Diff: main.cpp

Revision:

0:f31ecffcad13

Child:

1:5a6c8683a7cf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 26 05:00:17 2019 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "uw.h"
+
+CAN can1(PA_11,PA_12,1000000);//ピン宣言
+//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
+
+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)
+Uw uw3(PB_4); //機体左側の超音波センサー
+//Uw uw4(PA_0); //機体右側の超音波センサー
+
+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;
+int data2;
+
+int x;
+int dataA, dataB, dataC, dataD;
+
+void can_send()
+{
+    //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)1000 * uw2.get_dist();
+    dataC = (short)(100 * uw3.get_dist());
+    //dataD = 100 * uw4.get_dist();
+
+    can_data1[0] = dataA >> 8;
+    can_data1[1] = dataA &255;
+
+    /*can_data2[0] = data2 >> 8;
+    can_data2[1] = data2 &255;*/
+
+    can_data3[0] = dataC >> 8;
+    can_data3[1] = dataC &255;
+
+    /*can_data4[0] = data4 >> 8;
+    can_data4[1] = data4 &255;*/
+
+    if(can1.write(CANMessage(3,can_data1,2))) {
+        led = 1;
+        printf("%fcm\r\n",uw1.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());
+        //printf("send\n\r");
+    } else {
+        printf("not send\n\r");
+    }
+
+    /*data1 = 500;
+    can_data[0] = data1>>8;
+    can_data[1] = data1&255;
+
+    if(can1.write(CANMessage(1,can_data,2))) { //IDを1にして送信
+        led = 1;//送信時にLED1を点灯
+        printf("send\n\r");
+    } else {
+        printf("not send\n\r");
+    }*/
+}
+int main()
+{
+    can1.frequency(1000000);
+    //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);
+}
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