Revision 71:a00561d455d1, committed 2017-10-21

Comitter:

tsumagari

Date:

Sat Oct 21 06:52:10 2017 +0000

Branch:

mpu????????

Parent:

70:7da315abec17

Child:

72:aef1ec8c66c7

Commit message:

can??????????servoOff????????

Changed in this revision

--- a/main.cpp	Fri Sep 29 09:17:11 2017 +0000
+++ b/main.cpp	Sat Oct 21 06:52:10 2017 +0000
@@ -44,14 +44,15 @@
 I2C ina226_i2c(p28,p27);
 INA226 VCmonitor(ina226_i2c);
 PwmOut drugServo(p23);
-PwmOut eruronServo(p24);
+PwmOut eruronServo(p25);
 DigitalOut led1(LED1);
 AnalogIn setDeg10(p20);
 AnalogIn setDeg1(p19);
-DigitalIn IsRPin(p11,PullDown);
-DigitalIn InSetModePin(p12,PullDown);
-DigitalIn EDstatePin(p14,PullDown);
-DigitalIn TrimMaxDegPin(p15,PullDown);
+DigitalIn IsRPin(p13,PullDown);
+DigitalIn InSetModePin(p14,PullDown);
+DigitalIn EDstatePin(p15,PullDown);
+DigitalIn TrimMaxDegPin(p16,PullDown);
+DigitalOut servoOff(p17);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
 DigitalOut led4(LED4);
@@ -289,15 +290,17 @@
     }
 //    toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100);
     toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V;
+    pc.printf("test\n\r");
 }
 
 void receiveDatas()
 {
     if(can.read(recmsg)) {              //ここの中でpc.printfすると重すぎて固まるので注意
-        for(int i = 0; i < 5; i++) {
+        for(int i = 0; i < CONTROL_VALUES_NUM; i++) {
             floatValues[i] = recmsg.data[i];
         }
         drugInput = recmsg.data[5]- '0';
+        servoOff = recmsg.data[6]-'0';
         eruronfloat = atof(floatValues);
         led1 = !led1;
     }
@@ -373,7 +376,8 @@
         led4 = 0;
         led2 = 0;
         receiveDatas();
-//        sendDatas();
+        sendDatas();
+        pc.printf("V:%f\n\r",V);
         WriteServo();
         updateDatas();
         led3 = !led3;