Receiver-Motor

/*
Chat GPT code for motor controller UNO
*/

#include <SPI.h>
#include <mcp_can.h>

#define CAN0_INT 2 // Set INT pin for CAN shield to pin 2
MCP_CAN CAN0(10);  // Set CS pin for CAN shield to pin 10

// Define the pin numbers
const int pin1 = 1;
const int pin2 = 2;
const int pin3 = 3;
const int pin4 = 4;
const int pin5 = 5;
const int pin6 = 6;
const int inputPin = 7;

void setup() {
  // Initialize serial communication
  Serial.begin(115200);
  
  // Initialize CAN bus communication
  if (CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_8MHZ) == CAN_OK) {
    Serial.println("CAN BUS Shield init OK!");
  } else {
    Serial.println("CAN BUS Shield init FAIL!");
    while (1);
  }

  // Set CAN interrupt pin
  pinMode(CAN0_INT, INPUT);

  // Set pin modes for digital pins
  pinMode(pin1, OUTPUT);
  pinMode(pin2, OUTPUT);
  pinMode(pin3, OUTPUT);
  pinMode(pin4, OUTPUT);
  pinMode(pin5, OUTPUT);
  pinMode(pin6, OUTPUT);
  pinMode(inputPin, INPUT);

  // Enable CAN bus communication
  CAN0.setMode(MCP_NORMAL);
}

void loop() {
  unsigned long canId;
  uint8_t len = 0;
  uint8_t buf[8];

  // Check for CAN bus message
  if (!digitalRead(CAN0_INT)) {
    CAN0.readMsgBuf(&canId, &len, buf);
    handleCANMessage(canId, buf, len);
  }

  // Check input pin status
  if (digitalRead(inputPin) == HIGH) {
    sendCANMessage();
  }
}

void handleCANMessage(unsigned long canId, uint8_t *buf, uint8_t len) {
  // Process the received CAN message
  switch (canId) {
    case 0x501:
      if (buf[0] == 0x00) {
        digitalWrite(pin1, HIGH);
      } else if (buf[0] == 0x01) {
        digitalWrite(pin1, LOW);
      }
      break;

    case 0x502:
      if (buf[0] == 0x10) {
        digitalWrite(pin2, HIGH);
      } else if (buf[0] == 0x20) {
        digitalWrite(pin2, LOW);
      }
      break;

    case 0x503:
      if (buf[0] == 0x10) {
        digitalWrite(pin3, HIGH);
      } else if (buf[0] == 0x20) {
        digitalWrite(pin3, LOW);
      }
      break;

    case 0x510:
      if (buf[0] == 0x10) {
        digitalWrite(pin4, HIGH);
      } else if (buf[0] == 0x20) {
        digitalWrite(pin4, LOW);
      }
      break;

    case 0x511:
      if (buf[0] == 0x10) {
        digitalWrite(pin5, HIGH);
      } else if (buf[0] == 0x20) {
        digitalWrite(pin5, LOW);
      }
      break;

    case 0x512:
      if (buf[0] == 0x10) {
        digitalWrite(pin6, HIGH);
      } else if (buf[0] == 0x20) {
        digitalWrite(pin6, LOW);
      }
      break;
  }
}

void sendCANMessage() {
  // Send CAN message with ID 0x30
  unsigned char msg[1] = {0x30};
  CAN0.sendMsgBuf(0x30, 0, 1, msg);
}