File content as of revision 0:c1476d342c13:

#include "mbed.h"
#include "pin.h"
#include "microinfinity.h"



////////////関数
void setup();
void can_send();



////////////定数





////////////変数
double target_ro=0,target_ri=0;
double target_lo=0,target_li=0;
bool hand_mode=0;



/////////////////////////////////////////////
int main() {
    
    setup();
    while(1) {
        can_send();
        wait(0.01);
    }
}


void setup(){
    can1.frequency(1000000);
    motor_lo_f.period_us(100);
    motor_lo_b.period_us(100);
    motor_li_f.period_us(100);
    motor_li_b.period_us(100);
    
    hand.mode(PullUp);
    switch2.mode(PullUp);
    switch3.mode(PullUp);
    switch4.mode(PullUp);
    

    device.baud(115200);
    device.format(8,Serial::None,1);
    device.attach(dev_rx, Serial::RxIrq);
    wait(0.05);
    theta0=degree0;
    check_gyro();
}


//////////////////////////////////////can
void can_send()
{
    char data[4]={0};
    int target_ro_send=target_ro+360;
    int target_ri_send=target_ri+360;
    data[0]=target_ro_send & 0b11111111;
    data[1]=target_ri_send & 0b11111111;
    data[2]=(target_ro_send>>8) | ((target_ri_send>>4) & 0b11110000);
    data[3]=hand_mode;
    
    if(can1.write(CANMessage(0,data,4)))led4=1;
    else led4=0;
}