OITRP_2020 / RollerPass_767zi

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Dependencies:   Yukey-MotorDriver-F767ZI QEI ICS_Servo Yukey-SolenoidDriver mbed-dev-oit OIT_math PS3_to_Arduino UltrasonicRangeFinder USB-HostShield_2_0 PIDcontrol

Files at this revision

API Documentation at this revision

Revision 2:5bfaa96c9c94, committed 2020-02-26

Comitter:
masamasa818
Date:
Wed Feb 26 07:45:27 2020 +0000
Parent:
1:fe0c48addd18
Commit message:
disconect

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed Feb 26 07:43:15 2020 +0000
+++ b/main.cpp	Wed Feb 26 07:45:27 2020 +0000
@@ -51,8 +51,8 @@
 CANMessage  rxMsg;
 CANMessage  rtMsg;
 
-YukeyMD md[3] = {YukeyMD(can, 0),YukeyMD(can,3),YukeyMD(can,4)};
-YukeyMD roller[2] = {YukeyMD(can, 0),YukeyMD(can,1)};
+YukeyMD md[3] = {YukeyMD(can, 0),YukeyMD(can,1),YukeyMD(can,2)};
+YukeyMD roller[2] = {YukeyMD(can, 3),YukeyMD(can,4)};
 YukeySD sd (can,5);             //エアシリンダーCAN
 
 DigitalOut led(LED1);
@@ -187,10 +187,10 @@
                     PID_roller_duty[1] = -pid_roller1.ComputePID(encRPM[1]);
                     roller[0].pwmWrite(duty[0] + PID_roller_duty[0]);
                     roller[1].pwmWrite(duty[1] + PID_roller_duty[1]);
-                    /*md[0].pwmWrite(0.0);
+                    md[0].pwmWrite(0.0);
                     md[1].pwmWrite(0.0);
                     md[2].pwmWrite(0.0);
-                    */
+                    
                     pc.printf("RPM0 = %f  RPM1 = %f\n",encRPM[0],encRPM[1]);
                 }