仮
Dependencies: CruizCore_R1370P mbed
Fork of F3RC-Nucleo-new3 by
Diff: main.cpp
- Revision:
- 1:b2edadf8c3d9
- Parent:
- 0:5cafeb163455
--- a/main.cpp Fri Sep 07 05:19:29 2018 +0000 +++ b/main.cpp Thu Sep 13 13:33:33 2018 +0000 @@ -1,3 +1,4 @@ + #include "mbed.h" #include "R1370P.h" @@ -6,7 +7,7 @@ SPISlave spi(PA_7,PA_6,PA_5,PA_4); -PwmOut servo1(PB_4); //servo1 = アサリつかみ(手前) +PwmOut servo1(PA_3); //servo1 = アサリつかみ(手前) PwmOut servo2(PB_5); //servo2 = アサリつかみ(奥) PwmOut servo3(PA_11); //servo3 = アサリアーム PwmOut servo4(PA_8); //servo4 = ガチアサリアーム @@ -51,7 +52,7 @@ reply_angle = (360 + angle - (360 * a))*100; } - printf("angle = %f\r\n",reply_angle); + //printf("angle = %f\r\n",reply_angle); spi.reply(reply_angle); /*printf("%d\r\n",debug); @@ -64,15 +65,15 @@ servo1.pulsewidth_us(1000); flag1=0; } else if((flag1 == 0) && (data1 == 1)) { - servo1.pulsewidth_us(2050); + servo1.pulsewidth_us(1800); flag1=1; } if((flag2 == 1) && (data1 == 2)) { - servo2.pulsewidth_us(1000); + servo2.pulsewidth_us(1200); flag2=0; } else if((flag2 == 0) && (data1 == 2)) { - servo2.pulsewidth_us(2050); + servo2.pulsewidth_us(1800); flag2=1; } @@ -85,10 +86,10 @@ } if((flag4 == 1) && (data1 == 4)) { - servo4.pulsewidth_us(1100); + servo4.pulsewidth_us(1500); flag4=0; } else if((flag4 == 0) && (data1 == 4)) { - servo4.pulsewidth_us(2350); + servo4.pulsewidth_us(2000); flag4=1; }