Diff: User.cpp

Revision:

18:b24438ec4fd2

Parent:

17:95cb86ce56a9

Child:

19:509531c29e65

--- a/User.cpp	Wed Sep 05 11:42:29 2018 +0000
+++ b/User.cpp	Fri Sep 07 05:17:45 2018 +0000
@@ -4,7 +4,7 @@
 #include "ps3.h"
 #include "User.h"
 
-#include "mbed.h"
+#include "mbed.h".
 #include "math.h"
 #include "move3wheel.h"
 
@@ -365,13 +365,13 @@
 
 ////////////////////////ここからジャイロの角度指定プログラム//////////////////////////
 
-    if(receive_data >= 0) {  //反時計回りに0~359°となるよう修正
+    /*if(receive_data >= 0) {  //反時計回りに0~359°となるよう修正
         a = receive_data / 360;
         now_angle = receive_data - (360 * a);  //現在の角度
     } else {
         a = receive_data / 360;
         now_angle = 360 + receive_data - (360 * a);
-    }
+    }*/
 
 
     /*true_data = receive_data - 65536;
@@ -386,12 +386,12 @@
     if((ButtonState >> BUTTONRIGHT)&1 == 1) {
         wait(0.1);
         if((ButtonState >> BUTTONRIGHT)&1 == 1) {
-            target_angle = 285;
+            target_angle = 270;
             out = 0.01 * (target_angle - now_angle);
 
             //printf("%f\r\n",now_angle);
             //printf("%f\r\n",out);
-            if(now_angle >= 284 && now_angle <= 286) {
+            if(now_angle >= 269 && now_angle <= 271) {
                 motor(0,0,0,0,0,0);
 
             } else if(out > 1.8 || out <= -0.3) {  //0～89°と270～359°のときは時計回りに回転
@@ -416,10 +416,10 @@
     if((ButtonState >> BUTTONDOWN)&1 == 1) {
         wait(0.1);
         if((ButtonState >> BUTTONDOWN)&1 == 1) {
-            target_angle = 197;
+            target_angle = 180;
             out = 0.01 * (target_angle - now_angle);
 
-            if(now_angle >= 196 && now_angle <= 198) {
+            if(now_angle >= 179 && now_angle <= 181) {
                 motor(0,0,0,0,0,0);
 
             } else if(out > 0.3) {  //0～178°のときは反時計回りに回転
@@ -479,7 +479,7 @@
     printf("%f\n\r",now_angle);
 
     cs=0;
-    receive_data = spi.write(data1)*0.01;
+    now_angle = spi.write(data1)*0.01;
 
     cs=1;
     data1=0;