nakao kanaki / Mbed 2 deprecated Eco_ziguzagu

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Dependencies:   mbed

color.h

Committer:
namikosaito
Date:
2016-02-29
Revision:
3:04f6fe153dbc
Parent:
0:77188ca200ce
Child:
5:f90bd93f8558

File content as of revision 3:04f6fe153dbc:

#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;
    }