Main Program
Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/setup_command_active/setup.cpp
- Revision:
- 31:0b0f64831771
- Parent:
- 30:26070ba1f21f
- Child:
- 34:69bdf29a4442
diff -r 26070ba1f21f -r 0b0f64831771 main_processing/setup_command_active/setup.cpp --- a/main_processing/setup_command_active/setup.cpp Mon Feb 01 11:43:58 2016 +0000 +++ b/main_processing/setup_command_active/setup.cpp Tue Feb 02 04:07:06 2016 +0000 @@ -22,8 +22,8 @@ data.strategy = 0; data.motorlog[X_AXIS] = 0; data.motorlog[Y_AXIS] = 0; - data.s_pow=15; - data.l_pow=15; + data.s_pow=20; + data.l_pow=20; //spi spi.format(16, 3); @@ -61,22 +61,13 @@ } data.CmpsDiff = REFERENCE - data.cmps; data.FrontDeg=0; - /* - data.LineBind[0]=0; - data.LineBind[1]=0; - data.LineBind[2]=0; - data.LineBind[3]=0; - */ + Line_ticker.attach(&ReadLine, 0.005); Solenoid_ticker.attach(&AvailableSolenoid, 6.0); Ir_ticker.attach(&ValidIr, 0.050); //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) Motor_ticker.attach(&ValidTx_motor, 0.020); - data.MotorFlag=1; pidupdate.attach(&ValidPidUpdate, PID_CYCLE); - - data.motorlog[X_AXIS]=0; - data.motorlog[Y_AXIS]=0; } void StopProcess(void){//コマンドに戻るときの処理 pidupdate.detach();