Diff: main.cpp

Revision:

0:b5130bf155f1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 05 08:41:04 2021 +0000
@@ -0,0 +1,78 @@
+// Nucleo_CAN_slave (AIRo-4.1)
+// Speed control
+// Created by Atsushi Kakogawa, 2019.09.19
+// Edited by Yoshimichi Oka, 2020.2.5
+// Modified by Atsushi Kakogawa, 2020.03.28
+// Modified by Atsushi Kakogawa, 2020.08.28
+// Department of Robotics, Ritsumeikan University, Japan
+#include "mbed.h"
+#include "CAN.h"
+
+DigitalOut myled(PF_1);     // LED for communication check
+DigitalOut mdir1(PA_9);     // D1 Motor ON/OFF (HIGH = ON, Changeable on ESCON Studio)
+DigitalOut mdir2(PA_10);    // D0 Rotational direction (Direction is changeable on ESCON Studio)
+AnalogOut DA_vlc(PA_6);     // A5 for velocity analog input to ESCON ANI1+ (0 to 1.0)
+AnalogOut DA_crt(PA_5);     // A3 for current anaglog input to ESCON ANI2+ (0 to 1.0)
+AnalogIn potensio1(PA_0);   // A0 Potentiometer 1 (3.3V potentiometer)
+//AnalogIn potensio2(PA_0); // A0 Potentiometer 2 (5V potentiometer)
+AnalogIn AD_crt(PA_1);      // Analog Signal from ESCON ANO1 (motor current, can be changed by ESCON) (0 to 1.0)
+AnalogIn AD_vlc(PA_3);      // Analog Signal from ESCON ANO2 (motor velocity,  can be changed by ESCON) (0 to 1.0)
+
+float duty = 0;
+int id = 2;
+int flag = 
+0;
+
+char tx_data[8];
+char tx_data1_U, tx_data1_L, tx_data2_U, tx_data2_L, tx_data3_U, tx_data3_L;
+
+int main(){
+
+    CAN can(PA_11, PA_12);
+    can.frequency(50000);
+    CANMessage msg;
+   
+    while(1) {
+        if(can.read(msg)) {
+            if (msg.data[0] == id) {                                    // ID indentify
+                if (msg.data[1] == 0) {                                 // mode indentify (0: control)
+                    duty = float((msg.data[3] << 8) + msg.data[4])/999;
+                    if (msg.data[2] == 0) {                             // dir identify (0: positive)
+                        DA_vlc = duty;
+                        DA_crt = 0;                                     // Current limit 0%
+                        mdir1 = 1;
+                        mdir2 = 0;
+                    } else if (msg.data[2] == 1) {                      // dir identify (1: negative)
+                        DA_vlc = duty;
+                        DA_crt = 0;                                     // Current limit 0%
+                        mdir1 = 1;
+                        mdir2 = 1;
+                    }
+                } else if (msg.data[1] == 1) {                          // mode indentify (1: response)
+                    int i_data1 = AD_crt.read()*1000; 
+                        tx_data1_U = (i_data1 >> 8);
+                        tx_data1_L = i_data1;
+                    int i_data2 = AD_vlc.read()*1000; 
+                        tx_data2_U = (i_data2 >> 8);
+                        tx_data2_L = i_data2;
+                    int i_data3 = 0; 
+                        tx_data3_U = (i_data3 >> 8);
+                        tx_data3_L = i_data3;
+                    tx_data[0] = id;                                    // ID
+                    tx_data[1] = 1;                                     // mode (1: response)
+                    tx_data[2] = tx_data1_U;                            // response value1 upper 8bit
+                    tx_data[3] = tx_data1_L;                            // response value1 lower 8bit
+                    tx_data[4] = tx_data2_U;                            // response value2 upper 8bit
+                    tx_data[5] = tx_data2_L;                            // response value2 lower 8bit
+                    tx_data[6] = tx_data3_U;                            // response value3 upper 8bit
+                    tx_data[7] = tx_data3_L;                            // response value3 lower 8bit
+                    can.write(CANMessage(1300 + id, tx_data, 8));
+                }
+            }
+            myled = 1; // LED is ON
+            wait (0.01);
+        } else {
+            myled = 0; // LED is OFF
+        }
+    }
+}
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