Diff: can/can.cpp

Revision:

16:0069a56f11a3

Parent:

15:3fd1d5698d10

diff -r 3fd1d5698d10 -r 0069a56f11a3 can/can.cpp
--- 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