Diff: main.cpp

Revision:

3:6ea13ffa4631

Parent:

2:2d5326f8aa64

Child:

4:04669be0ff12

--- a/main.cpp	Fri Mar 01 00:47:02 2019 +0000
+++ b/main.cpp	Fri Mar 01 08:03:02 2019 +0000
@@ -1,4 +1,4 @@
-#include "mbed.h"
+#include "mbed.h"                                                                                                                                        #include "mbed.h"
 #include "uw.h"
 
 CAN can1(PA_11,PA_12,1000000);//ピン宣言
@@ -7,14 +7,14 @@
 Ticker ticker;//タイマー割り込み
 char can_data[8] = {0}; //CAN送信用の配列
 
-//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
+Uw uw1(PF_0); //機体背面の超音波センサー（三宝アーム側)PF_1
+Uw uw2(PF_1); //機体正面の超音波センサー（果物アーム側)PF_0
+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_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;
@@ -22,60 +22,63 @@
 
 void can_send()
 {
-    printf("a\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）
-   // dataB = (short)(100 * uw2.get_dist());
-    //dataC = (short)(100 * uw3.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;
 
-    /*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("%fcm\r\n",uw1.get_dist());
         //printf("send\n\r");
     } else {
-        printf("not send\n\r");
-    }*/
+        printf("uw1 not send\n\r");
+    }
 
-    /*if(can1.write(CANMessage(4,can_data2,2))) {
+    if(can1.write(CANMessage(4,can_data2,2))) {
         led = 1;
-        printf("%fcm\r\n",uw2.get_dist());
+        //printf("%fcm\r\n",uw2.get_dist());
         //printf("send\n\r");
     } else {
-        printf("not send\n\r");
-    }*/
+        printf("uw2 not send\n\r");
+    }
+
 
-    /*if(can1.write(CANMessage(5,can_data3,2))) {
+
+    if(can1.write(CANMessage(6,can_data4,2))) {
         led = 1;
-        printf("%fcm\r\n",uw3.get_dist());
+        //printf("%fcm\r\n",uw4.get_dist());
         //printf("send\n\r");
     } else {
-        printf("not send\n\r");
-    }*/
+        printf("uw4 not send\n\r");
+    }
 
-   if(can1.write(CANMessage(6,can_data4,2))) {
+    if(can1.write(CANMessage(5,can_data3,2))) {
         led = 1;
-        printf("%fcm\r\n",uw4.get_dist());
+        //printf("%fcm\r\n",uw3.get_dist());
         //printf("send\n\r");
     } else {
-        printf("not send\n\r");
+        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());
 
     /*動確用プログラム
-    
+
     data1 = 500;
     can_data[0] = data1>>8;
     can_data[1] = data1&255;
@@ -94,5 +97,4 @@
     //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