T Nara / ikarashiMDC_can

ver CAN

Diff: ikarashiMDC.cpp

Revision:
8:626daa6d81ac
Parent:
6:342e3a4f4a8d
Parent:
7:a8fcb8df927a
Child:
9:12ea2a3883bb
--- a/ikarashiMDC.cpp	Tue Aug 29 17:03:29 2017 +0900
+++ b/ikarashiMDC.cpp	Thu Aug 31 18:06:19 2017 +0900
@@ -9,6 +9,7 @@
     addr = taddr;
     motorNum = tmotorNum;
     mode = tmode;
+    braking = false;
 }
 
 int ikarashiMDC::setSpeed(const double& speed)
@@ -25,7 +26,7 @@
     //printf("%d\n",dataSpeed);
     //set sending data
     data[0] = 255; //header
-    data[1] = (addr<<5) + motorNum + (mode<<4); //address
+    data[1] = (addr<<5) + motorNum + (mode<<4)+(braking<<3); //address
     data[2] = dataSpeed;
     //send data
     for(int i=0; i<3; i++) {