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loovee
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# Auto detect text files and perform LF normalization
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* text=auto
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# Custom for Visual Studio
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*.cs diff=csharp
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-163
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#################
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## Eclipse
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#################
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*.pydevproject
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local.properties
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.buildpath
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#################
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## Visual Studio
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#################
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## Ignore Visual Studio temporary files, build results, and
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## files generated by popular Visual Studio add-ons.
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_ReSharper*
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_UpgradeReport_Files/
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Backup*/
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############
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## Windows
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############
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Thumbs.db
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Desktop.ini
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#############
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#############
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*.py[co]
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# Packages
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pip-log.txt
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.coverage
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.tox
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#Translations
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*.mo
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#Mr Developer
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.mr.developer.cfg
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# Mac crap
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.DS_Store
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@@ -1,6 +1,6 @@
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CAN BUS Shield
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---------------------------------------------------------
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[](http://www.seeedstudio.com/depot/wifi-bee-v20-p-1637.html)
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[](http://www.seeedstudio.com/depot/CANBUS-Shield-p-2256.html?cPath=19_88)
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@@ -75,4 +75,4 @@ void loop()
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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*********************************************************************************************************/
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@@ -1,78 +0,0 @@
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// demo: CAN-BUS Shield, receive data with check mode
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// send data coming to fast, such as less than 10ms, you can use this way
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// loovee, 2014-6-13
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#include <SPI.h>
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#include "mcp_can.h"
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// the cs pin of the version after v1.1 is default to D9
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// v0.9b and v1.0 is default D10
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const int SPI_CS_PIN = 9;
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const int LED=7; //led which is connected to the receiver arduino
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boolean ledON=1;
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MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
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void setup()
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{
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Serial.begin(115200);
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pinMode(LED,OUTPUT);
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START_INIT:
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if(CAN_OK == CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
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{
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Serial.println("CAN BUS Shield init ok!");
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}
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else
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{
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Serial.println("CAN BUS Shield init fail");
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Serial.println("Init CAN BUS Shield again");
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delay(100);
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goto START_INIT;
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}
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}
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void loop()
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{
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unsigned char len = 0;
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unsigned char buf[8];
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if(CAN_MSGAVAIL == CAN.checkReceive()) // check if data coming
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{
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CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
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unsigned char canId = CAN.getCanId();
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Serial.println("-----------------------------");
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Serial.println("get data from ID: ");
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Serial.println(canId);
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for(int i = 0; i<len; i++) // print the data
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{
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Serial.print(buf[i]);
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Serial.print("\t");
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if(ledON && i==0)
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{
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digitalWrite(LED,buf[i]);
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ledON=0;
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delay(500);
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}
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else if((!(ledON)) && i==4){
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digitalWrite(LED,buf[i]);
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ledON=1;
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}
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}
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Serial.println();
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}
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}
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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@@ -21,7 +21,7 @@ void setup()
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{
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Serial.begin(115200);
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START_INIT:
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START_INIT:
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if(CAN_OK == CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
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{
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@@ -5,8 +5,8 @@
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// the cs pin of the version after v1.1 is default to D9
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// v0.9b and v1.0 is default D10
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const int SPI_CS_PIN = 9;
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const int ledHIGH=1;
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const int ledLOW=0;
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const int ledHIGH = 1;
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const int ledLOW = 0;
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MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
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@@ -30,6 +30,7 @@ START_INIT:
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}
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unsigned char stmp[8] = {ledHIGH, 1, 2, 3, ledLOW, 5, 6, 7};
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void loop()
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{ Serial.println("In loop");
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// send data: id = 0x00, standrad frame, data len = 8, stmp: data buf
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@@ -1,12 +1,12 @@
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// demo: CAN-BUS Shield, send data
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//Hardware: TWO ArduinoMega with CAN-SHIELDS
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//Run this send_Blink_ROS.ino file on one of the Arduinos
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//Run receive_Blink on the other
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//***ROS commands to be followe***//
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//roscore
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// Hardware: TWO ArduinoMega with CAN-SHIELDS
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// Run this send_Blink_ROS.ino file on one of the Arduinos
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// Run receive_Blink on the other
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// ***ROS commands to be followe***//
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// roscore
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// rosrun roial_python serial_node.py /dev/ttyACM1 _baud:=57600
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// rostopic pub toggle_led std_msgs/Empty -r 100
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//Jaghvi: jaghvim@andrew.cmu.edu
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// Jaghvi: jaghvim@andrew.cmu.edu
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#include <mcp_can.h>
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