SHOULDER
Dependencies: X-NUCLEO-IHM05A1
Diff: main.cpp
- Revision:
- 33:48196cd5c052
- Parent:
- 32:03c98e297a4a
- Child:
- 34:4be6353f0186
--- a/main.cpp Fri Sep 13 09:26:41 2019 +0000 +++ b/main.cpp Fri Sep 13 15:26:06 2019 +0000 @@ -154,10 +154,6 @@ led=status; printf("CAN send CURRENT POSITION Joint status %d : pose %f\t\n",status, pose); } - - - - } void cantx_ISR() { @@ -174,9 +170,10 @@ if(can1.read(messageIn)&&messageIn.id==gen_can_id(JOINT_SET_SPEED,SHOULDER)) { speed=messageIn.data[3] + (messageIn.data[2] << 8) + (messageIn.data[1] << 16) + (messageIn.data[0] << 24); - printf("CAN: mess received : %d\n\r", speed); + printf("CAN: mess received : %f\n\r", speed); current_speed=speed; + led = !led; if (current_speed>0) { @@ -232,7 +229,6 @@ motor->attach_error_handler(&motor_error_handler); - end0.rise(&end0_int_handler); end0.fall(&end0_int_handler_fall); end1.rise(&end1_int_handler); @@ -243,14 +239,11 @@ // CAN Initialization // zero(); - canrxa.start(canrx_ISR); //cantxa.start(cantx_ISR); printf("DONE: CAN Init\n\r"); - - printf("Running!\n\r"); //zero(); while(true)