CAN Communication Protocol(Controller Area Network)||CAN Master & Slave ...

MASTER:-

//YOUTUBE.COM/MKINVENTIONS MADHAN CHIRUGURI

#include <SPI.h>

#include <mcp2515.h>

int BTN1 = 4;

int BTN2 = 5;

int BTN3 = 6;

int BTN4 = 7;

int POTA = A0;

struct can_frame canMsg;

MCP2515 mcp2515(10);

void setup() {

  Serial.begin(115200);

  SPI.begin();

  mcp2515.reset();

  mcp2515.setBitrate(CAN_500KBPS, MCP_8MHZ);

  mcp2515.setNormalMode();

  

  pinMode(BTN1, INPUT_PULLUP);

  pinMode(BTN2, INPUT_PULLUP);

  pinMode(BTN3, INPUT_PULLUP);

  pinMode(BTN4, INPUT_PULLUP);

  pinMode(POTA, INPUT);

  

    canMsg.can_id  = 0x0F6;

    canMsg.can_dlc = 8;

}

void loop() {

int BUTTON1 = digitalRead(BTN1);

int BUTTON2 = digitalRead(BTN2);

int BUTTON3 = digitalRead(BTN3);

int BUTTON4 = digitalRead(BTN4);

int POTENTIOMETERA = map(analogRead(POTA), 0, 1023, 0, 255);

//Serial.print("POT:");

//Serial.println(POTENTIOMETERA);

//Serial.print("BUTTON:");

//Serial.println(BUTTON1);

//Serial.println(BUTTON2);

//Serial.println(BUTTON3);

//Serial.println(BUTTON4);

  canMsg.data[0] = BUTTON1;

  canMsg.data[1] = BUTTON2;

  canMsg.data[2] = BUTTON3;

  canMsg.data[3] = BUTTON4;

  canMsg.data[4] = POTENTIOMETERA;

  

  mcp2515.sendMessage(&canMsg);

  delay(10);

}

SLAVE:-

#include <SPI.h>

#include <mcp2515.h>

int LED1 = A0;

int LED2 = A1;

int IN1 = 5;

int IN2 = 6;

struct can_frame canMsg;

MCP2515 mcp2515(10);

void setup() {

  Serial.begin(115200);

  SPI.begin();

  mcp2515.reset();

  mcp2515.setBitrate(CAN_500KBPS, MCP_8MHZ);

  mcp2515.setNormalMode();

  

  pinMode(LED1, OUTPUT);

  pinMode(LED2, OUTPUT);

  pinMode(IN1, OUTPUT);

  pinMode(IN2, OUTPUT);

}

void loop() 

{

  if (mcp2515.readMessage(&canMsg) == MCP2515::ERROR_OK) 

  {   

    if(canMsg.can_id == 0x0F6)

    {

      int BUTTON1 = canMsg.data[0];

      int BUTTON2 = canMsg.data[1];

      int BUTTON3 = canMsg.data[2];

      int BUTTON4 = canMsg.data[3];

      int POTA = canMsg.data[4];

      

      Serial.print("RPM:");

      Serial.println(POTA);

      

      if(BUTTON1 == 0){ digitalWrite(LED1, HIGH);} else{ digitalWrite(LED1, LOW);}

      if(BUTTON2 == 0){ digitalWrite(LED2, HIGH);} else{ digitalWrite(LED2, LOW);}

      

      if(BUTTON3 == 0){ analogWrite(IN1, POTA ); analogWrite(IN2, 0);} 

      else if(BUTTON4 == 0){ analogWrite(IN1, 0); analogWrite(IN2, POTA );}  

      else{ analogWrite(IN1, 0); analogWrite(IN2, 0); }

      

//      Serial.print("BUTTON1:");

//      Serial.println(BUTTON1);

//      Serial.print("BUTTON2:");

//      Serial.println(BUTTON2);

//      Serial.print("BUTTON3:");

//      Serial.println(BUTTON3);

//      Serial.print("BUTTON4:");

//      Serial.println(BUTTON4);

//      Serial.print("POTB:");

//      Serial.println(POTB);

//      Serial.print("POTC:");

//      Serial.println(POTC);

      delay(10);

    }

    

  }

}