Diff: main.cpp

Revision:

4:04669be0ff12

Parent:

3:6ea13ffa4631

Child:

5:652583b7b136

--- a/main.cpp	Fri Mar 01 08:03:02 2019 +0000
+++ b/main.cpp	Sat Mar 02 07:19:29 2019 +0000
@@ -12,17 +12,12 @@
 Uw uw3(PA_0); //機体左側の超音波センサーPB_4
 Uw uw4(PB_4); //機体右側の超音波センサーPA_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("start\n\r");
+   // printf("start\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）
@@ -30,52 +25,27 @@
     dataC = (short)(100 * uw3.get_dist());
     dataD = (short)(100 * uw4.get_dist());
 
-    can_data1[0] = dataA >> 8;
-    can_data1[1] = dataA &255;
+    can_data[0] = dataA >> 8;
+    can_data[1] = dataA &255;
 
-    can_data2[0] = dataB >> 8;
-    can_data2[1] = dataB &255;
+    can_data[2] = dataB >> 8;
+    can_data[3] = dataB &255;
 
-    can_data3[0] = dataC >> 8;
-    can_data3[1] = dataC &255;
+    can_data[4] = dataC >> 8;
+    can_data[5] = dataC &255;
 
-    can_data4[0] = dataD >> 8;
-    can_data4[1] = dataD &255;
+    can_data[6] = dataD >> 8;
+    can_data[7] = dataD &255;
 
-    if(can1.write(CANMessage(3,can_data1,2))) {
+    if(can1.write(CANMessage(3,can_data,8))) {
         led = 1;
         //printf("%fcm\r\n",uw1.get_dist());
         //printf("send\n\r");
     } else {
-        printf("uw1 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("uw2 not send\n\r");
+        printf("uw not send\n\r");
     }
 
-
-
-    if(can1.write(CANMessage(6,can_data4,2))) {
-        led = 1;
-        //printf("%fcm\r\n",uw4.get_dist());
-        //printf("send\n\r");
-    } else {
-        printf("uw4 not send\n\r");
-    }
-
-    if(can1.write(CANMessage(5,can_data3,2))) {
-        led = 1;
-        //printf("%fcm\r\n",uw3.get_dist());
-        //printf("send\n\r");
-    } else {
-        printf("uw3 not send\n\r");
-    }
-    printf("uw1=%f uw2=%f  uw3=%f uw4=%f\n\r",uw1.get_dist(),uw2.get_dist(),uw3.get_dist(),uw4.get_dist());
+   // printf("uw1=%f uw2=%f  uw3=%f uw4=%f\n\r",uw1.get_dist(),uw2.get_dist(),uw3.get_dist(),uw4.get_dist());
 
     /*動確用プログラム