Diff: main.cpp

Revision:

0:fe11ae12c823

Child:

1:98bd0c4131d8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 28 15:09:08 2022 +0000
@@ -0,0 +1,50 @@
+// TBRe-AI FRONT MBED
+// MONITORS STEERING ANGLE AND WHEEL SPEED
+// AND SENDS THEM OVER CAN BUS
+// WRITTEN BY SEB HALL ON 29/06/2022
+
+#include "mbed.h"
+
+const PinName writePin = p29;
+const PinName readPin = p30;
+const int busFrequency = 500000;
+const unsigned int steeringMessageID = 100;
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+Serial pc(USBTX, USBRX);
+AnalogIn steeringIn(p15);
+
+union {
+    double formattedData;
+    unsigned char rawData[8]; 
+} CANFormatted;
+
+CAN CANBus(readPin, writePin, busFrequency);
+
+void sendCANMessage(double data, unsigned int id) {
+    
+    CANMessage message;
+    
+    CANFormatted.formattedData = data;
+    
+    for (int i = 0; i < 8; i++) {
+        message.data[i] = CANFormatted.rawData[i];
+    }
+    
+    message.id = id;
+    
+    CANBus.write(message);
+    
+}
+
+int main() {
+    pc.printf("FRONT STARTED\n");
+    led1 = !led1;
+    while(1) {
+        double num = (double) steeringIn.read();
+        sendCANMessage(num, steeringMessageID);
+        led1 = !led1;
+        led2 = !led2;
+    }
+}
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