Diff: recive.cpp

Revision:

4:d40399d8ae44

Parent:

3:94eac3bdfbf5

Child:

5:8ef69c6f3718

--- a/recive.cpp	Fri Mar 06 17:04:41 2020 +0000
+++ b/recive.cpp	Fri Mar 06 17:35:15 2020 +0000
@@ -177,7 +177,7 @@
             if (msg.data[2]==1){
                 errorcounter = 1;
                 perrorflag = 1;
-                //sendError();
+                sendError();
                 }
             if (msg.data[2]==0){
                 perrorflag = 0;
@@ -189,15 +189,6 @@
                 BrakeOff();
                 }
             pdagree = msg.data[0];
-            /*if(msg.data[0]<30){
-                pdagree = 30;
-                }
-            if(msg.data[0]>30){
-                pdagree = msg.data[0];
-                }*/
-            //pid.sample();
-            //pc.printf("Subthorttle is: %.4f\n\r", pdagree);
-            //pc.printf("Error is: %.4f\n\r", msg.data[2]);
             }
         if (!can1.read(msg)) {
             can.start();
@@ -205,8 +196,9 @@
         if (can.read() > 0.1) { // if message not recieved more then 0.1 sec send error
             can.stop();
             //can.reset();
+            errorcounter = 1;
             cantimeoutflag = 1;
-            //sendError();
+            sendError();
             }
         }
         
@@ -236,7 +228,6 @@
             }
         if (counter == 10) {
             mdagree = sumthorttle/10;
-            //getData();
             counter = 0;
             sumthorttle = 0;
             }
@@ -250,26 +241,16 @@
                 t.stop();
                 t.reset();
                 terrorflag = 1;
-                //sendError();
+                errorcounter = 1;
+                sendError();
                 }
             }
 }
 int main() {
     pc.baud(9600);
     pid.start();
-    //tpid.start();
     main_ticker.attach(readSensors, 0.0005);
-    //motor.attach(commandMotor, 0.0005);
     while(1){
-        /*if (cantimeoutflag = 1){
-            pc.printf(pc.printf("Canbus message timeout\n"););
-            }*/
-        //if (perrorflag == 1){
-            //myMotor.speed(0);
-            //pc.printf("Pedal sensor worng values\n");
-            //}
-        pc.printf("Pedal %.4f\n\r, Thorttle %.4f\n\r, subthorttle %.4f\n\r, counter %d\n\r", pdagree, mdagree, subThorttle, recievecounter);
-        
-        //wait(Ts);
+        pc.printf("Pedal: %.4f\n\n\r, Thorttle: %.4f\n\n\r, subthorttle: %.4f\n\n\r, recievecounter: %d\n\n\r, ThorttleErrorFlag: %d\n\n\r, PedalErrorFlag: %d\n\n\r, CanTimeoutFlag: %d\n\n\r", pdagree, mdagree, subThorttle, recievecounter, terrorflag, perrorflag, cantimeoutflag);
         }
 }
\ No newline at end of file