Diff: main.cpp

Revision:

0:b1290ca6c4a2

Child:

1:65a3a2a4f535

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Feb 13 07:17:50 2016 +0000
@@ -0,0 +1,114 @@
+//中央can program
+
+#include "mbed.h"
+#define WAIT_LOOP_TIME 0.1
+#define YOKUTAN_DATAS_NUM 5
+#define IMPUT_DATAS_NUM 2
+#define SEND_DATAS_CAN_ID 100
+
+CAN can_R(p9,p10);
+CAN can_L(p30,p29);
+Serial toKeikiSerial(p28,p27);
+Serial pc(USBTX,USBRX);
+DigitalIn eruron_R(p7);
+DigitalIn eruron_L(p7);
+DigitalIn drug_R(p8);
+DigitalIn drug_L(p8);
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+
+signed char yokutanDatas_R[YOKUTAN_DATAS_NUM];
+signed char yokutanDatas_L[YOKUTAN_DATAS_NUM];
+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_R, IMPUT_DATAS_NUM);
+
+void InputAndSentControlValues_R(){
+    inputDatas_R[0] = eruron_R;
+    inputDatas_R[1] = drug_R;
+    for(int i = 0; i < IMPUT_DATAS_NUM; i++){
+        if(can_R.write(recmsg_R)){
+            pc.printf("Right successed!\n\r");
+        }
+    }
+}
+
+void ledcheck_R() {
+        myled1 = 1;
+        wait(0.2);
+        myled1 = 0;
+        wait(0.2);
+}
+
+void ledcheck_L() {
+        myled2 = 1;
+        wait(0.2);
+        myled2 = 0;
+        wait(0.2);
+}
+
+void InputAndSentControlValues_L(){
+    inputDatas_L[0] = eruron_L;
+    inputDatas_L[1] = drug_L;
+    for(int i = 0; i < IMPUT_DATAS_NUM; i++){
+        if(can_L.write(recmsg_L)){
+            pc.printf("Left successed!\n\r");
+        }
+    }
+}
+
+void SendDarasToKeiki(){
+    for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){
+        toKeikiSerial.putc(yokutanDatas_R[i]);
+        toKeikiSerial.putc(yokutanDatas_L[i]);
+    }
+}
+
+void toString_R(){
+    for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){
+        pc.printf("R : %i:",yokutanDatas_R[i]);
+    }
+    pc.printf("\t");
+}
+
+void toString_L(){
+    for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){
+        pc.printf("L : %i:",yokutanDatas_L[i]);
+    }
+    pc.printf("\n\r");
+}
+
+void init(){
+}
+
+
+void receiveDatas(){
+    if(can_R.read(recmsg_R)){
+        ledcheck_R();
+        for(int i = 0; i < recmsg_R.len; i++){
+            yokutanDatas_R[i] = 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];
+        }
+    }
+}
+
+
+int main(){
+    init();
+    while(1){
+        InputAndSentControlValues_R();
+        InputAndSentControlValues_L();
+        wait_us(10);
+        receiveDatas();
+        toString_R();
+        toString_L();
+        wait(WAIT_LOOP_TIME);
+    }
+}
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