6/8 操舵中央 ピッチ操作追加版
Dependencies: mbed
Fork of Souda_Main_ver3 by
Diff: main.cpp
- Revision:
- 3:0e66ce2ab2fb
- Parent:
- 2:9dc7d5f1e910
- Child:
- 4:4a13dd263a7b
--- a/main.cpp Tue Feb 16 09:50:45 2016 +0000 +++ b/main.cpp Wed Feb 17 01:58:07 2016 +0000 @@ -1,7 +1,7 @@ //中央can program #include "mbed.h" -#define WAIT_LOOP_TIME 1 +#define WAIT_LOOP_TIME 0.2 #define YOKUTAN_DATAS_NUM 5 #define IMPUT_DATAS_NUM 2 #define SEND_DATAS_CAN_ID 100 @@ -10,12 +10,10 @@ CAN can_L(p30,p29); Serial toKeikiSerial(p28,p27); Serial pc(USBTX,USBRX); -//DigitalIn eruron_R(p7); -//DigitalIn eruron_L(p7); -int eruron_R = 0; -int eruron_L = 0; -DigitalIn drug_R(p8); -DigitalIn drug_L(p8); +DigitalIn eruron_R(p20); +DigitalIn eruron_L(p22); +DigitalIn drug_R(p19); +DigitalIn drug_L(p23); DigitalOut myled1(LED1); DigitalOut myled2(LED2); @@ -24,15 +22,17 @@ char inputDatas_R[IMPUT_DATAS_NUM]; char inputDatas_L[IMPUT_DATAS_NUM]; -CANMessage recmsg_R(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM); -CANMessage recmsg_L(SEND_DATAS_CAN_ID, inputDatas_L, IMPUT_DATAS_NUM); +CANMessage recmsg_R; +CANMessage recmsg_L; void InputAndSentControlValues_R(){ - inputDatas_R[0] = 1 - inputDatas_R[0]; - inputDatas_R[1] = 1 - inputDatas_R[1]; + inputDatas_R[0] = (char)drug_R; + inputDatas_R[1] = (char)eruron_R; + // pc.printf("R : %d\t%d\t",drug_R.read(),eruron_R.read()); //for(int i = 0; i < IMPUT_DATAS_NUM; i++){ - if(can_R.write(recmsg_R)){ - pc.printf("Right successed!\n\r"); + if(can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM))){ + // pc.printf("Right successed!\n\r"); + } //} } @@ -51,27 +51,13 @@ wait(0.2); } -void servo_check(){ - int counter = 0; - counter++; - if(counter >= 170) - counter = 0; - if(counter >= 20){ - eruron_R = 1; - eruron_L = 1; - } - else{ - eruron_R = 0; - eruron_L = 0; - } -} - void InputAndSentControlValues_L(){ - inputDatas_L[0] = 1 - inputDatas_L[0]; - inputDatas_L[1] = 1 - inputDatas_L[1]; + inputDatas_L[0] = (char)drug_L; + inputDatas_L[1] = (char)eruron_L; + pc.printf("L : %d\t%d\n\r",drug_L.read(),eruron_L.read()); //for(int i = 0; i < IMPUT_DATAS_NUM; i++){ - if(can_L.write(recmsg_L)){ - pc.printf("Left successed!\n\r"); + if(can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, IMPUT_DATAS_NUM))){ + // pc.printf("Left successed!\n\r"); } //} } @@ -89,9 +75,9 @@ pc.printf("%i:",yokutanDatas_R[i]); } for(int i = 0; i < IMPUT_DATAS_NUM; i++){ - pc.printf("%d:%d",i,inputDatas_R[i]); + // pc.printf("%d:%d",i,inputDatas_R[i]); } - pc.printf("\t"); + // pc.printf("\t"); } void toString_L(){ @@ -115,12 +101,14 @@ ledcheck_R(); for(int i = 0; i < recmsg_R.len; i++){ yokutanDatas_R[i] = recmsg_R.data[i]; + // pc.printf("R : %d , %d\t",recmsg_R.data[i]); } } if(can_L.read(recmsg_L)){ ledcheck_L(); for(int i = 0; i < recmsg_L.len; i++){ yokutanDatas_L[i] = recmsg_L.data[i]; + // pc.printf("L : %d , %d\t",recmsg_L.data[i]); } } }