駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

Diff: main.cpp

Revision:
6:20a32baeff79
Parent:
4:cf1a4e503974
diff -r e678f1ac6cdc -r 20a32baeff79 main.cpp
--- a/main.cpp	Tue Dec 18 21:00:30 2018 +0000
+++ b/main.cpp	Tue Dec 18 21:51:13 2018 +0000
@@ -27,7 +27,10 @@
 
 //Create Odom instance
 Odom odom;
-    
+My_Can my_can(&odom);
+
+void attach_can_cb(void){ my_can.receive_cb(); }
+
 int main() {
     //Initialize TIM
     Timer GetTick;
@@ -41,9 +44,9 @@
     my_ros.set_subscliber(drift_sub);
     
     //Initialize CAN
-    My_Can my_can(&odom);
     my_can.initialize_amcl_attach(&my_ros, &My_Ros::enable_initialize_amcl);
     my_can.led_toggle_attach(&led1_toggle);
+    my_can.can_rx_it_cb(&attach_can_cb);
     
     //Initialize OLED
     I2C i2c(PB_4, PA_8);