春ロボ1班(元F3RC4班+)
/
harurobo_sensor_3_8
3/8z
main.cpp@0:f31ecffcad13, 2019-02-26 (annotated)
- Committer:
- la00noix
- Date:
- Tue Feb 26 05:00:17 2019 +0000
- Revision:
- 0:f31ecffcad13
- Child:
- 1:5a6c8683a7cf
a
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:f31ecffcad13 | 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 | 0:f31ecffcad13 | 20 | int data1; |
la00noix | 0:f31ecffcad13 | 21 | int data2; |
la00noix | 0:f31ecffcad13 | 22 | |
la00noix | 0:f31ecffcad13 | 23 | int x; |
la00noix | 0:f31ecffcad13 | 24 | int dataA, dataB, dataC, dataD; |
la00noix | 0:f31ecffcad13 | 25 | |
la00noix | 0:f31ecffcad13 | 26 | void can_send() |
la00noix | 0:f31ecffcad13 | 27 | { |
la00noix | 0:f31ecffcad13 | 28 | //printf("%fcm\r\n",uw1.get_dist()); |
la00noix | 0:f31ecffcad13 | 29 | |
la00noix | 0:f31ecffcad13 | 30 | 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 | 31 | //dataB = (short)1000 * uw2.get_dist(); |
la00noix | 0:f31ecffcad13 | 32 | dataC = (short)(100 * uw3.get_dist()); |
la00noix | 0:f31ecffcad13 | 33 | //dataD = 100 * uw4.get_dist(); |
la00noix | 0:f31ecffcad13 | 34 | |
la00noix | 0:f31ecffcad13 | 35 | can_data1[0] = dataA >> 8; |
la00noix | 0:f31ecffcad13 | 36 | can_data1[1] = dataA &255; |
la00noix | 0:f31ecffcad13 | 37 | |
la00noix | 0:f31ecffcad13 | 38 | /*can_data2[0] = data2 >> 8; |
la00noix | 0:f31ecffcad13 | 39 | can_data2[1] = data2 &255;*/ |
la00noix | 0:f31ecffcad13 | 40 | |
la00noix | 0:f31ecffcad13 | 41 | can_data3[0] = dataC >> 8; |
la00noix | 0:f31ecffcad13 | 42 | can_data3[1] = dataC &255; |
la00noix | 0:f31ecffcad13 | 43 | |
la00noix | 0:f31ecffcad13 | 44 | /*can_data4[0] = data4 >> 8; |
la00noix | 0:f31ecffcad13 | 45 | can_data4[1] = data4 &255;*/ |
la00noix | 0:f31ecffcad13 | 46 | |
la00noix | 0:f31ecffcad13 | 47 | if(can1.write(CANMessage(3,can_data1,2))) { |
la00noix | 0:f31ecffcad13 | 48 | led = 1; |
la00noix | 0:f31ecffcad13 | 49 | printf("%fcm\r\n",uw1.get_dist()); |
la00noix | 0:f31ecffcad13 | 50 | //printf("send\n\r"); |
la00noix | 0:f31ecffcad13 | 51 | } else { |
la00noix | 0:f31ecffcad13 | 52 | printf("not send\n\r"); |
la00noix | 0:f31ecffcad13 | 53 | } |
la00noix | 0:f31ecffcad13 | 54 | |
la00noix | 0:f31ecffcad13 | 55 | if(can1.write(CANMessage(5,can_data3,2))) { |
la00noix | 0:f31ecffcad13 | 56 | led = 1; |
la00noix | 0:f31ecffcad13 | 57 | printf("%fcm\r\n",uw3.get_dist()); |
la00noix | 0:f31ecffcad13 | 58 | //printf("send\n\r"); |
la00noix | 0:f31ecffcad13 | 59 | } else { |
la00noix | 0:f31ecffcad13 | 60 | printf("not send\n\r"); |
la00noix | 0:f31ecffcad13 | 61 | } |
la00noix | 0:f31ecffcad13 | 62 | |
la00noix | 0:f31ecffcad13 | 63 | /*data1 = 500; |
la00noix | 0:f31ecffcad13 | 64 | can_data[0] = data1>>8; |
la00noix | 0:f31ecffcad13 | 65 | can_data[1] = data1&255; |
la00noix | 0:f31ecffcad13 | 66 | |
la00noix | 0:f31ecffcad13 | 67 | if(can1.write(CANMessage(1,can_data,2))) { //IDを1にして送信 |
la00noix | 0:f31ecffcad13 | 68 | led = 1;//送信時にLED1を点灯 |
la00noix | 0:f31ecffcad13 | 69 | printf("send\n\r"); |
la00noix | 0:f31ecffcad13 | 70 | } else { |
la00noix | 0:f31ecffcad13 | 71 | printf("not send\n\r"); |
la00noix | 0:f31ecffcad13 | 72 | }*/ |
la00noix | 0:f31ecffcad13 | 73 | } |
la00noix | 0:f31ecffcad13 | 74 | int main() |
la00noix | 0:f31ecffcad13 | 75 | { |
la00noix | 0:f31ecffcad13 | 76 | can1.frequency(1000000); |
la00noix | 0:f31ecffcad13 | 77 | //can1.frequency(10000); |
la00noix | 0:f31ecffcad13 | 78 | ticker.attach(&can_send,0.01); //can_send関数に0.001秒間隔で割り込み |
la00noix | 0:f31ecffcad13 | 79 | while(1); |
la00noix | 0:f31ecffcad13 | 80 | } |