Diff: main.cpp

Revision:

2:96ee24b5f266

Parent:

1:10f557e7216d

Child:

3:4f09afd29a27

diff -r 10f557e7216d -r 96ee24b5f266 main.cpp
--- a/main.cpp	Fri Feb 08 15:24:48 2019 +0000
+++ b/main.cpp	Fri Feb 08 19:24:38 2019 +0000
@@ -79,6 +79,7 @@
 CANMessage messageIn;
 CANMessage messageOut;
 
+
 int filter = can1.filter(0x030, 0x4FF, CANStandard);
 
 void canrx()
@@ -87,8 +88,13 @@
   {
     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)));
+      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==0) motor_go_bwd();
+      if (pose==50) motor_stop();
+      if (pose==100) motor_go_fwd();
+      else motor_stop();
     }
     
     wait(100);
@@ -104,10 +110,10 @@
   // Motor Initialization 
   motor_stop();
   
-  end0.rise(&end0_int_handler);
-  end0.fall(&end0_released);
-  end1.rise(&end1_int_handler);
-  end1.fall(&motor_set_home);
+  //end0.rise(&end0_int_handler);
+  //end0.fall(&end0_released);
+  //end1.rise(&end1_int_handler);
+  //end1.fall(&motor_set_home);
   
   button.rise(&button_int_handler);
   
@@ -121,8 +127,8 @@
   
   printf("Running!\n\r");
   
-  motor_enable = 1;
-  motor_dir = 0;
+ // motor_enable = 0;
+ // motor_dir = 0;
   
   while(true)
   {