Diff: main.cpp

Revision:

29:34ee662f454e

Parent:

28:fc6c46c1db65

Child:

30:214ddc613a35

--- a/main.cpp	Tue Feb 16 03:24:20 2021 +0000
+++ b/main.cpp	Tue Feb 16 03:27:20 2021 +0000
@@ -90,7 +90,7 @@
     scaledServoOut[1]=de-da;
     scaledMotorOut[0]= dT;
     for(int i = 0;i<sizeof(servoOut);i++){
-        servoOut[i] = int(map(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax))
+        servoOut[i] = int(map(scaledServoOut[i],-1,1,servoPwmMin,servoPwmMax));
         if(servoOut[i]<servoPwmMin) {
             servoOut[i] = servoPwmMin;
         };
@@ -100,7 +100,7 @@
     }
     
     for(int i = 0;i<sizeof(motorOut);i++){
-        motorOut[i] = int(map(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax))
+        motorOut[i] = int(map(scaledMotorOut[i],-1,1,motorPwmMin,motorPwmMax));
         if(motorOut[i]<motorPwmMin) {
             motorOut[i] = motorPwmMin;
         };
@@ -112,7 +112,7 @@
     servoRight.pulsewidth_us(servoOut[0]);
     //servoLeft.pulsewidth_us(servoOut[1]); 
         
-    if(loop_count > 10)
+    if(loop_count > 10){
         pushto_sdcard();
         loop_count = 0;
     }else{
@@ -161,18 +161,19 @@
     pitchPID.setOutputLimits(-1.0,1.0);
     pitchratePID.setOutputLimits(-1.0,1.0);
     rollPID.setOutputLimits(-1.0,1.0); 
-    rollratePID.setOutputLimits(-pi,pi);
+    rollratePID.setOutputLimits(-1.0,1.0);
     pitchPID.setInputLimits(-pi,pi);
     pitchratePID.setInputLimits(-pi,pi);
     rollPID.setInputLimits(-pi,pi); 
     rollratePID.setInputLimits(-pi,pi);
+    
     servoRight.period_us(20000);
     MadgwickFilter.begin(100); //サンプリング周波数Hza
     t.start();
     while(1) {
         tstart = t.read();
         //姿勢角を更新
-        updateAttitude()
+        updateAttitude();
         PIDtick.loop(); // scaled_servo に pidのcomputing結果を格納する
         
         float tend = t.read();