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3/18 操舵中央
Dependencies: mbed
Fork of Control_Main_Full_ver2 by
main.cpp@0:b1290ca6c4a2, 2016-02-13 (annotated)
- Committer:
- YusukeWakuta
- Date:
- Sat Feb 13 07:17:50 2016 +0000
- Revision:
- 0:b1290ca6c4a2
- Child:
- 1:65a3a2a4f535
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
YusukeWakuta | 0:b1290ca6c4a2 | 1 | //中央can program |
YusukeWakuta | 0:b1290ca6c4a2 | 2 | |
YusukeWakuta | 0:b1290ca6c4a2 | 3 | #include "mbed.h" |
YusukeWakuta | 0:b1290ca6c4a2 | 4 | #define WAIT_LOOP_TIME 0.1 |
YusukeWakuta | 0:b1290ca6c4a2 | 5 | #define YOKUTAN_DATAS_NUM 5 |
YusukeWakuta | 0:b1290ca6c4a2 | 6 | #define IMPUT_DATAS_NUM 2 |
YusukeWakuta | 0:b1290ca6c4a2 | 7 | #define SEND_DATAS_CAN_ID 100 |
YusukeWakuta | 0:b1290ca6c4a2 | 8 | |
YusukeWakuta | 0:b1290ca6c4a2 | 9 | CAN can_R(p9,p10); |
YusukeWakuta | 0:b1290ca6c4a2 | 10 | CAN can_L(p30,p29); |
YusukeWakuta | 0:b1290ca6c4a2 | 11 | Serial toKeikiSerial(p28,p27); |
YusukeWakuta | 0:b1290ca6c4a2 | 12 | Serial pc(USBTX,USBRX); |
YusukeWakuta | 0:b1290ca6c4a2 | 13 | DigitalIn eruron_R(p7); |
YusukeWakuta | 0:b1290ca6c4a2 | 14 | DigitalIn eruron_L(p7); |
YusukeWakuta | 0:b1290ca6c4a2 | 15 | DigitalIn drug_R(p8); |
YusukeWakuta | 0:b1290ca6c4a2 | 16 | DigitalIn drug_L(p8); |
YusukeWakuta | 0:b1290ca6c4a2 | 17 | DigitalOut myled1(LED1); |
YusukeWakuta | 0:b1290ca6c4a2 | 18 | DigitalOut myled2(LED2); |
YusukeWakuta | 0:b1290ca6c4a2 | 19 | |
YusukeWakuta | 0:b1290ca6c4a2 | 20 | signed char yokutanDatas_R[YOKUTAN_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 21 | signed char yokutanDatas_L[YOKUTAN_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 22 | char inputDatas_R[IMPUT_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 23 | char inputDatas_L[IMPUT_DATAS_NUM]; |
YusukeWakuta | 0:b1290ca6c4a2 | 24 | |
YusukeWakuta | 0:b1290ca6c4a2 | 25 | CANMessage recmsg_R(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM); |
YusukeWakuta | 0:b1290ca6c4a2 | 26 | CANMessage recmsg_L(SEND_DATAS_CAN_ID, inputDatas_R, IMPUT_DATAS_NUM); |
YusukeWakuta | 0:b1290ca6c4a2 | 27 | |
YusukeWakuta | 0:b1290ca6c4a2 | 28 | void InputAndSentControlValues_R(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 29 | inputDatas_R[0] = eruron_R; |
YusukeWakuta | 0:b1290ca6c4a2 | 30 | inputDatas_R[1] = drug_R; |
YusukeWakuta | 0:b1290ca6c4a2 | 31 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 32 | if(can_R.write(recmsg_R)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 33 | pc.printf("Right successed!\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 34 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 35 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 36 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 37 | |
YusukeWakuta | 0:b1290ca6c4a2 | 38 | void ledcheck_R() { |
YusukeWakuta | 0:b1290ca6c4a2 | 39 | myled1 = 1; |
YusukeWakuta | 0:b1290ca6c4a2 | 40 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 41 | myled1 = 0; |
YusukeWakuta | 0:b1290ca6c4a2 | 42 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 43 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 44 | |
YusukeWakuta | 0:b1290ca6c4a2 | 45 | void ledcheck_L() { |
YusukeWakuta | 0:b1290ca6c4a2 | 46 | myled2 = 1; |
YusukeWakuta | 0:b1290ca6c4a2 | 47 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 48 | myled2 = 0; |
YusukeWakuta | 0:b1290ca6c4a2 | 49 | wait(0.2); |
YusukeWakuta | 0:b1290ca6c4a2 | 50 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 51 | |
YusukeWakuta | 0:b1290ca6c4a2 | 52 | void InputAndSentControlValues_L(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 53 | inputDatas_L[0] = eruron_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 54 | inputDatas_L[1] = drug_L; |
YusukeWakuta | 0:b1290ca6c4a2 | 55 | for(int i = 0; i < IMPUT_DATAS_NUM; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 56 | if(can_L.write(recmsg_L)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 57 | pc.printf("Left successed!\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 58 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 59 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 60 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 61 | |
YusukeWakuta | 0:b1290ca6c4a2 | 62 | void SendDarasToKeiki(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 63 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 64 | toKeikiSerial.putc(yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 65 | toKeikiSerial.putc(yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 66 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 67 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 68 | |
YusukeWakuta | 0:b1290ca6c4a2 | 69 | void toString_R(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 70 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 71 | pc.printf("R : %i:",yokutanDatas_R[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 72 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 73 | pc.printf("\t"); |
YusukeWakuta | 0:b1290ca6c4a2 | 74 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 75 | |
YusukeWakuta | 0:b1290ca6c4a2 | 76 | void toString_L(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 77 | for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 78 | pc.printf("L : %i:",yokutanDatas_L[i]); |
YusukeWakuta | 0:b1290ca6c4a2 | 79 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 80 | pc.printf("\n\r"); |
YusukeWakuta | 0:b1290ca6c4a2 | 81 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 82 | |
YusukeWakuta | 0:b1290ca6c4a2 | 83 | void init(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 84 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 85 | |
YusukeWakuta | 0:b1290ca6c4a2 | 86 | |
YusukeWakuta | 0:b1290ca6c4a2 | 87 | void receiveDatas(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 88 | if(can_R.read(recmsg_R)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 89 | ledcheck_R(); |
YusukeWakuta | 0:b1290ca6c4a2 | 90 | for(int i = 0; i < recmsg_R.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 91 | yokutanDatas_R[i] = recmsg_R.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 92 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 93 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 94 | if(can_L.read(recmsg_L)){ |
YusukeWakuta | 0:b1290ca6c4a2 | 95 | ledcheck_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 96 | for(int i = 0; i < recmsg_L.len; i++){ |
YusukeWakuta | 0:b1290ca6c4a2 | 97 | yokutanDatas_L[i] = recmsg_L.data[i]; |
YusukeWakuta | 0:b1290ca6c4a2 | 98 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 99 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 100 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 101 | |
YusukeWakuta | 0:b1290ca6c4a2 | 102 | |
YusukeWakuta | 0:b1290ca6c4a2 | 103 | int main(){ |
YusukeWakuta | 0:b1290ca6c4a2 | 104 | init(); |
YusukeWakuta | 0:b1290ca6c4a2 | 105 | while(1){ |
YusukeWakuta | 0:b1290ca6c4a2 | 106 | InputAndSentControlValues_R(); |
YusukeWakuta | 0:b1290ca6c4a2 | 107 | InputAndSentControlValues_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 108 | wait_us(10); |
YusukeWakuta | 0:b1290ca6c4a2 | 109 | receiveDatas(); |
YusukeWakuta | 0:b1290ca6c4a2 | 110 | toString_R(); |
YusukeWakuta | 0:b1290ca6c4a2 | 111 | toString_L(); |
YusukeWakuta | 0:b1290ca6c4a2 | 112 | wait(WAIT_LOOP_TIME); |
YusukeWakuta | 0:b1290ca6c4a2 | 113 | } |
YusukeWakuta | 0:b1290ca6c4a2 | 114 | } |