7th_DENSOU / Mbed 2 deprecated nhk_2021motorCD_

motorCD

Dependencies:   mbed nhk_2021motorCD ros_lib_melodic

Diff: main.cpp

Revision:
2:342661f2a3f8
Parent:
1:c79ecadc3b18
--- a/main.cpp	Sat May 15 08:38:19 2021 +0000
+++ b/main.cpp	Fri Aug 06 09:01:16 2021 +0000
@@ -9,7 +9,6 @@
 SpeedControl motorC(p16,p15,NC,360,0.05,p25,p26);
 SpeedControl motorD(p11,p12,NC,360,0.05,p21,p23);
 
-
 DigitalOut led(LED1);
 
 Ticker ticker;
@@ -26,6 +25,7 @@
 void calOmega(){
     motorC.CalOmega();
     motorD.CalOmega();
+    //printf("C=%d, D=%d\n", motorC.getCount(), motorD.getCount());
 }
 
 ros::NodeHandle nh;
@@ -132,6 +132,7 @@
     ticker2.attach(&spin,0.01);
     
     while(1) {
+        //printf("count=%d", motorC.getCount());
         if(vC)motorC.Sc(vC);
         else motorC.stop();
         if(vD)motorD.Sc(vD);