![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
タコ 駆動側
Dependencies: 2017NHKpin_config FEP R1307 PID ikarashiMDC omni_wheel
Fork of NHK2017_octopus2 by
Diff: main.cpp
- Revision:
- 52:320f910ca6ca
- Parent:
- 50:3a7c858aa0f9
- Child:
- 54:7176e6a08600
diff -r 3a7c858aa0f9 -r 320f910ca6ca main.cpp --- a/main.cpp Mon Nov 13 17:33:30 2017 +0900 +++ b/main.cpp Thu Nov 23 11:49:39 2017 +0900 @@ -4,22 +4,47 @@ Bot OCTOPUS; Serial pc(USBTX, USBRX, 115200); +Timer t; +Timer tc; int main() { - pc.printf("const\n\r"); + //pc.printf("const\n\r"); + t.reset(); + tc.reset(); while(1) { - printf("loop\n\r"); + //printf("loop\n\r"); + //tc.start(); + //t.start(); + OCTOPUS.confirmPad2(); + //t.stop(); + //pc.printf("%f ",t.read()); + //t.start(); + //wait(0.01); OCTOPUS.confirmPad1(); - OCTOPUS.confirmPad2(); + //pc.printf("\r\n"); + //t.stop(); + //pc.printf("%f ",t.read()); + //t.start(); //OCTOPUS.controllDrive(); OCTOPUS.controllDrive2(); // OCTOPUS.controllDrive3(); //OCTOPUS.controllDrive4(); + //t.stop(); + //t.start(); OCTOPUS.controllMech(); //OCTOPUS.calibrate(); + //t.stop(); + //pc.printf("%f ",t.read()); + //wait(fabsf(0.12-t.read())); + //t.reset(); + //tc.stop(); //OCTOPUS.checkConnection(); //OCTOPUS.checkDegree(); - wait(0.01); + //OCTOPUS.checkPacket(); + //OCTOPUS.checkReceiveData(); + //pc.printf("%f ",tc.read()); + //tc.reset(); + wait(INTERVAL); } }