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Dependencies: mbed YKNCT_Movement SBDBT BNO055 YKNCT_MD YKNCT_I2C
Diff: main.cpp
- Revision:
- 8:367c7d6ef5a3
- Parent:
- 7:8bea84f72e64
- Child:
- 9:94112b5df540
--- a/main.cpp Mon Mar 16 04:25:24 2020 +0000
+++ b/main.cpp Mon Mar 16 05:21:36 2020 +0000
@@ -70,10 +70,6 @@
DigitalOut CL[] = {PA_4,PA_5};
DigitalIn DO[] = {PA_6,PA_7};
-/* 壁あてリミット */
-DigitalIn limL(PA_0);
-DigitalIn limR(PA_1);
-
/* ジャイロ用タイマー */
Timer yawCnt;
@@ -83,6 +79,9 @@
/* I2C MDのクラス定義 */
YKNCT_MD_I2C MD(PB_9,PB_8);
+/* I2C Inputのクラス定義 */
+YKNCT_I2C_IN In(PB_9,PB_8);
+
/* ジャイロのピン設定 */
BNO055 bno(PB_9, PB_8);
@@ -104,6 +103,9 @@
MD.Init(1,MD_SMB);
MD.Init(2,MD_SMB);
MD.Init(3,MD_SMB);
+
+ In.Init(0,0);
+ In.Init(0,1);
telemetry.printf("\n\rMainLoopStart");
/* メインループ --------------------------------------------------------------*/
@@ -122,9 +124,6 @@
/* 自己位置推定更新 */
LocEstimate();
- /* 壁あて実行 */
- ToWall();
-
/* I2CMD実行 */
MD.Exe();
@@ -159,6 +158,8 @@
if(yawCnt.read_ms()<1000) TarTheta=NowLoc.theta;
/* r_val補正 */
r_val+=(TarTheta-NowLoc.theta)*CONST_CORRECTION_YAW;
+
+ if(DS3.R1) ToWall();
omuni.XmarkOmni_Move(x_val,y_val,r_val);