Code Template

/* CalSol - UC Berkeley Solar Vehicle Team 
 * [NAME OF FILE] - [INTENDED MODULE]
 * Author: [YOUR NAME]
 * Date: [TODAY'S DATE]
 */

/* Define CAN message IDs */
// TODO: Define CAN IDs

/* Declare your state variables here */
// TODO: Declare state variables

long last_time = 0;

void process_packet(CanMessage &msg) {
  switch(msg.id) {
    /* Add cases for each CAN message ID to be received*/
    // Todo: Add cases for receiving CAN IDs
    default:
      break;
  }
}

void setup() {
  /* Can Initialization w/o filters */
  Can.attach(&process_packet);
  Can.begin(1000);
  CanBufferInit();
}

void loop() {
  if (millis() - last_time > 100) {
    /* Perform actions affected by external state here */
    // Todo: Do something with state variables
    
    /* Collect data and send outbound CAN packets here */
    // Todo: Sending CAN packets
  }
}
Example
/* CalSol - UC Berkeley Solar Vehicle Team 
 * MainInputTest.pde - Main Input Board
 * Author: Foo Bar
 * Date: Dec. 21st 2012
 */

/* Define CAN message IDs */
#define CAN_MAININPUT_EMERGENCY 0x024
#define CAN_MAININPUT_HEARTBEAT 0x044
#define CAN_TRITIUM_MOTOR_DRIVE 0x501
#define CAN_TRITIUM_POWER       0x502
#define CAN_TRITIUM_RESET       0x503
#define CAN_TRITIUM_VELOCITY    0x403

/* Pin definitions here */
#define ANALOGIN_ACCEL 2
#define ANALOGIN_BRAKE 3
#define DIGITALOUT_ERROR 15

/* Declare your state variables here */
float measured_speed;
long last_received = 0;

long last_time = 0;

typedef union {
  char c[8];
  float f[2];
} two_floats;

void process_packet(CanMessage &msg) {
  switch(msg.id) {
    /* Add cases for each CAN message ID to be received*/
    case CAN_TRITIUM_VELOCITY:
      // Vehicle velocity in meters/sec
      measured_speed = ((two_floats*)msg.data)->f[1];
      last_received = millis();
      break;
    default:
      break;
  }
}

void setup() {
  /* Can Initialization w/o filters */
  Can.attach(&process_packet);
  Can.begin(1000);
  CanBufferInit();
  
  /* Send startup packets */
  Can.send(CanMessage(CAN_TRITIUM_RESET));
  two_floats data;
  data.f[1] = 1.0;
  Can.send(CanMessage(CAN_TRITIUM_POWER, data.c));
  
  Serial.begin(115200);
}

void loop() {
  if (millis() - last_time > 100) {
    /* Perform actions affected by external state here */
    if (millis() - last_received > 500) {
      Serial.print("Error: lost signal from Tritium ");
      Serial.print(millis() - last_received);
      Serial.println(" ms ago");
    } else {
      Serial.print("Current speed: ");
      Serial.println(measured_speed);
    }
    
    /* Collect data and send outbound CAN packets here */
    Can.send(CanMessage(CAN_HEARTBEAT_MAININPUT));
    two_floats data;
    data.f[0] = 100.0;
    data.f[1] = (float)analogRead(ANALOGIN_ACCEL) / 1023.0;
    Can.send(CanMessage(CAN_TRITIUM_MOTOR_DRIVE, data.c));
  }
}