Diff: color.h

Revision:

0:77188ca200ce

Child:

3:04f6fe153dbc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/color.h	Wed Feb 24 04:23:37 2016 +0000
@@ -0,0 +1,52 @@
+#include "mbed.h"
+
+int blue,red,yellow,white_r,white_l,white_mr,white_ml,white_m;
+CAN can1(p30, p29);
+
+/*ＩＯ通信用*/
+DigitalIn blue_pin(p26);    
+DigitalIn white_pin(p27);
+
+unsigned char data,data_1; //char
+
+void judge_color(void){
+    CANMessage msg;
+    if(can1.read(msg)&&msg.id==1337) {
+            data=msg.data[0];
+            data_1=data;
+            if(data/128==1)white_l=1;
+            else white_l=0;
+            
+            data%=128;
+            if(data/64==1)white_ml=1;
+            else white_ml=0;
+            
+            data%=64;
+            if(data/32==1)white_m=1;
+            else white_m=0;
+            
+            data%=32;
+            if(data/16==1)white_mr=1;
+            else white_mr=0;
+            
+            data%=16;
+            if(data/8==1)white_r=1;
+            else white_r=0;
+            
+            data%=8;
+            if(data/4==1)yellow=1;
+            else yellow=0;
+            
+            data%=4;
+            if(data/2==1)blue=1;
+            else blue=0;
+            
+            data%=2;
+            if(data/1==1)red=1;
+            else red=0;
+        }
+       
+       /*ＩＯ通信*/ 
+        if(blue_pin==1)blue=1;
+        if(white_pin==1)white_m=1;
+    }
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