Revision 33:48196cd5c052, committed 2019-09-13

Comitter:

stebonicelli

Date:

Fri Sep 13 15:26:06 2019 +0000

Parent:

32:03c98e297a4a

Child:

34:4be6353f0186

Commit message:

Led toggling

Changed in this revision

--- 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)