Diff: main.cpp

Revision:

32:465e41868fe4

Parent:

31:5d6a97adae07

Child:

33:ba8992082097

--- a/main.cpp	Thu Sep 05 20:16:02 2019 +0000
+++ b/main.cpp	Fri Sep 13 09:24:19 2019 +0000
@@ -154,9 +154,9 @@
    // printf("receive\t\n");
     if(can1.read(messageIn)&&messageIn.id==gen_can_id(JOINT_SET_SPEED,BASE))
     {
-      speed=messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24);
+      speed=messageIn.data[3] + (messageIn.data[2] << 8) + (messageIn.data[1] << 16) + (messageIn.data[0] << 24);
       printf("CAN: mess %d\n\r", speed);
-      current_speed=speed-100;
+      current_speed=speed;
  
  
       if (current_speed>0)
@@ -180,7 +180,7 @@
     
     if(can1.read(messageIn)&&messageIn.id==gen_can_id(JOINT_ZERO,BASE))
     {
-      if((messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24))==1)
+      if((messageIn.data[3] + (messageIn.data[2] << 8) + (messageIn.data[1] << 16) + (messageIn.data[0] << 24))==1)
       {
         zero();
         motor->wait_while_active();
@@ -222,7 +222,7 @@
     
     
   canrxa.start(canrx_ISR);
-  cantxa.start(cantx_ISR);
+  //cantxa.start(cantx_ISR);
   
   printf("DONE: CAN Init\n\r");
  
@@ -230,7 +230,7 @@
  
   printf("Running!\n\r");
   
-  zero();
+  //zero();
   
   while(true)
   {