Diff: main.cpp

Revision:

5:39910e745cf6

Parent:

4:a5add1353920

--- a/main.cpp	Sat Apr 06 09:36:33 2019 +0000
+++ b/main.cpp	Sat Apr 06 14:50:41 2019 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 
-#define MOTOR_ENABLE_PIN PA_8
-#define MOTOR_DIR_PIN PA_9
+#define MOTOR_ENABLE_PIN D7
+#define MOTOR_DIR_PIN D8
 
 // Utility
 InterruptIn button(USER_BUTTON, PullUp);
@@ -22,18 +22,21 @@
 {
     motor_enable = 1;
     motor_dir = 1;
+    printf("gofwd\r\n");
 }
 
 void motor_go_bwd()
 {
     motor_enable = 1;
     motor_dir = 0;
+    printf("gobwd\r\n");
 }
 
 void motor_stop()
 {
     motor_enable = 0;
     motor_dir = 0;
+    printf("stop\r\n");
 }
 
 void motor_set_home()
@@ -74,7 +77,7 @@
 // CAN
 Thread canrxa;
 
-CAN can1(PB_8, PB_9);     // RX, TX
+CAN can1(PB_5, PB_6);     // RX, TX
 
 CANMessage messageIn;
 CANMessage messageOut;
@@ -86,15 +89,16 @@
 {
   while(1)
   {
-    if(can1.read(messageIn, filter))
+    if(can1.read(messageIn, filter)&&messageIn.id==0x030)
     {
       pose = messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24);
       printf("CAN: mess %d\n\r", pose);
       printf("CANaacc: id %x \n\r ",messageIn.id);
-      if (pose==1) motor_go_bwd();
       if (pose==0) motor_stop();
-      if (pose==2) motor_go_fwd();
-      else motor_stop();
+      else if (pose==1) motor_go_bwd(); 
+      else if (pose==2) motor_go_fwd();
+      
+      //else motor_stop();
     }
     
     wait(0.05);
@@ -107,8 +111,9 @@
 
 int main()
 {
+  can1.frequency(125000);
   // Motor Initialization 
-  motor_stop();
+ // motor_stop();
   
   //end0.rise(&end0_int_handler);
   //end0.fall(&end0_released);