Diff: main.cpp

Revision:

1:16f48f8c7ad3

Parent:

0:14b95d68acf6

diff -r 14b95d68acf6 -r 16f48f8c7ad3 main.cpp
--- a/main.cpp	Thu May 10 15:08:30 2018 +0000
+++ b/main.cpp	Sat May 12 09:00:17 2018 +0000
@@ -3,8 +3,12 @@
 #include "libuavcan/libuavcan/include/uavcan/build_config.hpp" //All default configuration options
 #include "libuavcan/libuavcan_drivers/stm32/driver/include/uavcan_stm32/build_config.hpp" //OS detection; Any General-Purpose timer
 #include "libuavcan/libuavcan/include/uavcan/node/subscriber.hpp" //Subscriber class
+#include <uavcan/equipment/actuator/Command.hpp> //message type
+#include "stm32f103c8t6.h"
 
-#include <uavcan/equipment/actuator/Command.hpp> //message type
+
+static PwmOut servo(PA_8);
+void move ();
 
 extern uavcan::ICanDriver& getCanDriver();
 extern uavcan::ISystemClock& getSystemClock();
@@ -18,22 +22,32 @@
 }
 
 int main() {
+    confSysClock();
     auto& node = getNode();
     node.setNodeID(2);
     node.setName("Actuator");
     if (node.start() > 0){ //<>?
         //обработка ошибок запуска
     }
-    uavcan::Subscriber <uavcan::equipment::actuator::Command> sub(node); //define node to publisher
-    if (sub.start() > 0) { //инициализация паблишера
+    uavcan::Subscriber <uavcan::equipment::actuator::Command> sub(node); //define node to subscriber
+    if (sub.start(move) > 0) { //запуск чтения
         //обработка ошибок
     }
     
     node.setMoreOptional();
+    float input = 0;
     while(1) {
         if (node.spin(uavcan::MonotonicDuration::getInfinite()) < 0){
             //обработчик ошибок
         }
-        
     }
 }
+
+void move (const ReceivedDataStructure<DataType_>& msg){
+    static bool a = true;
+    if(a){
+        servo.period_ms(20);
+        a = false;
+    }
+    servo = (msg.command_value / pi) / 2 + 1 //лучше перевести это в коэффициент
+}
\ No newline at end of file