test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: can/can.cpp
- Revision:
- 16:0069a56f11a3
- Parent:
- 15:3fd1d5698d10
--- a/can/can.cpp Wed Feb 13 01:57:31 2019 +0000 +++ b/can/can.cpp Wed Feb 13 06:43:05 2019 +0000 @@ -1,25 +1,30 @@ #include "can.h" #include "mbed.h" -#include "nhk19_can_info.h" -#include "OneLeg.h" +#include "nhk19mr2_can_info.h" #include "pinnames.h" #include "splitData.h" -CAN can(pin_can_rd,pin_can_td); +CAN can(pin_can_rd, pin_can_td); void MakeCanRad(OneLeg leg0, OneLeg leg1, char *candata); -void CanSend(OneLeg leg0, OneLeg leg1) +void SendRad(OneLeg leg0, OneLeg leg1) { - char candata[kByteEachRad*4] = {}; + char candata[kByteEachRad * 4] = {}; MakeCanRad(leg0, leg1, candata); CANMessage msg(CANID_SERVO_RAD, candata, kByteCanSevoRad); can.write(msg); } void MakeCanRad(OneLeg leg0, OneLeg leg1, char *candata) { - float rad[4] = {leg0.GetRad(0), leg0.GetRad(1), leg1.GetRad(0), leg1.GetRad(1), }; + float rad[4] = { + leg0.GetRad(0), + leg0.GetRad(1), + leg1.GetRad(0), + leg1.GetRad(1), + }; int rad_multi[4]; - for(int i= 0; i < 4; i++){ + for (int i = 0; i < 4; i++) + { rad_multi[i] = rad[i] * kRadToData; - Intobyte(rad_multi[i], kByteEachRad, candata, i*kByteEachRad); + Intobyte(rad_multi[i], kByteEachRad, candata, i * kByteEachRad); } } \ No newline at end of file