Diff: User.cpp

Revision:

1:d15f6e5eda54

Parent:

0:798b73e805d9

Child:

2:817bcbc3431e

--- a/User.cpp	Mon Feb 25 01:56:32 2019 +0000
+++ b/User.cpp	Sat Mar 02 07:50:03 2019 +0000
@@ -32,8 +32,8 @@
 char can_armdata[2]= {0};
 
 int can_ashidata0_01,can_ashidata0_2,can_ashidata0_34,can_ashidata0_5,can_ashidata0_6;
-int can_armdata0_01,can_armdata0_23,can_armdata0_4,can_armdata0_5,can_armdata0_6,can_armdata0_7;
-int can_armdata1_0,can_armdata1_12;
+int can_armdata0_01=0,can_armdata0_23=0,can_armdata0_4=0,can_armdata0_5=0,can_armdata0_6=0,can_armdata0_7=0;
+int can_armdata1_0=0,can_armdata1_12=0,can_armdata1_34=0;
 int old_select_state,now_select_state,old_start_state,now_start_state,state_count;
 
 double alpha1,alpha2;
@@ -49,18 +49,24 @@
 int old_button8,now_button8;
 int flag1,flag2,flag3,flag4,flag5,flag6,flag7,flag8;
 
+int t1 = 0, t2 = 0, t3 = 0;
+char final_t[1] = {0};
+
 void can_sendread()  //割込み使ってない
 {
     if(can1.write(CANMessage(1,can_ashidata,3))) {  //IDを1にして3バイト送信
-        cansend_led = 1;
         printf("ashi[0],start&select=%d R1=%d RS=%d LS=%d TOGGLE=%d\n\r"
-        ,can_ashidata0_01,can_ashidata0_2,can_ashidata0_34,can_ashidata0_5,can_ashidata0_6);
+               ,can_ashidata0_01,can_ashidata0_2,can_ashidata0_34,can_ashidata0_5,can_ashidata0_6);
     }
 
     if(can1.write(CANMessage(2,can_armdata,2))) {  //IDを2にして2バイト送信
         cansend_led = 1;
         printf("arm,CIRCLE=%d CROSS=%d SQUARE=%d TRIANGEL=%d RIGHT=%d DOWN=%d UP=%d LEFT=%d\n\r"
-        ,can_armdata0_01,can_armdata0_23,can_armdata0_4,can_armdata0_5,can_armdata0_6,can_armdata0_7,can_armdata1_0,can_armdata1_12);
+               ,can_armdata0_01,can_armdata0_23,can_armdata0_4,can_armdata0_5,can_armdata0_6,can_armdata0_7,can_armdata1_0,can_armdata1_12);
+    }
+
+    if(can1.write(CANMessage(8,final_t,1))) {  //IDを8にして1バイト送信
+        cansend_led = 1;
 
     } else {
         cansend_led = 0;
@@ -73,17 +79,37 @@
         canread_led = 1;
 
         if(msg.id == 7) { //from ashi
-            checkled1 = (msg.data[0]>>7 | 00000001);  //-1<now_angle<1 off/on(0 or 1)
-            checkled2 = (msg.data[0]>>6 | 00000001);  //350<now_angle off/on(0 or 1)
-            checkled3 = (msg.data[0]>>5 | 00000001);  //-1<now_x<1 off/on(0 or 1)
-            checkled4 = (msg.data[0]>>4 | 00000001);  //-1<now_y<1 off/on(0 or 1)
+            checkled1 = (msg.data[0]>>7)%2;  //-1<now_angle<1 off/on(0 or 1)
+            checkled2 = (msg.data[0]>>6)%2;  //350<now_angle off/on(0 or 1)
+            checkled3 = (msg.data[0]>>5)%2;  //-1<now_x<1 off/on(0 or 1)
+            checkled4 = (msg.data[0]>>4)%2;  //-1<now_y<1 off/on(0 or 1)
+        }
+
+        if(msg.id == 9) {
+            t1 = msg.data[0];
+        }
+
+        if(msg.id == 10) {
+            t2 = msg.data[0];
+        }
+
+        /*if(msg.id == 11){
+            t3 = msg.data[0];
+        }*/
+
+        else {
+            canread_led = 0;
+        }
+
+        if(t2 >= t3) {
+            final_t[0] = t2;
+        } else if(t2 < t3) {
+            final_t[0] = t3;
         }
     }
 }
-
 void UserLoopSetting()
 {
-
     in_right.mode(PullUp);
     in_left.mode(PullUp);
 
@@ -147,16 +173,19 @@
         fullcolor_r = 1;
         fullcolor_b = 1;
         can_ashidata0_01 = 2;
+        can_armdata1_34 = 2;
     } else if(state_count<0) { //auto mode
         fullcolor_g = 1;  //green
         fullcolor_r = 0;
         fullcolor_b = 0;
         can_ashidata0_01 = 1;
+        can_armdata1_34 = 1;
     } else { //wait mode
         fullcolor_g = 0.5;  //orange
         fullcolor_r = 1;
         fullcolor_b = 0;
         can_ashidata0_01 = 0;
+        can_armdata1_34 = 0;
     }
 
 //-----ジョイスティック&ボタン入力をCANで送る----------------------------------------------------------------------------------------------//
@@ -338,8 +367,8 @@
     }
 
     can_armdata[0] = (can_armdata0_01<<6 | can_armdata0_23<<4 | can_armdata0_4<<3 | can_armdata0_5<<2 | can_armdata0_6<<1 | can_armdata0_7);
-    can_armdata[1] = (can_armdata1_0<<7 | can_armdata1_12<<5);
-    //printf("%d,%d,%d",can_ashidata[0],can_armdata[0],can_armdata[1]);
+    can_armdata[1] = (can_armdata1_0<<7 | can_armdata1_12<<5 | can_armdata1_34<<3);
+    //printf("datasend %d,%d,%d",can_ashidata[0],can_armdata[0],can_armdata[1]);