2016/05/06 交ロボの移植プログラム 移動only
Dependencies: mbed
Diff: main.cpp
- Revision:
- 1:4f5a22371fff
- Parent:
- 0:165e50fc913f
- Child:
- 2:3bf43044ef9f
diff -r 165e50fc913f -r 4f5a22371fff main.cpp --- a/main.cpp Tue Apr 12 12:28:01 2016 +0000 +++ b/main.cpp Fri May 06 07:49:34 2016 +0000 @@ -49,19 +49,19 @@ n++; } }else{ - prePwmDuty[0]=1.41421356*sin(rad+qPI)*conratio; - prePwmDuty[1]=1.41421356*sin(rad-qPI)*conratio; + prePwmDuty[0]=1.41421356*sin(rad+qPI);//*conratio; + prePwmDuty[1]=1.41421356*sin(rad-qPI);//*conratio; prePwmDuty[2]=prePwmDuty[1]; prePwmDuty[3]=prePwmDuty[0]; } turn = (data[2]-63)/64.0; - turn = 0; + //turn = 0; - prePwmDuty[0]+=turn*ratio; - prePwmDuty[1]+=turn*ratio; - prePwmDuty[2]-=turn*ratio; - prePwmDuty[3]-=turn*ratio; + prePwmDuty[0]+=turn;//*conratio;//*ratio; + prePwmDuty[1]-=turn;//*conratio;//*ratio; + prePwmDuty[2]+=turn;//*conratio;//*ratio; + prePwmDuty[3]-=turn;//*conratio;//*ratio; while(i<4){ if(prePwmDuty[i]<-1.0) prePwmDuty[i]=-1.0; @@ -104,8 +104,10 @@ i2c.frequency(300000); ledsReset(); FEP02.baud(19200); + /* MotorRun(); wait(3); + */ MotorReset(); //FEP02.attach(&getConData); leds[0]=1; @@ -129,6 +131,10 @@ printf("%d\r\n",i2cVAL); printf("%d,%d,%d,%d\r\n",MDFL[0],MDFR[0],MDRL[0],MDRR[0]); leds[0]=!leds[0]; - } + leds[1]=1; + if(i2cVAL) leds[2]=1; + else leds[2]=0; + } + leds[1]=0; } }