mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
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62 lines
1.7 KiB
Arduino
62 lines
1.7 KiB
Arduino
// 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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// 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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#include <SPI.h>
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#include "mcp2515_can.h"
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//ROS
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#include <ros.h>
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#include <std_msgs/Empty.h>
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ros::NodeHandle nh;
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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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unsigned char stmp[8] = {ledHIGH, 1, 2, 3, ledLOW, 5, 6, 7};
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mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
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void messageCb(const std_msgs::Empty& toggle_msg) {
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//digitalWrite(13, HIGH-digitalRead(13)); // blink the led
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// send data: id = 0x00, standrad frame, data len = 8, stmp: data buf
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CAN.sendMsgBuf(0x70, 0, 8, stmp);
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delay(1000); // send data per 100ms
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}
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ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);
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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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void setup() {
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SERIAL_PORT_MONITOR.begin(115200);
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nh.initNode();
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nh.subscribe(sub);
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while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
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SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
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delay(100);
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}
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SERIAL_PORT_MONITOR.println("CAN init ok!");
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}
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void loop() {
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nh.spinOnce();
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delay(1);
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}
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/*********************************************************************************************************
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END FILE
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*********************************************************************************************************/
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