Team Bath Racing Electric / Mbed 2 deprecated FRONT-MBED

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Dependencies:   mbed

main.cpp@1:98bd0c4131d8, 2022-06-28 (annotated)

Committer:
samh25
Date:
Tue Jun 28 16:07:52 2022 +0000
Revision:
1:98bd0c4131d8
Parent:
0:fe11ae12c823 
2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
samh25 0:fe11ae12c823 1 // TBRe-AI FRONT MBED
samh25 0:fe11ae12c823 2 // MONITORS STEERING ANGLE AND WHEEL SPEED
samh25 0:fe11ae12c823 3 // AND SENDS THEM OVER CAN BUS
samh25 0:fe11ae12c823 4 // WRITTEN BY SEB HALL ON 29/06/2022
samh25 0:fe11ae12c823 5
samh25 0:fe11ae12c823 6 #include "mbed.h"
samh25 0:fe11ae12c823 7
samh25 0:fe11ae12c823 8 const PinName writePin = p29;
samh25 0:fe11ae12c823 9 const PinName readPin = p30;
samh25 0:fe11ae12c823 10 const int busFrequency = 500000;
samh25 0:fe11ae12c823 11 const unsigned int steeringMessageID = 100;
samh25 0:fe11ae12c823 12
samh25 0:fe11ae12c823 13 DigitalOut led1(LED1);
samh25 0:fe11ae12c823 14 DigitalOut led2(LED2);
samh25 0:fe11ae12c823 15 Serial pc(USBTX, USBRX);
samh25 0:fe11ae12c823 16 AnalogIn steeringIn(p15);
samh25 0:fe11ae12c823 17
samh25 0:fe11ae12c823 18 union {
samh25 0:fe11ae12c823 19 double formattedData;
samh25 0:fe11ae12c823 20 unsigned char rawData[8];
samh25 0:fe11ae12c823 21 } CANFormatted;
samh25 0:fe11ae12c823 22
samh25 0:fe11ae12c823 23 CAN CANBus(readPin, writePin, busFrequency);
samh25 0:fe11ae12c823 24
samh25 0:fe11ae12c823 25 void sendCANMessage(double data, unsigned int id) {
samh25 0:fe11ae12c823 26
samh25 0:fe11ae12c823 27 CANMessage message;
samh25 0:fe11ae12c823 28
samh25 0:fe11ae12c823 29 CANFormatted.formattedData = data;
samh25 0:fe11ae12c823 30
samh25 0:fe11ae12c823 31 for (int i = 0; i < 8; i++) {
samh25 0:fe11ae12c823 32 message.data[i] = CANFormatted.rawData[i];
samh25 0:fe11ae12c823 33 }
samh25 0:fe11ae12c823 34
samh25 0:fe11ae12c823 35 message.id = id;
samh25 0:fe11ae12c823 36
samh25 0:fe11ae12c823 37 CANBus.write(message);
samh25 0:fe11ae12c823 38
samh25 0:fe11ae12c823 39 }
samh25 0:fe11ae12c823 40
samh25 0:fe11ae12c823 41 int main() {
samh25 0:fe11ae12c823 42 pc.printf("FRONT STARTED\n");
samh25 0:fe11ae12c823 43 led1 = !led1;
samh25 0:fe11ae12c823 44 while(1) {
samh25 1:98bd0c4131d8 45 float num = (float) steeringIn.read();
samh25 0:fe11ae12c823 46 sendCANMessage(num, steeringMessageID);
samh25 0:fe11ae12c823 47 led1 = !led1;
samh25 0:fe11ae12c823 48 led2 = !led2;
samh25 0:fe11ae12c823 49 }
samh25 0:fe11ae12c823 50 }