ロボステ6期 / Mbed 2 deprecated NHK2020-m2-1-ros_2_25

2月25日

Dependencies:   mbed SpeedController2_25 ros_lib_kinetic

Diff: main.cpp

Revision:
2:c4e456559941
Parent:
1:0e8ec231cb2f
Child:
3:e7807f60c9bf
--- a/main.cpp	Fri Nov 08 05:23:55 2019 +0000
+++ b/main.cpp	Fri Nov 08 06:36:17 2019 +0000
@@ -35,9 +35,10 @@
     else motor_1.Sc(rotate_1);
     if(rotate_2==0) motor_2.stop();
     else motor_2.Sc(rotate_2);
+    EC_1.calOmega();
+    EC_2.calOmega();
     j++;
 }
-
 int main()
 {
     motor_1.period_us(50);
@@ -49,12 +50,10 @@
     motor_tick.attach(&CalOmega,0.05);
 
     while(1) {
-
         if(pc.readable()) {
             char sel=pc.getc();
             if(sel=='q') {
                 for(int i=0; i<1000; i++) {
-
 //                    pc.printf("%f    ",time_when[i]);
                     pc.printf("%f,%f    ",motor1_omega[i],motor2_omega[i]);
                     pc.printf("%d,%d\r\n",motor1_count[i],motor2_count[i]);