CAN Protocol With UART Interface HC-05 Bluetooth Module || #MIT-APP #CA...

MASTER:- 

//YOUTUBE.COM/MKINVENTIONS MADHAN CHIRUGURI

#include <SPI.h>

#include <mcp2515.h>

struct can_frame canMsg;

MCP2515 mcp2515(10);

char command;

void setup() {

  Serial.begin(9600);

  SPI.begin();

  mcp2515.reset();

  mcp2515.setBitrate(CAN_500KBPS, MCP_8MHZ);

  mcp2515.setNormalMode();

  canMsg.can_id  = 0x0F6;

  canMsg.can_dlc = 8;

}

void loop() {

if(Serial.available() > 0){

  command = Serial.read();

  Serial.print("command:");

  Serial.println(command);

  canMsg.data[0] = command ;

  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(9600);

  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)

    {

      char command = canMsg.data[0];

      

//  Serial.print("command:");

//  Serial.println(command);

       if(command == 'X'){ 

        Serial.println("LED1 ON");

        digitalWrite(LED1, HIGH);} 

        if(command == 'x'){

        Serial.println("LED1 OFF");

        digitalWrite(LED1, LOW);}

       if(command == 'Y'){ 

        Serial.println("LED2 ON");

        digitalWrite(LED2, HIGH);} 

        if(command == 'y'){

          Serial.println("LED2 OFF");

        digitalWrite(LED2, LOW);}

      if(command == 'F'){ analogWrite(IN1, 255); analogWrite(IN2, 0);} 

      else if(command == 'B'){ analogWrite(IN1, 0); analogWrite(IN2, 255);}  

      else if(command == 'L'){ analogWrite(IN1, 255); analogWrite(IN2, 0);} 

      else if(command == 'R'){ analogWrite(IN1, 0); analogWrite(IN2, 255);}  

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

      

     delay(10);

    }

    

  }

}