Diff: main.cpp

Revision:

4:7d2eae0115a2

Parent:

3:79e62f9b13c8

Child:

5:9cad4ce807b9

--- a/main.cpp	Thu Jan 21 08:59:55 2021 +0000
+++ b/main.cpp	Thu Jan 21 09:04:24 2021 +0000
@@ -28,12 +28,6 @@
         ch2 = int(sbus.getData(2));
         pc.printf("ch1 :%d\r\n", ch1);
         pc.printf("ch2 :%d\r\n", ch1);
-        if(abs(ch1-ch1_b) < 100){
-          rc1 = (float)(map(ch1,368,1680,-1000,1000))/1000.0;
-        }
-        if(abs(ch2-ch2_b) < 100){
-          rc2 = (float)(map(ch2,368,1680,-1000,1000))/1000.0;
-        }
         pc.printf("rc1 :%f\r\n", rc1);
         pc.printf("rc2 :%f\r\n", rc1);
         int pwmMax = 1800;
@@ -66,7 +60,7 @@
     servo2.period(0.020);
     Ticker timer_SBUS;
     Ticker timer_Gyro;
-    timer_SBUS.attach(interrupt_SBUS, 1.0);
+    timer_SBUS.attach(interrupt_SBUS, 0.020);
     timer_Gyro.attach(interrupt_Gyro, 0.1);
     while(1) {