can_data1[2]= {0,0};
la00noix 0:f31ecffcad13 16 //char can_data2[2]={0,0};
la00noix 0:f31ecffcad13 17 char can_data3[2]= {0,0};
la00noix 0:f31ecffcad13 18 //char can_data4[2]={0,0};
la00noix 0:f31ecffcad13 19
la00noix 1:5a6c8683a7cf 20 int data1,data2;
la00noix 0:f31ecffcad13 21 int dataA, dataB, dataC, dataD;
la00noix 0:f31ecffcad13 22
la00noix 0:f31ecffcad13 23 void can_send()
la00noix 0:f31ecffcad13 24 {
la00noix 0:f31ecffcad13 25 //printf("%fcm\r\n",uw1.get_dist());
la00noix 0:f31ecffcad13 26
la00noix 0:f31ecffcad13 27 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）
la00noix 0:f31ecffcad13 28 //dataB = (short)1000 * uw2.get_dist();
la00noix 0:f31ecffcad13 29 dataC = (short)(100 * uw3.get_dist());
la00noix 0:f31ecffcad13 30 //dataD = 100 * uw4.get_dist();
la00noix 0:f31ecffcad13 31
la00noix 0:f31ecffcad13 32 can_data1[0] = dataA >> 8;
la00noix 0:f31ecffcad13 33 can_data1[1] = dataA &255;
la00noix 0:f31ecffcad13 34
la00noix 1:5a6c8683a7cf 35 /*can_data2[0] = dataB >> 8;
la00noix 1:5a6c8683a7cf 36 can_data2[1] = dataB &255;*/
la00noix 0:f31ecffcad13 37
la00noix 0:f31ecffcad13 38 can_data3[0] = dataC >> 8;
la00noix 0:f31ecffcad13 39 can_data3[1] = dataC &255;
la00noix 0:f31ecffcad13 40
la00noix 1:5a6c8683a7cf 41 /*can_data4[0] = dataD >> 8;
la00noix 1:5a6c8683a7cf 42 can_data4[1] = dataD &255;*/
la00noix 0:f31ecffcad13 43
la00noix 0:f31ecffcad13 44 if(can1.write(CANMessage(3,can_data1,2))) {
la00noix 0:f31ecffcad13 45 led = 1;
la00noix 0:f31ecffcad13 46 printf("%fcm\r\n",uw1.get_dist());
la00noix 0:f31ecffcad13 47 //printf("send\n\r");
la00noix 0:f31ecffcad13 48 } else {
la00noix 0:f31ecffcad13 49 printf("not send\n\r");
la00noix 0:f31ecffcad13 50 }
la00noix 0:f31ecffcad13 51
la00noix 1:5a6c8683a7cf 52 /*if(can1.write(CANMessage(4,can_data2,2))) {
la00noix 1:5a6c8683a7cf 53 led = 1;
la00noix 1:5a6c8683a7cf 54 printf("%fcm\r\n",uw2.get_dist());
la00noix 1:5a6c8683a7cf 55 //printf("send\n\r");
la00noix 1:5a6c8683a7cf 56 } else {
la00noix 1:5a6c8683a7cf 57 printf("not send\n\r");
la00noix 1:5a6c8683a7cf 58 }*/
la00noix 1:5a6c8683a7cf 59
la00noix 0:f31ecffcad13 60 if(can1.write(CANMessage(5,can_data3,2))) {
la00noix 0:f31ecffcad13 61 led = 1;
la00noix 0:f31ecffcad13 62 printf("%fcm\r\n",uw3.get_dist());
la00noix 0:f31ecffcad13 63 //printf("send\n\r");
la00noix 0:f31ecffcad13 64 } else {
la00noix 0:f31ecffcad13 65 printf("not send\n\r");
la00noix 0:f31ecffcad13 66 }
la00noix 0:f31ecffcad13 67
la00noix 1:5a6c8683a7cf 68 /*if(can1.write(CANMessage(6,can_data4,2))) {
la00noix 1:5a6c8683a7cf 69 led = 1;
la00noix 1:5a6c8683a7cf 70 printf("%fcm\r\n",uw4.get_dist());
la00noix 1:5a6c8683a7cf 71 //printf("send\n\r");
la00noix 1:5a6c8683a7cf 72 } else {
la00noix 1:5a6c8683a7cf 73 printf("not send\n\r");
la00noix 1:5a6c8683a7cf 74 }*/
la00noix 1:5a6c8683a7cf 75
la00noix 1:5a6c8683a7cf 76 /*動確用プログラム
la00noix 1:5a6c8683a7cf 77
la00noix 1:5a6c8683a7cf 78 data1 = 500;
la00noix 0:f31ecffcad13 79 can_data[0] = data1>>8;
la00noix 0:f31ecffcad13 80 can_data[1] = data1&255;
la00noix 0:f31ecffcad13 81
la00noix 0:f31ecffcad13 82 if(can1.write(CANMessage(1,can_data,2))) { //IDを1にして送信
la00noix 0:f31ecffcad13 83 led = 1;//送信時にLED1を点灯
la00noix 0:f31ecffcad13 84 printf("send\n\r");
la00noix 0:f31ecffcad13 85 } else {
la00noix 0:f31ecffcad13 86 printf("not send\n\r");
la00noix 0:f31ecffcad13 87 }*/
la00noix 0:f31ecffcad13 88 }
la00noix 1:5a6c8683a7cf 89
la00noix 0:f31ecffcad13 90 int main()
la00noix 0:f31ecffcad13 91 {
la00noix 0:f31ecffcad13 92 can1.frequency(1000000);
la00noix 0:f31ecffcad13 93 //can1.frequency(10000);
la00noix 0:f31ecffcad13 94 ticker.attach(&can_send,0.01); //can_send関数に0.001秒間隔で割り込み
la00noix 0:f31ecffcad13 95 while(1);
la00noix 0:f31ecffcad13 96 }