Diff: main.cpp

Revision:

7:4e43530672df

Parent:

6:b426dcaa7c78

Child:

8:cccc03be9714

--- a/main.cpp	Wed Oct 12 00:24:34 2022 +0000
+++ b/main.cpp	Thu Oct 13 03:23:21 2022 +0000
@@ -5,7 +5,7 @@
 #include "QEI.h"
 #include "can_tr.h"
 #include "HOSOKIkikou.h"
-#include "SEKIkikou.h"
+//#include "SEKIkikou.h"
 #include "R1370.h"
 
 FEP_RX22 mycon(fepTX, fepRX, fepad);
@@ -71,15 +71,19 @@
 //    mycon.StartReceive();
     led = 1;
     pc.printf("success!\r\n");
-    int bc=0,bn=0;
-    int currentMode=1;
-    HOSOKIkikou hosoki(&motor[6],&motor[7], &motor[4], &motor[5], &b[0], &b[1], &b[2], &b[3], &encoderValue[2], &encoderValue[3]);
+    
+    for(int i=0; i < 8; i++){
+        motor[i].setSpeed(0);
+    }
+//    int bc=0,bn=0;
+//    int currentMode=1;
+    HOSOKIkikou hosoki(&motor[6],&motor[7], &motor[4], &motor[5], &b[4], NULL, NULL, NULL, NULL, NULL);
     while(1) {   
 //        recieveController();
         Reset=0;   
         updateenc();
         updatejyro();
-        
+        /*
         bc=b[7]-bn;
         bn=b[7];
         
@@ -104,13 +108,14 @@
                 hosoki.runAll(-0.9,0.9,0.3,0.3);
             }
         }
+        */
         canTR();
-        
-        if(stick[2]>100||stick[2]<-100||stick[3]>100||stick[3]<-100){//機構回転
-            if(stick[2]>100){
-                motorSpeed[1] = 0.8;
-            }else if(stick[2]<-100){
-                motorSpeed[1] = -0.8;
+        /*
+        if(stick[2]>80||stick[2]<-80||stick[3]>80||stick[3]<-80){//機構回転
+            if(stick[2]>80){
+                motorSpeed[1] = 0.5;
+            }else if(stick[2]<-80){
+                motorSpeed[1] = -0.5;
             }
             if(stick[3]>100){
                 motorSpeed[2] = 0.8;
@@ -120,30 +125,35 @@
         } else {
             motorSpeed[2]=0;
             motorSpeed[1]=0;
-        }
+        }*/
+        hosoki.runAll(-0.9,0.9,0,0);
         
+//        for(int i=1; i < 3; i++){
+//            motor[i].setSpeed(motorSpeed[i]);
+//        }
         
-        for(int i=1; i < 3; i++){
-            motor[i].setSpeed(motorSpeed[i]);
+        pc.printf("|wheel:  ");
+        for(int i=8; i < 12; i++){
+            pc.printf("%.2f  ",motorSpeed[i]);
         }
-        
+        pc.printf("|spin:  %.2f  ",motorSpeed[1]);
+        pc.printf("|updown:  %.2f  ",motorSpeed[2]);
+        pc.printf("|enc:  ");
+        for(int i=0; i < 7; i++){
+            pc.printf("%d  ",encoderValue[i]);
+            
+        }
+        pc.printf("|  ");
+        pc.printf("R1370:%.3f",jyroValue);
+        pc.printf("|  ");
         for(int i=0; i < 8; i++){
-            pc.printf("%d  ",b[i]);
+            pc.printf("%d ",b[i]);
         }
         pc.printf("|  ");
         for(int i=0; i < 4; i++){
             pc.printf("%d  ",stick[i]);
         }
-        pc.printf("|  ");
-        for(int i=2; i < 15; i++){
-            pc.printf("%.3f  ",motorSpeed[i]);
-        }
-        pc.printf("|  ");
-        for(int i=0; i < 12; i++){
-            pc.printf("%d  ",encoderValue[i]);
-        }
-        pc.printf("|  ");
-        pc.printf("%.4f\r\n",jyroValue);
+        pc.printf("\r\n");
         
     }
 }
\ No newline at end of file