Led changed
Dependencies: HCSR04_2 MPU6050_2 mbed SDFileSystem3
Fork of Autoflight2018_48 by
Revision 38:ef0f39dfc98a, committed 2018-09-25
- Comitter:
- HARUKIDELTA
- Date:
- Tue Sep 25 09:43:16 2018 +0000
- Parent:
- 37:990047c4dc20
- Commit message:
- Led changed
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 990047c4dc20 -r ef0f39dfc98a main.cpp --- a/main.cpp Tue Sep 25 09:28:13 2018 +0000 +++ b/main.cpp Tue Sep 25 09:43:16 2018 +0000 @@ -1159,16 +1159,16 @@ flg_setInStartAuto = true; }else if(!CheckSW_Up(Ch7)){ flg_setInStartAuto = false; - led2 = 0; + led4 = 0; } autopwm[THR]=oldTHR; newYaw_Moebius = TranslateNewYaw(nowAngle[YAW], FirstYAW_Moebius); - if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 90\r\n");} - if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led2 = 0; pc.printf("Rotate 180\r\n");} - if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led2 = 1; pc.printf("Rotate 270\r\n");} - if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led2 = 0; pc.printf("Change Rotate direction\r\n");} + if(RotateCounter == 0 && newYaw_Moebius >90.0 && newYaw_Moebius < 180.0) {RotateCounter++; led4 = 1; pc.printf("Rotate 90\r\n");} + if(RotateCounter == 1 && newYaw_Moebius >-180.0 && newYaw_Moebius < -90.0) {RotateCounter++; led4 = 0; pc.printf("Rotate 180\r\n");} + if(RotateCounter == 2 && newYaw_Moebius >-90.0 && newYaw_Moebius <-10.0) {RotateCounter++; led4 = 1; pc.printf("Rotate 270\r\n");} + if(RotateCounter == 3 && newYaw_Moebius >0.0 && newYaw_Moebius < 90.0) {RotateCounter++; led4 = 0; pc.printf("Change Rotate direction\r\n");} if(RotateCounter <= 3) UpdateTargetAngle_Rightloop_short(targetAngle); @@ -1210,18 +1210,18 @@ //一定高度or15秒でled点灯 NVIC_DisableIRQ(EXTI9_5_IRQn); if((groundcount>5 && g_distance>0) || t_diff > 15){ - led2 = 1; + led4 = 1; //pc.printf("Call [Stop!] calling!\r\n"); } - if(g_distance<180 && g_distance > 0) { + if(g_distance<250 && g_distance > 0) { groundcount++; } NVIC_EnableIRQ(EXTI9_5_IRQn); }else{ t_diff = 0; groundcount = 0; - led2 = 0; + led4 = 0; } NVIC_DisableIRQ(EXTI9_5_IRQn);