SDの設定が反映されるように修正
Dependencies: mbed MPU6050_2 HMC5883L_2 SDFileSystem3
Diff: main.cpp
- Revision:
- 11:d44d137831b9
- Parent:
- 10:63fe920595a7
- Child:
- 12:083662bca47d
diff -r 63fe920595a7 -r d44d137831b9 main.cpp --- a/main.cpp Sun Feb 10 09:05:27 2019 +0000 +++ b/main.cpp Sun Feb 10 18:13:37 2019 +0000 @@ -5,8 +5,8 @@ //MPU_check用 #define PI 3.14159265358979 -#define servo_NEUTRAL_R 1900 -#define servo_NEUTRAL_L 1900 +#define servo_NEUTRAL_R 1614 +#define servo_NEUTRAL_L 1621 #define servo_FORWARD_R 1860 #define servo_FORWARD_L 1860 #define servo_back_R 1060 @@ -15,9 +15,9 @@ #define servo_slow_FORWARD_L 1560 #define servo_slow_back_R 1360 #define servo_slow_back_L 1360 -#define TurnTable_NEUTRAL 1500 //カメラ台座のサーボ +#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 minFocus 1200 //焦点合わせ用サーボの最小値 +#define Focus_NEUTRAL 1455 //焦点合わせ用サーボの最小値 #define MOVE_NEUTRAL 0 #define MOVE_FORWARD 1 @@ -58,6 +58,11 @@ Timer t; +RawSerial pc(PA_2,PA_3,115200); //uart2 +//pa2:UART2_TX,pa3:UART2_RX +//RawSerial pc2(PB_6,PB_7,115200); //uart1 +//pb6:UART1_TX,pb7:UART1_RX + //PWM pin宣言 PwmOut servoR(PC_6); //TIM3_CH1 車輪右 PwmOut servoL(PC_7); //TIM3_CH2 車輪左 @@ -79,11 +84,6 @@ //外付けコンパス HMC5883L compass(PB_9, PB_8); //コンパスセンサー TIM4_CH3とCH4 -RawSerial pc(PA_2,PA_3,115200); //uart2 -//pa2:UART2_TX,pa3:UART2_RX -RawSerial pc2(PB_6,PB_7,115200); //uart1 -//pb6:UART1_TX,pb7:UART1_RX - char g_landingcommand='N'; //MPU_check用 @@ -95,9 +95,11 @@ //MPU_check setup(); + servoCameradeg.pulsewidth_us(1400); + // 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); - pc2.attach(getSF_Serial_pi, Serial::RxIrq); + //pc2.attach(getSF_Serial_pi, Serial::RxIrq); while(1) { if(jevoisFlag==true) NVIC_DisableIRQ(USART1_IRQn); @@ -199,8 +201,8 @@ void MoveCameraBoard(){ MoveCansat('N'); g_landingcommand='N'; - servoTurnTable.pulsewidth_us(2000); - wait_ms(300); + servoTurnTable.pulsewidth_us(1800); + wait_ms(600); servoTurnTable.pulsewidth_us(TurnTable_NEUTRAL); if(jevoisFlag == true) FocusAdjust(); else wait(1); @@ -210,7 +212,7 @@ servoCameradeg.pulsewidth_us(1800); CameraDegFlag=!CameraDegFlag; }else{ - servoCameradeg.pulsewidth_us(1500); + servoCameradeg.pulsewidth_us(1400); CameraDegFlag = !CameraDegFlag; } @@ -233,13 +235,15 @@ } void FocusAdjust(){ - servoCameraPinto.pulsewidth_us(minFocus); + servoCameraPinto.pulsewidth_us(Focus_NEUTRAL-200); + pc.printf("set\r\n"); + wait(1); - for(int i=0; i<400; i++){ - servoCameraPinto.pulsewidth_us(minFocus+i); - wait_ms(30); - if(g_landingcommand!='N') return; - } + servoCameraPinto.pulsewidth_us(Focus_NEUTRAL+30); + pc.printf("check\r\n"); + wait(3); + servoCameraPinto.pulsewidth_us(Focus_NEUTRAL); + return; } @@ -291,7 +295,7 @@ } -void getSF_Serial_pi(){ +/*void getSF_Serial_pi(){ //NVIC_DisableIRQ(USART2_IRQn); @@ -338,7 +342,7 @@ //NVIC_EnableIRQ(USART2_IRQn); -} +}*/ void setup(){