harurobo_mbed_undercarriage_sub

Dependencies:   mbed Maxon_setting move4wheel2 EC PathFollowing_12_22 CruizCore_R1370P

main.cpp

Committer:
yuki0701
Date:
8 months ago
Revision:
2:0073d971b618
Parent:
1:0c9f53f5c9d0

File content as of revision 2:0073d971b618:

#include "mbed.h"
#include "EC.h"
#include "R1370P.h"
#include "move4wheel.h"
#include "PathFollowing.h"
#include "Maxon_setting.h"

CAN can1(p30,p29,1000000);
DigitalOut led(LED1);
Ticker ticker;

void can_read(){//CAN通信受信
    
    CANMessage msg;
    
    if(can1.read(msg)){
      
      if(msg.id == 1){
        led = 1;
       usw_data1 =  0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
     printf("usw_data1 = %d:%d,%lf\n\r",msg.data[0],msg.data[1],usw_data1);
      }else if(msg.id == 2){
        //led = 1;
      //  usw_data2 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
        //printf("usw_data2 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data2);
      }else if(msg.id == 3){
        //led = 1;
        //usw_data3 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
        //printf("usw_data3 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data3);
      }else if(msg.id == 4){
        //led = 1;
        //usw_data4 = 0.01 * (short)((msg.data[0]<<8) | msg.data[1]);
        //printf("usw_data4 = %d:%d,%d\n\r",msg.data[0],msg.data[1],usw_data4);
      }
          
    }
}


//////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
int main()
{   
    UserLoopSetting();
    //UserLoopSetting2();
    //Debug_Control()
    

    //purecurve2(5,1,1,0,0,-500,-500,9,1500,5,0.1,10,0.1,600,0);
    //gogo_straight(1,1,0,0,500,0,2000,2000,5,0.1,10,0.1,600,0);
    
    ticker.attach(&can_read,0.01);
    
    while(1);
      //printf("%f\n\r",usw_data1);
    

    //MotorControl(0,0,0,0);
}