Team DIANA / Mbed OS Arm_stepper_SHOULDER

SHOULDER

Dependencies:   X-NUCLEO-IHM05A1

Files at this revision

API Documentation at this revision

Revision 23:3110010d98a0, committed 2019-04-06

Comitter:
gidiana
Date:
Sat Apr 06 14:51:15 2019 +0000
Parent:
22:137d1ef8d22d
Child:
24:37f139e067b2
Commit message:
fixx

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sat Apr 06 09:29:05 2019 +0000
+++ b/main.cpp	Sat Apr 06 14:51:15 2019 +0000
@@ -78,23 +78,23 @@
 }
 
 // CAN
-CAN can1(PA_11, PA_12);     // RX, TX
+CAN can1(PB_12, PB_13);     // RX, TX
 
 CANMessage messageIn;
 CANMessage messageOut;
 
-int filter = can1.filter(0x020, 0x4FF, CANStandard);
+int filter = can1.filter(0x010, 0x4FF, CANStandard);
 
 void canrx()
 {
   while(1)
   {    
-    if(can1.read(messageIn, filter))
+    if(can1.read(messageIn,filter)&&messageIn.id==0x010)
     {
       pose=messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24);
       printf("CAN: mess %d\n\r", pose);
       
-      /*
+      
       if (pose == 1) 
       {
         motor->run(StepperMotor::FWD);
@@ -115,9 +115,9 @@
         current_pose= motor->get_position();
         motor->go_to(current_pose);
       }
-      */
+      
       
-      motor->go_to(pose);
+     // motor->go_to(pose);
     }
   }
 }