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Dependencies: Harurobo_CAN_1_19 mbed Maxon_setting_1_11 move4wheel2 EC PathFollowing_2_8 CruizCore_R1370P
Diff: main.cpp
- Revision:
- 4:deac46c43ef4
- Parent:
- 3:112c4ddf324d
- Child:
- 5:51aa9e3256c5
diff -r 112c4ddf324d -r deac46c43ef4 main.cpp
--- a/main.cpp Fri Jan 11 08:34:07 2019 +0000
+++ b/main.cpp Wed Feb 06 04:26:34 2019 +0000
@@ -17,15 +17,15 @@
//////////////////////////////////////////////////////////////以下main文/////////////////////////////////////////////////////////////////
int main()
-{
+{
UserLoopSetting(); //Maxon関連設定関数
UserLoopSetting2(); //PathFollowing関連設定関数
-#ifdef PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示(未動確)
+#ifdef PROGRAM_INFO //プログラム使用時に使用プログラムの情報を最初に表示
- printf("ソースファイル名 : %s¥n", __FILE__);
- printf("作成日付 : %s¥n", __DATE__);
- printf("作成時刻 : %s¥n", __TIME__);
+ printf("ソースファイル名 : %s\n\r", __FILE__);
+ printf("作成日付 : %s\n\r", __DATE__);
+ printf("作成時刻 : %s\n\r", __TIME__); //イギリスの時間（9時間前）の時間が表示される。
#endif
@@ -40,15 +40,20 @@
//purecurve2(5,1,1,0,0,-500,-500,9,1500,5,0.1,10,0.1,600,0);
- //set_cond(0,1,-800,0,0);
- //gogo_straight(0,1,0,0,-500,0,500,500,5,0.1,10,0.1,600,0);
+ // gogo_straight(0,1,0,0,-500,0,500,500,5,0.1,10,0.1,600,0);
+
ticker.attach(&can_read,0.01);
-
- while(1){
- //printf("%f\n\r",usw_data1);
- }
-
- //MotorControl(0,0,0,0);
+
+ //printf("%f\n",usw_data3);
+ //if(usw_data3!=0){
+ can_start();
+ set_cond(1,0,0,1,-1000);
+ gogo_straight(1,0,0,0,0,-300,500,500,5,0.1,10,0.1,600,0);
+ //{
+
+//while(1);
+
+ MotorControl(0,0,0,0);
#endif