test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
can/can.cpp
- Committer:
- shimizuta
- Date:
- 2019-02-13
- Revision:
- 15:3fd1d5698d10
- Parent:
- 14:d7cb429946f4
- Child:
- 16:0069a56f11a3
File content as of revision 15:3fd1d5698d10:
#include "can.h" #include "mbed.h" #include "nhk19_can_info.h" #include "OneLeg.h" #include "pinnames.h" #include "splitData.h" CAN can(pin_can_rd,pin_can_td); void MakeCanRad(OneLeg leg0, OneLeg leg1, char *candata); void CanSend(OneLeg leg0, OneLeg leg1) { 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), }; int rad_multi[4]; for(int i= 0; i < 4; i++){ rad_multi[i] = rad[i] * kRadToData; Intobyte(rad_multi[i], kByteEachRad, candata, i*kByteEachRad); } }