NagaokaRoboticsClub_mbedTeam / ikarashiMDC_2byte_ver

ikarashiMDCの2byteバージョン

Dependents:   NHK2019_mae_v6 NHK2019_main_v6 NHK2019_usiro_v6 2019BSyudo ... more

Diff: ikarashiMDC.cpp

Revision:
17:97bb662f1e1f
Parent:
16:f1b2b34d09b3
--- a/ikarashiMDC.cpp	Mon Sep 02 08:02:21 2019 +0000
+++ b/ikarashiMDC.cpp	Tue Sep 03 05:08:36 2019 +0000
@@ -15,15 +15,13 @@
     uint8_t data[6];
     //Limiter
     const double cropped_speed = std::min(1.0,std::max(-1.0,speed));
-    //dataspeed 0~253 neutaral 126
     uint16_t dataSpeed = ((cropped_speed+1.0)/2.0)*0xffff;
-    //printf("%d\n",dataSpeed);
     //set sending data
     data[0] = 255; //header
     data[1] = 254;
     data[2] = (addr<<5) + motorNum + (mode<<4)+(braking<<3); //address
-    data[3] = dataSpeed % 256;
-    data[4] = ((dataSpeed >> 8) & 0xff);
+    data[3] = dataSpeed & 0xff;
+    data[4] = dataSpeed >> 8;
     data[5] = data[2]^data[3]^data[4];
     if((data[3]==255)&&(data[4]==254))data[4]=255;
     //send data