Diff: pwm.cpp

Revision:

1:0bb74fa30daa

Parent:

0:2263e23eb7e8

Child:

2:4e86f37f1c1c

--- a/pwm.cpp	Tue Oct 13 17:59:02 2015 +0000
+++ b/pwm.cpp	Tue Oct 20 17:10:53 2015 +0000
@@ -3,23 +3,32 @@
 Ticker ticker;
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
+PwmOut pwmx(p26);
+PwmOut pwmy(p25);
 CAN can2(p30, p29);
 char counter = 0;
 int x=0;
 int y=0;
+
+#define PERIOD 0.000005
+#define MAX 1300.0f
 void send() {
 
  }
 int main() {
-    printf("main()\n");
+    printf("main d()\n");
     ticker.attach(&send, 1);
     CANMessage msg;
     can2.frequency(1000000);
+    pwmx.period(PERIOD);  // 4 second period
+    pwmy.period(PERIOD); 
     while(1) {
       //  printf("loop()\n");
         if(can2.read(msg)) {
-            x = msg.data[4];
-            y =  msg.data[0];
+            x = ((int) msg.data[5])*255 + ((int)msg.data[4]);
+            y = ((int)msg.data[1])*255 + ((int) msg.data[0]);
+            pwmx.write(x/MAX); 
+            pwmy.write(1-y/MAX); 
             printf("Message received: x %d %d %d %d %d %d %d %d %d %d\r\n",msg.data[0],msg.data[1],msg.data[2],msg.data[3],msg.data[4],msg.data[5],msg.data[6],msg.data[7], x , y);
             led2 = !led2;
         }