Ohnishi_Gundan / Mbed 2 deprecated Bilateral_SpringStyle2

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Dependencies:   mbed

Diff: main.cpp

Revision:
1:974404d7741b
Parent:
0:87273e4cfe1c
--- a/main.cpp	Tue Oct 07 04:33:22 2014 +0000
+++ b/main.cpp	Fri Oct 10 01:49:48 2014 +0000
@@ -1,9 +1,10 @@
 #include "mbed.h"
 
 #define fsr_def 0.05
-#define sence_def 0.15
+#define sence_def 0.05
 #define zeroPWM 0.17
-#define pullzero 0.9
+#define pullzero 0.95
+#define powerlevel 0.8 //小さいほど強くなるよ
 
 
 AnalogIn FSR1(p19);
@@ -26,14 +27,14 @@
 void Pull1(float buf){
     Sig11 = 0;
     Sig12 = 1;
-    Pwm1 = 1.0-(buf);
+    Pwm1 = 1.0-(powerlevel*buf*buf);
     //Pwm1 = 0.5;
 }
 
 void Pull2(float buf){
     Sig21 = 0;
     Sig22 = 1;
-    Pwm2 = 1.0-(buf);
+    Pwm2 = 1.0-(powerlevel*buf*buf);
     //Pwm2 = 0.5;
 }
 
@@ -75,7 +76,7 @@
      myled1=1;
     }
     else if(FSR1<FSR2 && abs(FSR1-FSR2)>sence_def){//ギューんって引っ張る動き
-     Pull2(1.5*FSR1);
+     Pull2(FSR1);
      Brake1(); 
      myled1=0;   
     }
@@ -92,7 +93,7 @@
      myled2=1;   
     }
     else if(FSR2<FSR1&& abs(FSR1-FSR2)>sence_def){
-     Pull1(1.5*FSR2);
+     Pull1(FSR2);
      Brake2(); 
      myled2=0;   
     }