Diff: main.cpp

Revision:

6:28b7339892f9

Parent:

5:62de7a36d3af

Child:

7:ed304ba2712a

--- a/main.cpp	Tue Sep 27 05:24:37 2016 +0000
+++ b/main.cpp	Tue Sep 27 07:57:15 2016 +0000
@@ -26,13 +26,14 @@
 
 void output()
 {
+    v=v*10;
     printf("\n|v|: %lf theta: %lf\n",v,argv); //最終的にだすやつ
     x = argv;
     y = v;
     i=2;
-    
+    joystick.update(throttle, rudder, x, y, button, hat);
     wait(1);
-    button = (i<<8) & 0x0F;
+    button = (0x0002) & 0x0F;
 
     joystick.update(throttle, rudder, x, y, button, hat);
 }
@@ -78,7 +79,7 @@
                 timeouter1.attach(&reset, 5);
             }
             time1=tmr.read_ms();
-            printf("1: %d  %d[ms]", cm1,time1);
+            printf("1: %d  %d[s]", cm1,time1);
 
             count1++;
             timecount1++;
@@ -89,7 +90,7 @@
 
             timesum1=timesum1+time1;    //time1を合計する
             timeavg1=timesum1/timecount1;   //time1の平均
-            printf("   timeavg1: %f[ms]\n",timeavg1);
+            printf("   timeavg1: %f[s]\n",timeavg1);
         }
 
         wait_ms(10);
@@ -115,7 +116,7 @@
         cm2 = microsecondsToCentimeters(USSDistance2);
         if(15<cm2&&cm2<40) {
             time2=tmr.read_ms();
-            printf("                                              2: %d %d[ms]",cm2,time2);
+            printf("                                              2: %d %d[s]",cm2,time2);
 
             count2++;
             timecount2++;
@@ -126,16 +127,16 @@
 
             timesum2=timesum2+time2;    //time2を合計する
             timeavg2=timesum2/timecount2;   //time2の平均
-            printf("   timeavg2:%f[ms]\n",timeavg2);
+            printf("   timeavg2:%f[s]\n",timeavg2);
 
             deltat=timeavg2-timeavg1;   //Δtを求める
             printf("\ndeltat: %f\n",deltat);
 
             a=pow((avg2-avg1)/deltat,2);
-            b=pow(10/deltat,2);
+            b=pow(0.1/deltat,2);
             v=sqrt(a+b);    //|v|を求める
 
-            argv=atan(10/(avg2-avg1));  //θを求める
+            argv=atan(0.1/(avg2-avg1));  //θを求める
         }
         wait_ms(10);
     }