勇紀 有岡 / Mbed 2 deprecated harurobo_mbed_undercarriage_sub

harurobo_mbed_undercarriage_sub

Dependencies:   mbed Maxon_setting move4wheel2 EC PathFollowing_12_22 CruizCore_R1370P

main.cpp@1:0c9f53f5c9d0, 2018-12-22 (annotated)

Committer:
yuki0701
Date:
Sat Dec 22 02:50:28 2018 +0000
Revision:
1:0c9f53f5c9d0
Parent:
0:f0f40dddc0c4 
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki0701 0:f0f40dddc0c4 1 #include "mbed.h"
yuki0701 0:f0f40dddc0c4 2 #include "EC.h"
yuki0701 0:f0f40dddc0c4 3 #include "R1370P.h"
yuki0701 0:f0f40dddc0c4 4 #include "move4wheel.h"
yuki0701 0:f0f40dddc0c4 5 #include "PathFollowing.h"
yuki0701 1:0c9f53f5c9d0 6 #include "Maxon_setting.h"
yuki0701 0:f0f40dddc0c4 7
yuki0701 1:0c9f53f5c9d0 8 CAN can1(p30,p29,1000000);
yuki0701 0:f0f40dddc0c4 9 DigitalOut led(LED1);
yuki0701 1:0c9f53f5c9d0 10 Ticker ticker;
yuki0701 0:f0f40dddc0c4 11
yuki0701 0:f0f40dddc0c4 12 void can_read(){//CAN通信受信
yuki0701 0:f0f40dddc0c4 13
yuki0701 0:f0f40dddc0c4 14 CANMessage msg;
yuki0701 0:f0f40dddc0c4 15
yuki0701 0:f0f40dddc0c4 16 if(can1.read(msg)){
yuki0701 0:f0f40dddc0c4 17
yuki0701 0:f0f40dddc0c4 18 if(msg.id == 1){
yuki0701 0:f0f40dddc0c4 19 led = 1;
yuki0701 1:0c9f53f5c9d0 20 usw_data1 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
yuki0701 1:0c9f53f5c9d0 21 printf("usw_data1 = %d:%d,%lf\n\r",msg.data[0],msg.data[1],usw_data1);
yuki0701 0:f0f40dddc0c4 22 }else if(msg.id == 2){
yuki0701 1:0c9f53f5c9d0 23 //led = 1;
yuki0701 1:0c9f53f5c9d0 24 // usw_data2 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
yuki0701 1:0c9f53f5c9d0 25 //printf("usw_data2 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data2);
yuki0701 0:f0f40dddc0c4 26 }else if(msg.id == 3){
yuki0701 1:0c9f53f5c9d0 27 //led = 1;
yuki0701 1:0c9f53f5c9d0 28 //usw_data3 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
yuki0701 1:0c9f53f5c9d0 29 //printf("usw_data3 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data3);
yuki0701 0:f0f40dddc0c4 30 }else if(msg.id == 4){
yuki0701 1:0c9f53f5c9d0 31 //led = 1;
yuki0701 1:0c9f53f5c9d0 32 //usw_data4 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
yuki0701 1:0c9f53f5c9d0 33 //printf("usw_data4 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data4);
yuki0701 0:f0f40dddc0c4 34 }
yuki0701 0:f0f40dddc0c4 35
yuki0701 0:f0f40dddc0c4 36 }
yuki0701 0:f0f40dddc0c4 37 }
yuki0701 0:f0f40dddc0c4 38
yuki0701 0:f0f40dddc0c4 39
yuki0701 0:f0f40dddc0c4 40 //////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
yuki0701 0:f0f40dddc0c4 41 int main()
yuki0701 1:0c9f53f5c9d0 42 {
yuki0701 0:f0f40dddc0c4 43 UserLoopSetting();
yuki0701 1:0c9f53f5c9d0 44 //UserLoopSetting2();
yuki0701 0:f0f40dddc0c4 45 //Debug_Control()
yuki0701 0:f0f40dddc0c4 46
yuki0701 0:f0f40dddc0c4 47
yuki0701 1:0c9f53f5c9d0 48 //purecurve2(5,1,1,0,0,-500,-500,9,1500,5,0.1,10,0.1,600,0);
yuki0701 1:0c9f53f5c9d0 49 //gogo_straight(1,1,0,0,500,0,2000,2000,5,0.1,10,0.1,600,0);
yuki0701 1:0c9f53f5c9d0 50
yuki0701 1:0c9f53f5c9d0 51 ticker.attach(&can_read,0.01);
yuki0701 1:0c9f53f5c9d0 52
yuki0701 1:0c9f53f5c9d0 53 while(1);
yuki0701 1:0c9f53f5c9d0 54 //printf("%f\n\r",usw_data1);
yuki0701 1:0c9f53f5c9d0 55
yuki0701 0:f0f40dddc0c4 56
yuki0701 1:0c9f53f5c9d0 57 //MotorControl(0,0,0,0);
yuki0701 1:0c9f53f5c9d0 58 }