Diff: main.cpp

Revision:

15:1519fccfcae3

Parent:

14:90e9b44eb819

--- a/main.cpp	Tue Feb 12 13:31:33 2019 +0000
+++ b/main.cpp	Tue Feb 12 13:39:26 2019 +0000
@@ -112,7 +112,7 @@
     //MPU_check
     setup();
     
-    servoCameradeg.pulsewidth_us(1400);
+    servoCameradeg.pulsewidth_us(camera_deg_A);
     
     // シリアル通信受信の割り込みイベント登録
     pc.attach(getSF_Serial_jevois, Serial::RxIrq);
@@ -272,10 +272,15 @@
     
     if(g_landingcommand!='N') return;
     if(!CameraDegFlag){
-        servoCameradeg.pulsewidth_us(1800);
+        for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
+            servoCameradeg.pulsewidth_us(camera_deg_A+10);
+            wait_ms(20);
+            }
         CameraDegFlag=!CameraDegFlag;
         }else{
-        servoCameradeg.pulsewidth_us(1400);
+            for(int i=0; i<camera_deg_B-camera_deg_A;i=i+10){
+            servoCameradeg.pulsewidth_us(camera_deg_A-10);
+            }
         CameraDegFlag = !CameraDegFlag;
     }
         
@@ -298,17 +303,17 @@
 }
 
 void FocusAdjust(){
-    servoCameraPinto.pulsewidth_us(Focus_NEUTRAL-200);
-    pc.printf("set\r\n");
+    servoCameraPinto.pulsewidth_us(focus_NEUTRAL-200);
+    //pc.printf("set\r\n");
     wait(1);
     
-    servoCameraPinto.pulsewidth_us(Focus_NEUTRAL+30);
-    pc.printf("check\r\n");
-    wait(3);
-    servoCameraPinto.pulsewidth_us(Focus_NEUTRAL);
+    servoCameraPinto.pulsewidth_us(focus_NEUTRAL+20);
+    //pc.printf("check\r\n");
+    wait(4);
+    servoCameraPinto.pulsewidth_us(focus_NEUTRAL);
       
   return;      
-}    
+}     
 
 void getSF_Serial_jevois(){