sd実装,動作確認,カード読めず
Dependencies: mbed MPU6050_2 HMC5883L_2 SDFileSystem3
Revision 13:b088f0db7158, committed 2019-02-12
- Comitter:
- taknokolat
- Date:
- Tue Feb 12 13:16:29 2019 +0000
- Parent:
- 12:083662bca47d
- Commit message:
- a
Changed in this revision
config/falfalla.h | Show annotated file Show diff for this revision Revisions of this file |
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 083662bca47d -r b088f0db7158 config/falfalla.h --- a/config/falfalla.h Tue Feb 12 12:56:21 2019 +0000 +++ b/config/falfalla.h Tue Feb 12 13:16:29 2019 +0000 @@ -4,50 +4,19 @@ #define SWITCH_CHECK 1400 #define NUMBER_FALFALLA 2 //何号機かを入れるとそれに応じて#if以下が変わって設定が変わる -static float g_kpELE=2.0; -static float g_kiELE=0.0; -static float g_kdELE=0.0; -static float g_kpRUD=3.0; -static float g_kiRUD=0.0; -static float g_kdRUD=0.0; -static float g_kpAIL=3.0; -static float g_kiAIL=0.0; -static float g_kdAIL=0.0; - -static float g_rightloopROLL=-17.0; -static float g_rightloopROLL_approach=-17.0; -static float g_rightloopPITCH=-6.3; -static float g_rightloopPITCH_approach = -15.0; -static float g_leftloopROLL=16.0; -static float g_leftloopROLL_approach=16.0; -static float g_leftloopPITCH=-6.0; -static float g_leftloopPITCH_approach=-13.0; -static float g_gostraightROLL=2.0; -static float g_gostraightPITCH=-3.0; -static float g_takeoffTHR=1.0; -static float g_loopTHR=0.58; - -static float g_rightloopROLLshort=-20.0; -static float g_rightloopPITCHshort=-7.0; -static float g_leftloopROLLshort=22.0; -static float g_leftloopPITCHshort=-6.0; - -static float g_glideloopROLL = -5.0; //rewrite -static float g_glideloopPITCH = 0.0; -static float g_autoonPITCH = -3.0; - -static int g_rightloopRUD = 1500; -static int g_rightloopRUD_approach=1500; -static int g_rightloopshortRUD = 1500; -static int g_leftloopRUD = 1500; -static int g_leftloopRUD_approach = 1710; -static int g_leftloopshortRUD = 1500; -static int g_glideloopRUD = 1500; - -static int g_AIL_L_correctionrightloop = 0; -static int g_AIL_L_correctionrightloopshort = 0; -static int g_AIL_L_correctionleftloop = 0; -static int g_AIL_L_correctionleftloopshort = 0; +static int Servo_NEUTRAL_R; //SDcard用宣言 +static int Servo_NEUTRAL_L; +static int Servo_high_FORWARD_R; +static int Servo_high_FORWARD_L; +static int Servo_back_R; +static int Servo_back_L; +static int Servo_slow_FORWARD_R; +static int Servo_slow_FORWARD_L; +static int Turntable_NEUTRAL; +static int Matchspeed; //機体角度調整 +static int Focus_NEUTRAL;//カメラ焦点 +static int Camera_deg_A;//カメラ角度調整 +static int Camera_deg_B; #if NUMBER_FALFALLA == 1 //1号機
diff -r 083662bca47d -r b088f0db7158 main.cpp --- a/main.cpp Tue Feb 12 12:56:21 2019 +0000 +++ b/main.cpp Tue Feb 12 13:16:29 2019 +0000 @@ -37,20 +37,6 @@ #define MAX_FORWARD 8 //はやい_姿勢修正用 #define MAX_BACK 9 -int Servo_NEUTRAL_R; //SDcard用宣言 -int Servo_NEUTRAL_L; -int Servo_high_FORWARD_R; -int Servo_high_FORWARD_L; -int Servo_back_R; -int Servo_back_L; -int Servo_slow_FORWARD_R; -int Servo_slow_FORWARD_L; -int Turntable_NEUTRAL; -int Matchspeed; //機体角度調整 -int Focus_NEUTRAL;//カメラ焦点 -int Camera_deg_A;//カメラ角度調整 -int Camera_deg_B; - void getSF_Serial_jevois(); void getSF_Serial_pi(); @@ -70,7 +56,7 @@ //sd設定 int GetParameter(FILE *fp, const char *paramName,char parameter[]); -int SetOptions(int Servo_NEUTRAL_R,int *Servo_NEUTRAL_L, +int SetOptions(int *Servo_NEUTRAL_R,int *Servo_NEUTRAL_L, int *Servo_high_FORWARD_R,int *Servo_high_FORWARD_L, int *Servo_slow_FORWARD_R,int *Servo_slow_FORWARD_L, int *Turntable_NEUTRAL,int *Matchspeed,int *Focus_NEUTRAL, @@ -422,12 +408,12 @@ void setup(){ - /*SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L, + SetOptions(&Servo_NEUTRAL_R, &Servo_NEUTRAL_L, &Servo_high_FORWARD_R, &Servo_high_FORWARD_L, &Servo_slow_FORWARD_R,&Servo_slow_FORWARD_L, &Turntable_NEUTRAL,&Matchspeed,&Focus_NEUTRAL, &Camera_deg_A, &Camera_deg_B - );*/ + ); Init_sensors(); //switch2.rise(ResetTrim); @@ -684,11 +670,11 @@ else if(SDerrorcount > 0) pc.printf("ERROR 2. reading parameter is failed[%d]\r\n",SDerrorcount); pc.printf("Servo_NEUTRAL_R = %d, Servo_NEUTRAL_L = %d\r\n", *Servo_NEUTRAL_R, *Servo_NEUTRAL_L); - pc.printf("Servo_high_FORWARD_R = %d, Servo_high_FORWARD_L = %d, kdRUD = %f\r\n", *Servo_high_FORWARD_R, *Servo_high_FORWARD_L); - pc.printf("Servo_slow_FORWARD_R = %f, Servo_slow_FORWARD_L = %f\r\n", *Servo_slow_FORWARD_R, *Servo_slow_FORWARD_L); - pc.printf("Turntable_NEUTRAL = %f, Matchspeed = %f\r\n", *Turntable_NEUTRAL, *Matchspeed); - pc.printf("Focus_NEUTRAL = %fr\n", *Focus_NEUTRAL); - pc.printf("Camera_deg_A = %f, Camera_deg_B = %f\r\n", *Camera_deg_A, *Camera_deg_B); + pc.printf("Servo_high_FORWARD_R = %d, Servo_high_FORWARD_L = %d\r\n", *Servo_high_FORWARD_R, *Servo_high_FORWARD_L); + pc.printf("Servo_slow_FORWARD_R = %d, Servo_slow_FORWARD_L = %d\r\n", *Servo_slow_FORWARD_R, *Servo_slow_FORWARD_L); + pc.printf("Turntable_NEUTRAL = %d, Matchspeed = %d\r\n", *Turntable_NEUTRAL, *Matchspeed); + pc.printf("Focus_NEUTRAL = %d\r\n", *Focus_NEUTRAL); + pc.printf("Camera_deg_A = %d, Camera_deg_B = %d\r\n", *Camera_deg_A, *Camera_deg_B); return SDerrorcount; }