春ロボ1班(元F3RC4班+)
/
harurobo_sensor_3_8
3/8z
main.cpp
- Committer:
- la00noix
- Date:
- 2019-02-26
- Revision:
- 0:f31ecffcad13
- Child:
- 1:5a6c8683a7cf
File content as of revision 0:f31ecffcad13:
#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); }