Diff: main.cpp

Revision:

1:1f21cff06302

Parent:

0:4143c439ad0e

Child:

2:f10d06f31141

--- a/main.cpp	Fri Mar 05 08:39:56 2021 +0000
+++ b/main.cpp	Wed Mar 17 17:54:54 2021 +0000
@@ -17,7 +17,7 @@
 CAN can(PA_11, PA_12);
 
 // motor number
-int m_num = 9;
+int m_num = 16;
 
 // from a master computer
 int i=0;
@@ -59,10 +59,6 @@
         int data1 = (msg.data[2] << 8) + msg.data[3];   // current
         int data2 = (msg.data[4] << 8) + msg.data[5];   // velocity
         int data3 = (msg.data[6] << 8) + msg.data[7];   // angle
-        if (rid == 6){                                  //id=6からはyaw角度ではなくリニアPOTを受信
-            //int front_linear_pot = ((msg.data[6] << 8) + msg.data[7])/100;   // linear_pot data
-            //data3 = front_linear_pot;
-            }
         pc.printf("%d,%d,%d,%d\r\n", rid, data1, data2, data3);
     }
 }
@@ -98,7 +94,7 @@
                     // send(ID, mode(0), dir(0 or 1), 3rd digit, 2rd digit, 1rd digit)
                     if (buf[i-5] == 'A'){ 
                          //if (buf[i-4]-0x30==4){                      //id=4には前部リニアPOTの値を送信
-                         send(buf[i-4]-0x30,0,0,buf[i-3],buf[i-2],buf[i-1]);
+                         send(buf[i-4]-0x30,2,0,buf[i-3],buf[i-2],buf[i-1]);
                          //}
                         
                     // ***** Receive mode (single data) *****
@@ -119,7 +115,7 @@
                             buf[i-1] = (char)(t3);
                             send(buf[i-4]-0x30,0,0,buf[i-3],buf[i-2],buf[i-1]);
                             }else{*/
-                                send(buf[i-4]-0x30,0,0,buf[i-3],buf[i-2],buf[i-1]);
+                        send(buf[i-4]-0x30,0,0,buf[i-3],buf[i-2],buf[i-1]);
                                 //}
                                 //send(buf[i-4]-0x30,0,0,buf[i-3],buf[i-2],buf[i-1]);
                     // ***** Speed control mode (negative) *****
@@ -132,7 +128,7 @@
                     } else if (buf[i-5] == 'E') {
                         //id = buf[i-4]-0x30;
                         //m_num = ((int)buf[i-3]-0x30)*100+((int)buf[i-2]-0x30)*10+(int)buf[i-1]-0x30;    // Convert from String to Int;
-                        id = ((int)buf[i-3]-0x30)*100+((int)buf[i-2]-0x30)*10+(int)buf[i-1]-0x30;    // Convert from String to Int;
+                        //id = ((int)buf[i-3]-0x30)*100+((int)buf[i-2]-0x30)*10+(int)buf[i-1]-0x30;    // Convert from String to Int;
                         flag = 1;
                     
                     // ***** Receive mode stop (continuous data) *****