Revision 2:817bcbc3431e, committed 2019-03-07

Comitter:

la00noix

Date:

Thu Mar 07 03:01:12 2019 +0000

Parent:

1:d15f6e5eda54

Commit message:

a

Changed in this revision

--- a/User.cpp	Sat Mar 02 07:50:03 2019 +0000
+++ b/User.cpp	Thu Mar 07 03:01:12 2019 +0000
@@ -28,7 +28,7 @@
 DigitalIn in_left(p18);
 
 //Ticker can_ticker;  //タイマー割り込み
-char can_ashidata[3]= {0}; //CAN送信用の配列
+char can_ashidata[4]= {0}; //CAN送信用の配列
 char can_armdata[2]= {0};
 
 int can_ashidata0_01,can_ashidata0_2,can_ashidata0_34,can_ashidata0_5,can_ashidata0_6;
@@ -49,24 +49,19 @@
 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};
+int t1=0,t2=0,t3=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
-        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);
+    if(can1.write(CANMessage(1,can_ashidata,4))) {  //IDを1にして3バイト送信
+        printf("ashi[0],start&select=%d R1=%d RS=%d LS=%d TOGGLE=%d can_ashidata[3]=%d\n\r"
+               ,can_ashidata0_01,can_ashidata0_2,can_ashidata0_34,can_ashidata0_5,can_ashidata0_6,can_ashidata[3]);
     }
 
     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);
-    }
-
-    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;
@@ -76,38 +71,35 @@
     CANMessage msg;
 
     if(can1.read(msg)) {
-        canread_led = 1;
 
-        if(msg.id == 7) { //from ashi
+        if(msg.id == 4) {  //from ashi
             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];
+            t1 = msg.data[1];                //value of t
+            printf("[0]=%d t1=%d\n\r",msg.data[0],t1);
         }
 
-        /*if(msg.id == 11){
-            t3 = msg.data[0];
-        }*/
-
-        else {
-            canread_led = 0;
+        if(msg.id == 5) {  //from arm
+            t2 = msg.data[0];
+            canread_led = 1;
+            printf("t2 = %d\n\r",t2);
         }
+        
+    } else {
+        canread_led = 0;
+        printf("not read\n\r");
+    }
 
-        if(t2 >= t3) {
-            final_t[0] = t2;
-        } else if(t2 < t3) {
-            final_t[0] = t3;
-        }
+    if(t1 >= t2) {
+        can_ashidata[3] = t1;  //from ashi
+    } else if(t1 < t2) {
+        can_ashidata[3] = t2;  //from arm
     }
+
 }
+
 void UserLoopSetting()
 {
     in_right.mode(PullUp);
@@ -270,10 +262,10 @@
     }
 
     if(old_button3==0 &&now_button3==1 &&flag3==0) {
-        can_armdata0_4 = 0;
+        can_armdata0_4 = 1;
         flag3 = 1;
     } else if(old_button3==0 &&now_button3==1 &&flag3==1) {
-        can_armdata0_4 = 1;
+        can_armdata0_4 = 0;
         flag3 = 0;
     }
 
@@ -286,10 +278,10 @@
     }
 
     if(old_button4==0 &&now_button4==1 &&flag4==0) {
-        can_armdata0_5 = 0;
+        can_armdata0_5 = 1;
         flag4 = 1;
     } else if(old_button4==0 &&now_button4==1 &&flag4==1) {
-        can_armdata0_5 = 1;
+        can_armdata0_5 = 0;
         flag4 = 0;
     }
 
@@ -302,10 +294,10 @@
     }
 
     if(old_button5==0 &&now_button5==1 &&flag5==0) {
-        can_armdata0_6 = 0;
+        can_armdata0_6 = 1;
         flag5 = 1;
     } else if(old_button5==0 &&now_button5==1 &&flag5==1) {
-        can_armdata0_6 = 1;
+        can_armdata0_6 = 0;
         flag5 = 0;
     }
 
@@ -318,10 +310,10 @@
     }
 
     if(old_button6==0 &&now_button6==1 &&flag6==0) {
-        can_armdata0_7 = 0;
+        can_armdata0_7 = 1;
         flag6 = 1;
     } else if(old_button6==0 &&now_button6==1 &&flag6==1) {
-        can_armdata0_7 = 1;
+        can_armdata0_7 = 0;
         flag6 = 0;
     }
 
@@ -334,10 +326,10 @@
     }
 
     if(old_button7==0 &&now_button7==1 &&flag7==0) {
-        can_armdata1_0 = 0;
+        can_armdata1_0 = 1;
         flag7 = 1;
     } else if(old_button7==0 &&now_button7==1 &&flag7==1) {
-        can_armdata1_0 = 1;
+        can_armdata1_0 = 0;
         flag7 = 0;
     }