Team DIANA / Mbed OS Arm_dynamixel_DEVEL

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Dependencies:   Servo AX12_final MX106_not_working comunication_1

main.cpp

Committer:
stebonicelli
Date:
2019-02-08
Revision:
13:698bd4df9702
Parent:
11:19e8022f60ea
Child:
14:c51c4e0f3bc9

File content as of revision 13:698bd4df9702:

#include "mbed.h"
#include "communication_1.h"
#include "MX106.h"

// Utility
InterruptIn button(USER_BUTTON);
DigitalOut led(LED1);

// Motor Control
Serial pc(USBTX, USBRX);
communication_1 wire(PA_9, PA_10, 200000);
MX106 motor_1(wire, 1, 1);
MX106 motor_2(wire, 2, 1);
MX106 motor_3(wire, 3, 1);

void button_int_handler()
{

}

// CAN
Thread canrxa;

CAN can1(PA_11, PA_12);     // RX, TX

CANMessage messageIn;
CANMessage messageOut;

int filter = can1.filter(0x000, 0x400, CANStandard);

void canrx()
{
  while(1)
  {
    if(can1.read(messageIn, filter))
    {
      printf("CAN: mess %d\n\r", (messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24)));
      printf("CANaacc: id %x \n\r ",messageIn.id);
      
      if((messageIn.id & 0x0FF) == 0x40)
      {
          
      }
      else if((messageIn.id & 0x0FF) == 0x50)
      {
          
      }
      else if((messageIn.id & 0x0FF) == 0x60)
      {
          
      }
      else if((messageIn.id & 0x0FF) == 0x70)
      {
          
      }
    }
  }
}
   
int main()
{
   wire.trigger();
   wire.trigger();
   wire.trigger();
   wire.trigger();
   
   // Setup Motor1 MultiTurn
   motor_1.setMotorEnabled(1);
   motor_1.setMode(2);
   motor_1.setSpeed(90);
   //motor_1.setGoalPosition(0);
   wait(10);
   
   // Setup Motor2 MultiTurn
   motor_2.setMotorEnabled(1);
   motor_2.setMode(2);
   motor_2.setSpeed(90);
   //motor_2.setGoalPosition(0);
   wait(10);
   
   // Setup Motor3 MultiTurn
   motor_3.setMotorEnabled(1);
   motor_3.setMode(2);
   motor_3.setSpeed(90);
   //motor_3.setGoalPosition(0);
   wait(10);

   printf("DYNAMIXEL: Init DONE\n\r");
   
   button.rise(&button_int_handler);
  
   // CAN Initialization  
   canrxa.start(canrx);

   printf("DONE: CAN Init\n\r");
  
  
   printf("Running!\n\r");
  
   while(true)
   {
      wait(1000);
   }
}