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Dependencies: mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM
Diff: datatransfer.cpp
- Revision:
- 118:97ffe77b6f38
- Parent:
- 116:248f2d8cc11e
- Child:
- 119:43ac44c68ff0
--- a/datatransfer.cpp Wed Mar 30 04:47:36 2022 +0000
+++ b/datatransfer.cpp Wed Mar 30 05:30:13 2022 +0000
@@ -22,7 +22,7 @@
vp.pi[0] = pihat(1, 1);
vp.pi[1] = pihat(2, 1);
vp.pi[2] = pihat(3, 1);
- pc.printf("pihat: %f %f %f\r\n", pihat(1, 1), pihat(2, 1), pihat(3, 1));
+ //pc.printf("pihat: %f %f %f\r\n", pihat(1, 1), pihat(2, 1), pihat(3, 1));
Matrix vihat = eskf.getVihat();
vp.vi[0] = vihat(1, 1);
vp.vi[1] = vihat(2, 1);
@@ -57,6 +57,20 @@
// pc.printf("%f %f %f %d %d %f %f %f \r\n",rpy.x/M_PI*180.0f,rpy.y/M_PI*180.0f,rpy.z/M_PI*180.0f,vp.readyFlag,updateValues.calibrationFlag,updateValues.vx_opt,updateValues.vy_opt,updateValues.dist_ir);
}
+void send2pc()
+{
+ sp.pos_tail = int(pos_tail);
+ sp.de = de;
+ sp.dTl = dTl;
+ sp.dTr = dTr;
+ sp.dr = dr;
+ sp.rpy[0] = rpy.x;
+ sp.rpy[1] = rpy.y;
+ sp.rpy[2] = rpy.z;
+ pc.Send(0000, &(sp));
+
+}
+
// eeprom書き込み・読み込みに必要な関数
void writeEEPROM(int address, unsigned int eeaddress, char *data, int size)
{