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改良版位置補正プログラム動作未確認
Dependencies: mbed move4wheel2 EC CruizCore_R1370P
Revision 7:44ce34007499, committed 2019-03-02
- Comitter:
- la00noix
- Date:
- Sat Mar 02 08:27:05 2019 +0000
- Parent:
- 6:26724c287387
- Child:
- 8:2ba338b4590e
- Commit message:
- a
Changed in this revision
--- a/can/can.cpp Sat Mar 02 07:48:18 2019 +0000 +++ b/can/can.cpp Sat Mar 02 08:27:05 2019 +0000 @@ -34,16 +34,16 @@ if(msg.id == 3) { usw_data1 = 0.1 * (short)((msg.data[0]<<8) | msg.data[1]); - debug_printf("usw_data1 = %f\n\r",usw_data1); + //debug_printf("usw_data1 = %f\n\r",usw_data1); usw_data2 = 0.1 * (short)((msg.data[2]<<8) | msg.data[3]); - debug_printf("usw_data2 = %f\n\r",usw_data2); + //debug_printf("usw_data2 = %f\n\r",usw_data2); usw_data3 = 0.1 * (short)((msg.data[4]<<8) | msg.data[5]); - debug_printf("usw_data3 = %f\n\r",usw_data3); + //debug_printf("usw_data3 = %f\n\r",usw_data3); usw_data4 = 0.1 * (short)((msg.data[6]<<8) | msg.data[7]); - debug_printf("usw_data4 = %f\n\r",usw_data4); + //debug_printf("usw_data4 = %f\n\r",usw_data4); } } else {
--- a/main.cpp Sat Mar 02 07:48:18 2019 +0000 +++ b/main.cpp Sat Mar 02 08:27:05 2019 +0000 @@ -112,12 +112,14 @@ calc_xy(0,1,1); ashi_led(); MaxonControl(0,0,0,0); + go_waitmode = 0; break; //-----manual mode--------------------------------------------------------------------------------------------------------------------// case 2: ManualOut(250,100,500,200); + go_waitmode = 0; break; }
--- a/movement/movement.cpp Sat Mar 02 07:48:18 2019 +0000 +++ b/movement/movement.cpp Sat Mar 02 08:27:05 2019 +0000 @@ -465,7 +465,7 @@ r=hypot(now_x - tgt_x, now_y - tgt_y); if(r < R) break; - + if(id1_value[0] != 1)break; } while(1) { @@ -483,7 +483,7 @@ } if(tgt_angle - 0.5 < now_angle && now_angle < tgt_angle + 0.5) break; //目標角度からの許容誤差内に機体の角度が収まった時、補正終了 - + if(id1_value[0] != 1)break; } MaxonControl(0,0,0,0); } \ No newline at end of file