Revision 4:98c0904b5ec7, committed 2018-06-26

Comitter:

RuslanUrya

Date:

Tue Jun 26 10:16:55 2018 +0000

Parent:

2:3eadad0761e9

Commit message:

filter on in "ReseiveServo"

Changed in this revision

--- a/MS9g_move_sin.cpp	Thu May 03 14:46:58 2018 +0000
+++ b/MS9g_move_sin.cpp	Tue Jun 26 10:16:55 2018 +0000
@@ -21,7 +21,7 @@
 }
     
 void Servo_9g_Move::NextSin(){
-        i += 0.1;
+        i += speed_inc;
         if (i > 2) i = 0;
         f = (sin(i * pi) + 1.0) / 2 + 1; //1..2
 }
@@ -71,16 +71,17 @@
 void Servo_9g_CAN::SendNextSin(){
     NextSin();
     float send = static_cast<float>(f);
-    can.write(CANMessage(1, (char*)&send, sizeof(send)));
+    can.write(CANMessage(2, (char*)&send, sizeof(send)));
 }
 
 bool Servo_9g_CAN::ReceiveServo(){
     if(can.read(msg)){
-        float rec;
-        memcpy(&rec, msg.data, sizeof(rec));
-//        Move((float)*msg.data);
-        Move(rec);
-        return true;
+        if (msg.id == 2){
+            float rec;
+            memcpy(&rec, msg.data, sizeof(rec));
+            Move(rec);
+            return true;
+        }
     }
     return false;
 }
@@ -88,4 +89,7 @@
     timer.attach(this, &Servo_9g_CAN::SendNextSin, val);
     
 }
+void Servo_9g_CAN::sendPosition(char id, float pos){
+    can.write(CANMessage(id, (char*)&pos, sizeof(pos)));
+}
 //end of class Servo_9g_CAN
\ No newline at end of file

--- a/MS9g_move_sin.h	Thu May 03 14:46:58 2018 +0000
+++ b/MS9g_move_sin.h	Tue Jun 26 10:16:55 2018 +0000
@@ -11,6 +11,7 @@
 #include "mbed.h"
 #define val 0.05 // percents in step / 100
 #define pi 3.141592653589793115997963468544185161590576171875
+#define speed_inc 0.20
 
 class Servo_9g{
     public:
@@ -61,6 +62,9 @@
     //for transmitting sine signal 1 Hz
     void SendSin();
     
+    //send position to the Sub
+    void sendPosition(char id, float pos);
+    
     //for receiving of signal and movement of servo
     //1- complite, 0- error
     bool ReceiveServo();
@@ -71,4 +75,5 @@
     private: //variables
     CAN can;
     CANMessage msg;
+    
 };