Kanta Takasu / Mbed 2 deprecated YUKA_ak_home

tks

Dependencies:   mbed HCSR04

main.cpp@4:e1aa0b348aeb, 2021-12-19 (annotated)

Committer:
tks1
Date:
Sun Dec 19 15:43:05 2021 +0000
Revision:
4:e1aa0b348aeb
Parent:
3:c39c14cfc811 
sonic print; front onry

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ngokystk 0:b4b94eb28093 1 //2021/12/18更新
ngokystk 0:b4b94eb28093 2 //YUKA本番機用プログラム
ngokystk 0:b4b94eb28093 3 //入力切替確認済み
ngokystk 0:b4b94eb28093 4 //一定時間の入力なしで動作切替
ngokystk 0:b4b94eb28093 5 //ジグザグ動作実装前
ngokystk 0:b4b94eb28093 6 //エンコーダ読み取りによる入力
ngokystk 0:b4b94eb28093 7 //加減速度調整パラメータ実装
ngokystk 0:b4b94eb28093 8 //PID制御による機体角度補正_
Tomo1213 3:c39c14cfc811 9 //aoki
Tomo1213 1:b2bd1511307e 10
ngokystk 0:b4b94eb28093 11 #include "mbed.h"
ngokystk 0:b4b94eb28093 12 #include "hcsr04.h"
ngokystk 0:b4b94eb28093 13
Tomo1213 1:b2bd1511307e 14 #define ACC_B 1000
Tomo1213 1:b2bd1511307e 15 #define DEC_B 700
Tomo1213 1:b2bd1511307e 16 #define ACC_C 1000
Tomo1213 1:b2bd1511307e 17 #define DEC_C 1000
ngokystk 0:b4b94eb28093 18
Tomo1213 1:b2bd1511307e 19 #define KICK 2000
Tomo1213 1:b2bd1511307e 20
Tomo1213 3:c39c14cfc811 21
Tomo1213 3:c39c14cfc811 22
ngokystk 0:b4b94eb28093 23 DigitalOut led1(LED1);
ngokystk 0:b4b94eb28093 24 DigitalOut led2(LED2);
ngokystk 0:b4b94eb28093 25 DigitalOut led3(LED3);
ngokystk 0:b4b94eb28093 26 DigitalOut led4(LED4);
Tomo1213 1:b2bd1511307e 27
ngokystk 0:b4b94eb28093 28 Timer t;
ngokystk 0:b4b94eb28093 29 double Time = 0;
ngokystk 0:b4b94eb28093 30 #define Standby_Time 10
ngokystk 0:b4b94eb28093 31 Serial pc(USBTX, USBRX);
ngokystk 0:b4b94eb28093 32 char Serialdata;
ngokystk 0:b4b94eb28093 33 BusOut myled(LED1, LED2, LED3, LED4);
Tomo1213 1:b2bd1511307e 34
ngokystk 0:b4b94eb28093 35 //HCSR04 u1(p13, p14), u2(p11, p12), u3(p23, p24), u4(p25, p26); // Trigger(DO), Echo(PWMIN); LPC1768
ngokystk 0:b4b94eb28093 36 HCSR04 u1(PA_0, PA_1),u2(PA_5, PA_6),u3(PB_0, PA_10); // Trigger(DO), Echo(PWMIN); f303k8
Tomo1213 1:b2bd1511307e 37
ngokystk 0:b4b94eb28093 38 CANMessage canmsgTx;
ngokystk 0:b4b94eb28093 39 CANMessage canmsgRx;
ngokystk 0:b4b94eb28093 40 //CAN canPort(p30, p29); //CAN name(PinName rd, PinName td) LPC1768
ngokystk 0:b4b94eb28093 41 CAN canPort(PA_11, PA_12); //CAN name(PinName rd, PinName td) F303k8
Tomo1213 1:b2bd1511307e 42
ngokystk 0:b4b94eb28093 43 //プロトタイプ宣言
ngokystk 0:b4b94eb28093 44 //------------------send関数-------------------
ngokystk 0:b4b94eb28093 45 //mode Setting
ngokystk 0:b4b94eb28093 46 void sendOPModeT(int); //Operating Mode
ngokystk 0:b4b94eb28093 47 void sendOPModeV(int); //Operating Mode
ngokystk 0:b4b94eb28093 48 //Control Word
ngokystk 0:b4b94eb28093 49 void sendCtrlRS(int); //Reset
ngokystk 0:b4b94eb28093 50 void sendCtrlSD(int); //Shutdown
ngokystk 0:b4b94eb28093 51 void sendCtrlEN(int); //Switch on & Enable
ngokystk 0:b4b94eb28093 52 void sendCtrlQS(int); //Quick Stop
ngokystk 0:b4b94eb28093 53 void sendCtrlHL(int); //Halt
ngokystk 0:b4b94eb28093 54 //Velocity Setting
ngokystk 0:b4b94eb28093 55 void sendTgtVel(int,int); //Target Velocity
ngokystk 0:b4b94eb28093 56 //Torque Setting
ngokystk 0:b4b94eb28093 57 void sendTgtTrq(int,int); //Target Torque
ngokystk 0:b4b94eb28093 58 //Acceleration Setting
ngokystk 0:b4b94eb28093 59 void sendProAcc(int,int); //Plof Acceleration
ngokystk 0:b4b94eb28093 60 void sendProDec(int,int); //Plof Deceleration
ngokystk 0:b4b94eb28093 61 //------------------read関数-------------------
ngokystk 0:b4b94eb28093 62 void readActVel(int); //Actual Velocity
ngokystk 0:b4b94eb28093 63 void readActPos(int); //Actual Position
ngokystk 0:b4b94eb28093 64 //-------------------その他--------------------
ngokystk 0:b4b94eb28093 65 void printCANTX(void); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 66 void printCANRX(void); //CAN受信データをPCに表示
ngokystk 0:b4b94eb28093 67 void CANdataRX(void); //CAN受信処理
ngokystk 0:b4b94eb28093 68 void SerialRX(void); //Serial受信処理
Tomo1213 1:b2bd1511307e 69 //---------------------------------------------
Tomo1213 1:b2bd1511307e 70 void set_ACC(int);
Tomo1213 1:b2bd1511307e 71 void set_DEC(int);
Tomo1213 1:b2bd1511307e 72 void set_MODE_V(void);
Tomo1213 1:b2bd1511307e 73 void set_MODE_T(void);
ngokystk 0:b4b94eb28093 74
ngokystk 0:b4b94eb28093 75 int nodeall=4;
Tomo1213 1:b2bd1511307e 76
ngokystk 0:b4b94eb28093 77 int main(){
ngokystk 0:b4b94eb28093 78 //Serial
ngokystk 0:b4b94eb28093 79 pc.attach(SerialRX);
ngokystk 0:b4b94eb28093 80 //pc.baud(115200);
ngokystk 0:b4b94eb28093 81
ngokystk 0:b4b94eb28093 82 //CAN
ngokystk 0:b4b94eb28093 83 canPort.frequency(1000000); //Bit Rate:1MHz
ngokystk 0:b4b94eb28093 84 canPort.attach(CANdataRX,CAN::RxIrq);
ngokystk 0:b4b94eb28093 85 int node1 = 1; //CAN node Setting
ngokystk 0:b4b94eb28093 86 int node2 = 2;
ngokystk 0:b4b94eb28093 87 int node3 = 3;
ngokystk 0:b4b94eb28093 88 int node4 = 4;
ngokystk 0:b4b94eb28093 89
Tomo1213 3:c39c14cfc811 90 //モータ回転数
Tomo1213 3:c39c14cfc811 91 int rpm = 600;
Tomo1213 3:c39c14cfc811 92
ngokystk 0:b4b94eb28093 93 //各モータ回転数
Tomo1213 3:c39c14cfc811 94 int rpm1 = rpm; //Velocity Setting[rpm]
Tomo1213 3:c39c14cfc811 95 int rpm2 = rpm; //Velocity Setting[rpm]
Tomo1213 3:c39c14cfc811 96 int rpm3 = rpm; //Velocity Setting[rpm]
Tomo1213 3:c39c14cfc811 97 int rpm4 = rpm; //Velocity Setting[rpm]
ngokystk 0:b4b94eb28093 98
ngokystk 0:b4b94eb28093 99 //エンコーダ関係
ngokystk 0:b4b94eb28093 100 int ActPos = 0;
ngokystk 0:b4b94eb28093 101 int Init_Pos = 0;
ngokystk 0:b4b94eb28093 102
ngokystk 0:b4b94eb28093 103 //超音波センサ関係パラメータ
Tomo1213 3:c39c14cfc811 104 int max_rpm = rpm + 200;
Tomo1213 3:c39c14cfc811 105 int min_rpm = rpm -200;
ngokystk 0:b4b94eb28093 106 int wall_distance = 0;
ngokystk 0:b4b94eb28093 107 int dist1, dist2,dist3, dist4;
ngokystk 0:b4b94eb28093 108
ngokystk 0:b4b94eb28093 109
ngokystk 0:b4b94eb28093 110 //PID制御関係
ngokystk 0:b4b94eb28093 111 //角度調整パラメータ
ngokystk 0:b4b94eb28093 112 int p1, i1, d1;
ngokystk 0:b4b94eb28093 113 int error_before1 = 0;
ngokystk 0:b4b94eb28093 114 int error_now1 = 0;
ngokystk 0:b4b94eb28093 115 int feedback_val1;
ngokystk 0:b4b94eb28093 116 int integral1;
ngokystk 0:b4b94eb28093 117 int pid_sum1;
ngokystk 0:b4b94eb28093 118 #define DELTA_T1 0.1
ngokystk 0:b4b94eb28093 119 #define target_val1 0
ngokystk 0:b4b94eb28093 120 #define Kp1 3
ngokystk 0:b4b94eb28093 121 #define Ki1 0
ngokystk 0:b4b94eb28093 122 #define Kd1 0
Tomo1213 1:b2bd1511307e 123
ngokystk 0:b4b94eb28093 124 pc.printf("YUKA PROGRAM START\r\n");
ngokystk 0:b4b94eb28093 125 wait(0.1);
ngokystk 0:b4b94eb28093 126 //-------------起動時に必ず送信---------------
ngokystk 0:b4b94eb28093 127 //オペレーティングモードを送信
Tomo1213 3:c39c14cfc811 128 sendOPModeT(node1);
Tomo1213 3:c39c14cfc811 129 sendOPModeT(node2);
Tomo1213 3:c39c14cfc811 130 sendOPModeT(node3);
Tomo1213 3:c39c14cfc811 131 sendOPModeT(node4);
Tomo1213 3:c39c14cfc811 132
ngokystk 0:b4b94eb28093 133 //Shutdown,Enableコマンド送信｜リセット
ngokystk 0:b4b94eb28093 134 sendCtrlSD(node1);
ngokystk 0:b4b94eb28093 135 sendCtrlSD(node2);
ngokystk 0:b4b94eb28093 136 sendCtrlSD(node3);
ngokystk 0:b4b94eb28093 137 sendCtrlSD(node4);
Tomo1213 1:b2bd1511307e 138
ngokystk 0:b4b94eb28093 139 sendCtrlEN(node1);
ngokystk 0:b4b94eb28093 140 sendCtrlEN(node2);
ngokystk 0:b4b94eb28093 141 sendCtrlEN(node3);
ngokystk 0:b4b94eb28093 142 sendCtrlEN(node4);
ngokystk 0:b4b94eb28093 143
ngokystk 0:b4b94eb28093 144 //初期加減速度
Tomo1213 3:c39c14cfc811 145 int Acc = 2000;
Tomo1213 3:c39c14cfc811 146 int Dec = 2000;
Tomo1213 3:c39c14cfc811 147
Tomo1213 3:c39c14cfc811 148 sendProAcc(1,Acc);
Tomo1213 3:c39c14cfc811 149 sendProAcc(2,Acc);
Tomo1213 3:c39c14cfc811 150 sendProAcc(3,Acc);
Tomo1213 3:c39c14cfc811 151 sendProAcc(4,Acc);
Tomo1213 3:c39c14cfc811 152
Tomo1213 3:c39c14cfc811 153 sendProDec(1,Dec);
Tomo1213 3:c39c14cfc811 154 sendProDec(2,Dec);
Tomo1213 3:c39c14cfc811 155 sendProDec(3,Dec);
Tomo1213 3:c39c14cfc811 156 sendProDec(4,Dec);
Tomo1213 3:c39c14cfc811 157
ngokystk 0:b4b94eb28093 158 //トルク設定
ngokystk 0:b4b94eb28093 159 int trq = 100; //torque Setting[mA]
ngokystk 0:b4b94eb28093 160
ngokystk 0:b4b94eb28093 161 sendTgtTrq(1,trq);
ngokystk 0:b4b94eb28093 162 sendTgtTrq(2,trq);
ngokystk 0:b4b94eb28093 163 sendTgtTrq(3,trq);
ngokystk 0:b4b94eb28093 164 sendTgtTrq(4,trq);
Tomo1213 1:b2bd1511307e 165
Tomo1213 1:b2bd1511307e 166 while(1){
Tomo1213 1:b2bd1511307e 167
Tomo1213 1:b2bd1511307e 168 ActPos = 0;
Tomo1213 1:b2bd1511307e 169 Init_Pos = 0;
tks1 4:e1aa0b348aeb 170 dist1 = 0;
Tomo1213 1:b2bd1511307e 171 readActPos(1);
Tomo1213 1:b2bd1511307e 172 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 1:b2bd1511307e 173 if(ActPos > 8388608){
Tomo1213 1:b2bd1511307e 174 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
ngokystk 0:b4b94eb28093 175 }
Tomo1213 1:b2bd1511307e 176 Init_Pos = ActPos;//起動時の角度を保存
ngokystk 0:b4b94eb28093 177 t.reset();
ngokystk 0:b4b94eb28093 178 t.start();
Tomo1213 1:b2bd1511307e 179
ngokystk 0:b4b94eb28093 180 while(1){
ngokystk 0:b4b94eb28093 181
Tomo1213 1:b2bd1511307e 182 Time = t.read();
ngokystk 0:b4b94eb28093 183
Tomo1213 1:b2bd1511307e 184 readActPos(1);
Tomo1213 1:b2bd1511307e 185 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 1:b2bd1511307e 186 if(ActPos > 8388608){
Tomo1213 1:b2bd1511307e 187 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
ngokystk 0:b4b94eb28093 188 //printf("check\r\n");
Tomo1213 1:b2bd1511307e 189 }
tks1 4:e1aa0b348aeb 190 u1.start();
tks1 4:e1aa0b348aeb 191 u2.start();
tks1 4:e1aa0b348aeb 192
tks1 4:e1aa0b348aeb 193 dist1 = u1.get_dist_cm();
tks1 4:e1aa0b348aeb 194 dist2 = u2.get_dist_cm();
tks1 4:e1aa0b348aeb 195
Tomo1213 1:b2bd1511307e 196 printf("dsit1 %d\r\n",dist1);
Tomo1213 1:b2bd1511307e 197 /*--------------------------*/
Tomo1213 1:b2bd1511307e 198 //前方向に入力があった時
tks1 4:e1aa0b348aeb 199 if(0){//ActPos < Init_Pos - KICK){
ngokystk 0:b4b94eb28093 200
Tomo1213 1:b2bd1511307e 201 set_ACC(ACC_B);
Tomo1213 1:b2bd1511307e 202 set_DEC(ACC_C);
Tomo1213 1:b2bd1511307e 203
Tomo1213 1:b2bd1511307e 204 //速度制御モード送信
Tomo1213 1:b2bd1511307e 205 set_MODE_V();
ngokystk 0:b4b94eb28093 206
Tomo1213 1:b2bd1511307e 207 while(1){
ngokystk 0:b4b94eb28093 208
Tomo1213 1:b2bd1511307e 209 u1.start();
Tomo1213 1:b2bd1511307e 210 u2.start();
Tomo1213 1:b2bd1511307e 211 dist1 = u1.get_dist_cm();
Tomo1213 1:b2bd1511307e 212 dist2 = u2.get_dist_cm();
ngokystk 0:b4b94eb28093 213
Tomo1213 1:b2bd1511307e 214 //速度を指定
Tomo1213 3:c39c14cfc811 215 sendTgtVel(1,rpm*(-1));
Tomo1213 3:c39c14cfc811 216 sendTgtVel(2,rpm*(-1));
Tomo1213 3:c39c14cfc811 217 sendTgtVel(3,rpm);
Tomo1213 3:c39c14cfc811 218 sendTgtVel(4,rpm);
Tomo1213 1:b2bd1511307e 219 //指令値を送信
Tomo1213 1:b2bd1511307e 220 for(int i=1;i<= 4;i++){
Tomo1213 1:b2bd1511307e 221 sendCtrlEN(i);
Tomo1213 1:b2bd1511307e 222 }
ngokystk 0:b4b94eb28093 223
Tomo1213 1:b2bd1511307e 224 if(dist1 < 100 && dist1 >= 70){
Tomo1213 1:b2bd1511307e 225 break;
Tomo1213 1:b2bd1511307e 226 }
Tomo1213 1:b2bd1511307e 227 printf("dsit1 %d\r\n",dist1);
Tomo1213 1:b2bd1511307e 228 }
ngokystk 0:b4b94eb28093 229
Tomo1213 1:b2bd1511307e 230 //速度を指定
Tomo1213 1:b2bd1511307e 231 sendTgtVel(1,0);
Tomo1213 1:b2bd1511307e 232 sendTgtVel(2,0);
Tomo1213 1:b2bd1511307e 233 sendTgtVel(3,0);
Tomo1213 1:b2bd1511307e 234 sendTgtVel(4,0);
Tomo1213 1:b2bd1511307e 235 //指令値を送信
Tomo1213 1:b2bd1511307e 236 for(int i=1;i<= 4;i++){
Tomo1213 1:b2bd1511307e 237 sendCtrlEN(i);
Tomo1213 1:b2bd1511307e 238 }
Tomo1213 1:b2bd1511307e 239 //実行時間
Tomo1213 1:b2bd1511307e 240 printf("stop!!\r\n");
Tomo1213 1:b2bd1511307e 241 wait(5.0);
Tomo1213 1:b2bd1511307e 242
Tomo1213 1:b2bd1511307e 243 //printf("2\r\n");
Tomo1213 1:b2bd1511307e 244
Tomo1213 1:b2bd1511307e 245 //速度を指定
Tomo1213 1:b2bd1511307e 246
Tomo1213 1:b2bd1511307e 247 while(1){
Tomo1213 1:b2bd1511307e 248 readActPos(1);
Tomo1213 1:b2bd1511307e 249 ActPos=canmsgRx.data[4]+canmsgRx.data[5]*256+canmsgRx.data[6]*65536;
Tomo1213 1:b2bd1511307e 250 if(ActPos > 8388608){
Tomo1213 1:b2bd1511307e 251 ActPos -= 0x1000000;//16進数でのマイナス処理 16^7 = 16,777,216 = 0x1000000
Tomo1213 1:b2bd1511307e 252 //printf("check\r\n");
Tomo1213 1:b2bd1511307e 253 }
ngokystk 0:b4b94eb28093 254
Tomo1213 1:b2bd1511307e 255 if(ActPos > -10000){
Tomo1213 1:b2bd1511307e 256 break;
Tomo1213 1:b2bd1511307e 257 }
Tomo1213 3:c39c14cfc811 258
Tomo1213 3:c39c14cfc811 259 sendTgtVel(1,rpm);
Tomo1213 3:c39c14cfc811 260 sendTgtVel(2,rpm);
Tomo1213 3:c39c14cfc811 261 sendTgtVel(3,rpm*(-1));
Tomo1213 3:c39c14cfc811 262 sendTgtVel(4,rpm*(-1));
Tomo1213 1:b2bd1511307e 263 //指令値を送信
Tomo1213 1:b2bd1511307e 264 for(int i=1;i<= 4;i++){
Tomo1213 1:b2bd1511307e 265 sendCtrlEN(i);
Tomo1213 1:b2bd1511307e 266 }
Tomo1213 1:b2bd1511307e 267 //printf("3\r\n");
Tomo1213 1:b2bd1511307e 268 }
Tomo1213 1:b2bd1511307e 269
Tomo1213 1:b2bd1511307e 270 //ブレーキ
Tomo1213 3:c39c14cfc811 271 sendTgtVel(1,0);
Tomo1213 3:c39c14cfc811 272 sendTgtVel(2,0);
Tomo1213 3:c39c14cfc811 273 sendTgtVel(3,0);
Tomo1213 3:c39c14cfc811 274 sendTgtVel(4,0);
Tomo1213 1:b2bd1511307e 275 for(int i=1;i<= 4;i++){
Tomo1213 1:b2bd1511307e 276 sendCtrlEN(i);
Tomo1213 1:b2bd1511307e 277 }
ngokystk 0:b4b94eb28093 278
Tomo1213 1:b2bd1511307e 279 wait(0.5);
Tomo1213 1:b2bd1511307e 280
Tomo1213 1:b2bd1511307e 281 set_MODE_T();
ngokystk 0:b4b94eb28093 282
Tomo1213 1:b2bd1511307e 283 dist1 = 0;
Tomo1213 1:b2bd1511307e 284
Tomo1213 1:b2bd1511307e 285 wait(3.0);
Tomo1213 1:b2bd1511307e 286 break;
Tomo1213 1:b2bd1511307e 287 }
ngokystk 0:b4b94eb28093 288
ngokystk 0:b4b94eb28093 289 /*--------------------------*/
ngokystk 0:b4b94eb28093 290
ngokystk 0:b4b94eb28093 291 /*--------------------------*/
ngokystk 0:b4b94eb28093 292 //右方向に入力があった時
Tomo1213 1:b2bd1511307e 293
ngokystk 0:b4b94eb28093 294 }
tks1 4:e1aa0b348aeb 295 wait(0.5);
ngokystk 0:b4b94eb28093 296 }
Tomo1213 1:b2bd1511307e 297 }
Tomo1213 1:b2bd1511307e 298
Tomo1213 1:b2bd1511307e 299 void set_ACC(int setACC_val){
Tomo1213 1:b2bd1511307e 300 sendProAcc(1,setACC_val);
Tomo1213 1:b2bd1511307e 301 sendProAcc(2,setACC_val);
Tomo1213 1:b2bd1511307e 302 sendProAcc(3,setACC_val);
Tomo1213 1:b2bd1511307e 303 sendProAcc(4,setACC_val);
ngokystk 0:b4b94eb28093 304 }
ngokystk 0:b4b94eb28093 305
Tomo1213 1:b2bd1511307e 306 void set_DEC(int setDEC_val){
Tomo1213 1:b2bd1511307e 307 sendProDec(1,setDEC_val);
Tomo1213 1:b2bd1511307e 308 sendProDec(2,setDEC_val);
Tomo1213 1:b2bd1511307e 309 sendProDec(3,setDEC_val);
Tomo1213 1:b2bd1511307e 310 sendProDec(4,setDEC_val);
Tomo1213 1:b2bd1511307e 311 }
ngokystk 0:b4b94eb28093 312
Tomo1213 1:b2bd1511307e 313 void set_MODE_V(){
Tomo1213 1:b2bd1511307e 314 sendOPModeV(1);
Tomo1213 1:b2bd1511307e 315 sendOPModeV(2);
Tomo1213 1:b2bd1511307e 316 sendOPModeV(3);
Tomo1213 1:b2bd1511307e 317 sendOPModeV(4);
Tomo1213 1:b2bd1511307e 318 }
ngokystk 0:b4b94eb28093 319
Tomo1213 1:b2bd1511307e 320 void set_MODE_T(){
Tomo1213 1:b2bd1511307e 321 sendOPModeT(1);
Tomo1213 1:b2bd1511307e 322 sendOPModeT(2);
Tomo1213 1:b2bd1511307e 323 sendOPModeT(3);
Tomo1213 1:b2bd1511307e 324 sendOPModeT(4);
Tomo1213 1:b2bd1511307e 325 }
ngokystk 0:b4b94eb28093 326
ngokystk 0:b4b94eb28093 327 //0x2F-6060-00-fd-//-//-//
ngokystk 0:b4b94eb28093 328 void sendOPModeT(int nodeID){
ngokystk 0:b4b94eb28093 329 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 330 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 331 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 332 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 333 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 334 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 335 canmsgTx.data[4] = 0xFD;//data:fd = "current Mode"
ngokystk 0:b4b94eb28093 336 /*
ngokystk 0:b4b94eb28093 337 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 338 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 339 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 340 */
ngokystk 0:b4b94eb28093 341 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 342 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 343 wait_ms(1);
ngokystk 0:b4b94eb28093 344 }
Tomo1213 1:b2bd1511307e 345
Tomo1213 3:c39c14cfc811 346
ngokystk 0:b4b94eb28093 347 //0x2F-6060-00-03-//-//-//
ngokystk 0:b4b94eb28093 348 void sendOPModeV(int nodeID){
ngokystk 0:b4b94eb28093 349 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 350 canmsgTx.len = 5; //Data Length
ngokystk 0:b4b94eb28093 351 canmsgTx.data[0] = 0x2F;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 352 canmsgTx.data[1] = 0x60;//Index LowByte
ngokystk 0:b4b94eb28093 353 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 354 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 355 canmsgTx.data[4] = 0x03;//data:0x03 = "Profile Velocity Mode"
ngokystk 0:b4b94eb28093 356 /*
ngokystk 0:b4b94eb28093 357 canmsgTx.data[5] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 358 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 359 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 360 */
ngokystk 0:b4b94eb28093 361 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 362 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 363 wait_ms(1);
ngokystk 0:b4b94eb28093 364 }
Tomo1213 1:b2bd1511307e 365
ngokystk 0:b4b94eb28093 366 //0x2B-6040-00-0000-//-//
ngokystk 0:b4b94eb28093 367 void sendCtrlRS(int nodeID){
ngokystk 0:b4b94eb28093 368 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 369 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 370 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 371 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 372 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 373 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 374 canmsgTx.data[4] = 0x80;//data:0x00"80" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 375 canmsgTx.data[5] = 0x00;//data:0x"00"80
ngokystk 0:b4b94eb28093 376 /*
ngokystk 0:b4b94eb28093 377 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 378 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 379 */
ngokystk 0:b4b94eb28093 380 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 381 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 382 wait_ms(1);
ngokystk 0:b4b94eb28093 383 }
Tomo1213 1:b2bd1511307e 384
Tomo1213 1:b2bd1511307e 385
ngokystk 0:b4b94eb28093 386 //0x2B-6040-00-0006-//-//
ngokystk 0:b4b94eb28093 387 void sendCtrlSD(int nodeID){
ngokystk 0:b4b94eb28093 388 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 389 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 390 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 391 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 392 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 393 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 394 canmsgTx.data[4] = 0x06;//data:0x00"06" = "Controlword(Shutdown)"
ngokystk 0:b4b94eb28093 395 canmsgTx.data[5] = 0x00;//data:0x"00"06
ngokystk 0:b4b94eb28093 396 /*
ngokystk 0:b4b94eb28093 397 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 398 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 399 */
ngokystk 0:b4b94eb28093 400 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 401 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 402 wait_ms(1);
ngokystk 0:b4b94eb28093 403 }
Tomo1213 1:b2bd1511307e 404
ngokystk 0:b4b94eb28093 405 //0x2B-6040-00-000F-//-//
ngokystk 0:b4b94eb28093 406 void sendCtrlEN(int nodeID){
ngokystk 0:b4b94eb28093 407 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 408 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 409 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 410 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 411 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 412 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 413 canmsgTx.data[4] = 0x0F;//data:0x00"0F" = "Controlword(Enable)"
ngokystk 0:b4b94eb28093 414 canmsgTx.data[5] = 0x00;//data:0x"00"0F
ngokystk 0:b4b94eb28093 415 /*
ngokystk 0:b4b94eb28093 416 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 417 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 418 */
ngokystk 0:b4b94eb28093 419 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 420 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 421 wait_ms(1);
ngokystk 0:b4b94eb28093 422 }
Tomo1213 1:b2bd1511307e 423
ngokystk 0:b4b94eb28093 424 //0x2B-6040-00-000B-//-//
ngokystk 0:b4b94eb28093 425 void sendCtrlQS(int nodeID){
ngokystk 0:b4b94eb28093 426 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 427 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 428 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 429 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 430 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 431 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 432 canmsgTx.data[4] = 0x0B;//data:0x00"0B" = "Quick Stop"
ngokystk 0:b4b94eb28093 433 canmsgTx.data[5] = 0x00;//data:0x"00"0B
ngokystk 0:b4b94eb28093 434 /*
ngokystk 0:b4b94eb28093 435 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 436 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 437 */
ngokystk 0:b4b94eb28093 438 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 439 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 440 wait_ms(1);
ngokystk 0:b4b94eb28093 441 }
Tomo1213 1:b2bd1511307e 442
ngokystk 0:b4b94eb28093 443 //0x2B-6040-00-010F-//-//
ngokystk 0:b4b94eb28093 444 void sendCtrlHL(int nodeID){
ngokystk 0:b4b94eb28093 445 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 446 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 447 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 448 canmsgTx.data[1] = 0x40;//Index LowByte
ngokystk 0:b4b94eb28093 449 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 450 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 451 canmsgTx.data[4] = 0x0F;//data:0x01"0F" = "Halt"
ngokystk 0:b4b94eb28093 452 canmsgTx.data[5] = 0x01;//data:0x"01"0F
ngokystk 0:b4b94eb28093 453 /*
ngokystk 0:b4b94eb28093 454 canmsgTx.data[6] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 455 canmsgTx.data[7] = 0x00;//data:(user value)
ngokystk 0:b4b94eb28093 456 */
ngokystk 0:b4b94eb28093 457 printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 458 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 459 wait_ms(1);
ngokystk 0:b4b94eb28093 460 }
Tomo1213 1:b2bd1511307e 461
ngokystk 0:b4b94eb28093 462 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 463 void sendTgtTrq(int nodeID,int trq){
ngokystk 0:b4b94eb28093 464 //pc.printf("%dmA0x%08x\r\n",trq,trq); //回転数送信データの表示
ngokystk 0:b4b94eb28093 465 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 466 canmsgTx.len = 6; //Data Length
ngokystk 0:b4b94eb28093 467 canmsgTx.data[0] = 0x2B;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 468 canmsgTx.data[1] = 0x30;//Index LowByte 71
ngokystk 0:b4b94eb28093 469 canmsgTx.data[2] = 0x20;//Index HighByte 60
ngokystk 0:b4b94eb28093 470 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 471 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 472 if(trq<0){
Tomo1213 3:c39c14cfc811 473 trq=0xFFFF+trq+1;
ngokystk 0:b4b94eb28093 474 }
ngokystk 0:b4b94eb28093 475
ngokystk 0:b4b94eb28093 476 //pc.printf("iii%d\r\n",trq);
ngokystk 0:b4b94eb28093 477 //canmsgTx.data[7]=((trq>>24)&0xFF);
ngokystk 0:b4b94eb28093 478 //canmsgTx.data[6]=((trq>>16)&0xFF);
ngokystk 0:b4b94eb28093 479
ngokystk 0:b4b94eb28093 480 canmsgTx.data[5]=((trq>>8)&0xFF);
ngokystk 0:b4b94eb28093 481 canmsgTx.data[4]=((trq>>0)&0xFF);
ngokystk 0:b4b94eb28093 482 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 483 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 484 wait_ms(2);
ngokystk 0:b4b94eb28093 485 //send Enable
ngokystk 0:b4b94eb28093 486 //pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 487 //sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 488 //wait(0.5);
ngokystk 0:b4b94eb28093 489 }
Tomo1213 1:b2bd1511307e 490
Tomo1213 3:c39c14cfc811 491
Tomo1213 3:c39c14cfc811 492
Tomo1213 3:c39c14cfc811 493
ngokystk 0:b4b94eb28093 494 //0x2B-60FF-00-[user data(4Byte)]
ngokystk 0:b4b94eb28093 495 void sendTgtVel(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 496 //pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 497 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 498 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 499 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 500 canmsgTx.data[1] = 0xFF;//Index LowByte
ngokystk 0:b4b94eb28093 501 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 502 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 503 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 504
ngokystk 0:b4b94eb28093 505 //pc.printf("%d\r\n",rpm);
ngokystk 0:b4b94eb28093 506 if(rpm<0){
Tomo1213 3:c39c14cfc811 507 rpm=0xFFFFFFFF+rpm+1;
ngokystk 0:b4b94eb28093 508 }
ngokystk 0:b4b94eb28093 509 canmsgTx.data[7]=((rpm>>24)&0xFF);
ngokystk 0:b4b94eb28093 510 canmsgTx.data[6]=((rpm>>16)&0xFF);
ngokystk 0:b4b94eb28093 511 canmsgTx.data[5]=((rpm>>8)&0xFF);
ngokystk 0:b4b94eb28093 512 canmsgTx.data[4]=((rpm>>0)&0xFF);
ngokystk 0:b4b94eb28093 513
ngokystk 0:b4b94eb28093 514 //printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 515 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 516 wait_ms(1);
ngokystk 0:b4b94eb28093 517
ngokystk 0:b4b94eb28093 518 }
Tomo1213 3:c39c14cfc811 519
ngokystk 0:b4b94eb28093 520 void readActVel(int nodeID){
ngokystk 0:b4b94eb28093 521 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 522 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 523 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 524 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 525 canmsgTx.data[1] = 0x6C;//Index LowByte
ngokystk 0:b4b94eb28093 526 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 527 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 528 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 529 wait_ms(1);
ngokystk 0:b4b94eb28093 530 }
Tomo1213 1:b2bd1511307e 531
ngokystk 0:b4b94eb28093 532 void readActPos(int nodeID){
ngokystk 0:b4b94eb28093 533 //値が欲しいobjectのアドレスを送る
ngokystk 0:b4b94eb28093 534 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 535 canmsgTx.len = 4; //Data Length
ngokystk 0:b4b94eb28093 536 canmsgTx.data[0] = 0x40;//|0Byte:40|
ngokystk 0:b4b94eb28093 537 canmsgTx.data[1] = 0x64;//Index LowByte
ngokystk 0:b4b94eb28093 538 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 539 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 540 canPort.write(canmsgTx);
ngokystk 0:b4b94eb28093 541 wait_ms(1);
ngokystk 0:b4b94eb28093 542 }
Tomo1213 1:b2bd1511307e 543
ngokystk 0:b4b94eb28093 544 //加速度指定
ngokystk 0:b4b94eb28093 545 void sendProAcc(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 546 if(rpm < 0){
ngokystk 0:b4b94eb28093 547 rpm += 0xFFFFFFFF;
ngokystk 0:b4b94eb28093 548 }
ngokystk 0:b4b94eb28093 549 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 550 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 551 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 552 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 553 canmsgTx.data[1] = 0x83;//Index LowByte
ngokystk 0:b4b94eb28093 554 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 555 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 556 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 557 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 558 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 559 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 560 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 561 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 562 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 563 wait(0.01);
ngokystk 0:b4b94eb28093 564 //send Enable
ngokystk 0:b4b94eb28093 565 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 566 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 567 wait(0.01);
ngokystk 0:b4b94eb28093 568 }
Tomo1213 1:b2bd1511307e 569
ngokystk 0:b4b94eb28093 570 //減速度指定
ngokystk 0:b4b94eb28093 571 void sendProDec(int nodeID,int rpm){
ngokystk 0:b4b94eb28093 572 if(rpm < 0){
ngokystk 0:b4b94eb28093 573 rpm += 0xFFFFFFFF;
Tomo1213 3:c39c14cfc811 574 }
ngokystk 0:b4b94eb28093 575 // pc.printf("%drpm|0x%08x\r\n",rpm,rpm); //回転数送信データの表示
ngokystk 0:b4b94eb28093 576 canmsgTx.id = 0x600+nodeID;
ngokystk 0:b4b94eb28093 577 canmsgTx.len = 8; //Data Length
ngokystk 0:b4b94eb28093 578 canmsgTx.data[0] = 0x23;//|0Byte:40|1Byte:2F|2Byte:2B|4Byte:23|other:22|
ngokystk 0:b4b94eb28093 579 canmsgTx.data[1] = 0x84;//Index LowByte
ngokystk 0:b4b94eb28093 580 canmsgTx.data[2] = 0x60;//Index HighByte
ngokystk 0:b4b94eb28093 581 canmsgTx.data[3] = 0x00;//sub-Index
ngokystk 0:b4b94eb28093 582 //下位から1Byteずつdataに格納
ngokystk 0:b4b94eb28093 583 canmsgTx.data[4] = (rpm >> 0) & 0xFF;
ngokystk 0:b4b94eb28093 584 canmsgTx.data[5] = (rpm >> 8) & 0xFF;
ngokystk 0:b4b94eb28093 585 canmsgTx.data[6] = (rpm >> 16) & 0xFF;
ngokystk 0:b4b94eb28093 586 canmsgTx.data[7] = (rpm >> 24) & 0xFF;
ngokystk 0:b4b94eb28093 587 // printCANTX(); //CAN送信データをPCに表示
ngokystk 0:b4b94eb28093 588 canPort.write(canmsgTx);//CANでデータ送信
ngokystk 0:b4b94eb28093 589 wait(0.01);
ngokystk 0:b4b94eb28093 590 //send Enable
ngokystk 0:b4b94eb28093 591 // pc.printf("Send Enable Command\r\n");
ngokystk 0:b4b94eb28093 592 sendCtrlEN(nodeID);
ngokystk 0:b4b94eb28093 593 wait(0.01);
ngokystk 0:b4b94eb28093 594 }
Tomo1213 1:b2bd1511307e 595
Tomo1213 1:b2bd1511307e 596
ngokystk 0:b4b94eb28093 597 //送信データの表示
ngokystk 0:b4b94eb28093 598 void printCANTX(void){
ngokystk 0:b4b94eb28093 599 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
ngokystk 0:b4b94eb28093 600 pc.printf("0x%3x|",canmsgTx.id);
ngokystk 0:b4b94eb28093 601 for(char i=0;i < canmsgTx.len;i++){
ngokystk 0:b4b94eb28093 602 pc.printf("%02x|",canmsgTx.data[i]);
ngokystk 0:b4b94eb28093 603 }
ngokystk 0:b4b94eb28093 604 //pc.printf("\r\n");
ngokystk 0:b4b94eb28093 605 }
Tomo1213 1:b2bd1511307e 606
ngokystk 0:b4b94eb28093 607 //受信データの表示
Tomo1213 1:b2bd1511307e 608
ngokystk 0:b4b94eb28093 609 void printCANRX(void){
ngokystk 0:b4b94eb28093 610 //0x canID|Byte0|Byte1|Byte2|Byte3|Byte4|Byte5|Byte6|Byte7|
ngokystk 0:b4b94eb28093 611 //pc.printf("0x%3x|",canmsgRx.id);
ngokystk 0:b4b94eb28093 612 for(char i=0;i < canmsgRx.len;i++){
ngokystk 0:b4b94eb28093 613 //pc.printf("%02x|",canmsgRx.data[i]);
ngokystk 0:b4b94eb28093 614 }
ngokystk 0:b4b94eb28093 615 pc.printf("\r\n");
ngokystk 0:b4b94eb28093 616 }
Tomo1213 1:b2bd1511307e 617
ngokystk 0:b4b94eb28093 618 void CANdataRX(void){
ngokystk 0:b4b94eb28093 619 canPort.read(canmsgRx);
ngokystk 0:b4b94eb28093 620 printCANRX();
ngokystk 0:b4b94eb28093 621 }
Tomo1213 1:b2bd1511307e 622
ngokystk 0:b4b94eb28093 623 void SerialRX(void){
ngokystk 0:b4b94eb28093 624 Serialdata = pc.getc();
ngokystk 0:b4b94eb28093 625 //pc.printf("%c\r\n",Serialdata);
ngokystk 0:b4b94eb28093 626 }
Tomo1213 1:b2bd1511307e 627
Tomo1213 1:b2bd1511307e 628