Diff: main.cpp

Revision:

17:2217b2ebef06

Parent:

16:26cee2aaf61d

--- 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);