NagaokaRoboticsClub_mbedTeam
廃炉ロボコン2018用プログラム ROS→stm32（ROSからのシリアルをCANに変換する）→MD
Dependencies: ros_lib_kinetic
Revision 1:e15fbee169e7, committed 2018-12-04
- Comitter:
- tknara
- Date:
- Tue Dec 04 09:00:44 2018 +0000
- Parent:
- 0:e5287b509fe9
- Commit message:
- added mode change;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed-dev.lib | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Dec 04 06:36:29 2018 +0000
+++ b/main.cpp Tue Dec 04 09:00:44 2018 +0000
@@ -1,5 +1,4 @@
#include "mbed.h"
-//#include "ikarashiMDC.h"
#include "algorithm"
#include <ros.h>
#include <sensor_msgs/Joy.h>
@@ -9,7 +8,7 @@
CAN can(PA_11,PA_12);
DigitalOut led2(PA_0);
Timeout timeout;
-
+int modeflag=0;
double wheelSpeed[4]={0};
double joyaxes[8];
double joybuttons[11];
@@ -67,22 +66,29 @@
}
void setWheelSpeed()
{
-
- if(joybuttons[9]==1)
+ static int mode=0,toggle=0;
+ if((joybuttons[7]==1)&&(toggle==0)&&(mode==0))
{
- wheelSpeed[0]=joyaxes[0];
- wheelSpeed[2]=joyaxes[1];
- }else {
+ toggle=1;
+ mode=1;
+ }else if((joybuttons[7]==1)&&(toggle==0)&&(mode==1)){
+ toggle=1;
+ mode=0;
+ }else{
+ toggle=0;
+ }
+ /*normal mode*/
+ if(mode==0)
+ {
wheelSpeed[0]=joyaxes[1]*-1;
+ wheelSpeed[1]=joyaxes[4];
wheelSpeed[2]=joyaxes[1]*-1;
- }
- if(joybuttons[10]==1)
- {
- wheelSpeed[1]=joyaxes[3]*-1;
- wheelSpeed[3]=joyaxes[4]*-1;
- }else{
- wheelSpeed[1]=joyaxes[4];
wheelSpeed[3]=joyaxes[4];
+ }else{
+ wheelSpeed[0]=joyaxes[1]*-1;
+ wheelSpeed[1]=joyaxes[1];
+ wheelSpeed[2]=joyaxes[3]*0.3;
+ wheelSpeed[3]=joyaxes[3]*0.3;
}
msg.id = 1;
msg.len = 4;
--- a/mbed-dev.lib Tue Dec 04 06:36:29 2018 +0000 +++ b/mbed-dev.lib Tue Dec 04 09:00:44 2018 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/tknara/code/mbed-dev2/#95ae1c16d509 +https://os.mbed.com/users/tknara/code/mbed-dev/#95ae1c16d509