setup内にあり
Dependencies: mbed MPU6050_2 HMC5883L_2 SDFileSystem3
Revision 17:2217b2ebef06, committed 2019-02-14
- Comitter:
- taknokolat
- Date:
- Thu Feb 14 11:02:52 2019 +0000
- Parent:
- 16:26cee2aaf61d
- Commit message:
- a
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed Feb 13 08:18:10 2019 +0000 +++ b/main.cpp Thu Feb 14 11:02:52 2019 +0000 @@ -10,18 +10,12 @@ #define servo_NEUTRAL_R 1614 #define servo_NEUTRAL_L 1621 -#define servo_slow_FORWARD_R 1560 -#define servo_slow_FORWARD_L 1560 -#define servo_low_FORWARD_R 1560 //RasPi速さ調節用 -#define servo_high_FORWARD_R 1860 -#define servo_low_FORWARD_L 1560 -#define servo_high_FORWARD_L 1860 -#define servo_low_back_R 1360 -#define servo_high_back_R 1160 -#define servo_low_back_L 1360 -#define servo_high_back_L 1160 -#define turntable_NEUTRAL 1180 //カメラ台座のサーボ -#define matchspeed 1500 + 100 //カメラと方向を合わせるときの車輪の速度 +#define servo_slow_FORWARD_R 1814 +#define servo_slow_FORWARD_L 1821 +#define servo_high_FORWARD_R 1714 +#define servo_high_FORWARD_L 1721 +#define turntable_NEUTRAL 1431 //カメラ台座のサーボ +#define matchspeed 1714 //カメラと方向を合わせるときの車輪の速度 #define focus_NEUTRAL 1455 //焦点合わせ用サーボ #define camera_deg_A 1400 //カメラ角度調整 #define camera_deg_B 1800 @@ -73,10 +67,14 @@ bool CameraDegFlag = false; bool jevoisFlag = true; +char g_filename[30]="Datalog01.txt"; + enum Angle{ROLL, PITCH, YAW}; //yaw:北を0とした絶対角度 Timer t; +FILE *g_fp; + SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd"); RawSerial pc(PA_2,PA_3,115200); //uart2 @@ -161,7 +159,7 @@ break; case 'l': //MOVE_LEFT Low Speed - servoR.pulsewidth_us(servo_low_FORWARD_R); + servoR.pulsewidth_us(servo_slow_FORWARD_R); //NVIC_EnableIRQ(USART1_IRQn); //NVIC_EnableIRQ(USART2_IRQn); @@ -171,7 +169,7 @@ //NVIC_EnableIRQ(USART2_IRQn); case 'r': //MOVE_RIGHT Low Speed - servoL.pulsewidth_us(servo_low_FORWARD_L); + servoL.pulsewidth_us(servo_slow_FORWARD_L); //NVIC_EnableIRQ(USART1_IRQn); //NVIC_EnableIRQ(USART2_IRQn); break; @@ -426,6 +424,9 @@ &Pint_speed,&Pint_wait ); + + g_fp = fopen(g_filename, "a"); + fprintf(g_fp,"Fall Start.\r\n"); Init_sensors(); //switch2.rise(ResetTrim);