ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

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Dependencies:   mbed robot

Diff: main.cpp

Revision:
7:cff25545558f
Parent:
6:fe9fa8c2e6f9
Child:
8:ded0354412ae
--- a/main.cpp	Wed May 01 05:45:06 2019 +0000
+++ b/main.cpp	Wed May 01 06:41:39 2019 +0000
@@ -286,7 +286,7 @@
     motor_lo.setEncoder(&ec_lo);
     motor_lo.setResolution(1000);
     motor_li.setEncoder(&ec_li);
-    motor_li.setResolution(1000);
+    motor_li.setResolution(600);
 
     leg_lo.setMotor(&motor_lo);
     leg_lo.setPIDcontroller(&pid_lo);
@@ -296,8 +296,8 @@
     robot.setLeg(&leg_lo, &leg_li);
     robot.setTickerTime(0.01); //モータ出力間隔 0.01
 
-    motor_lo.setDutyLimit(0.5);
-    motor_li.setDutyLimit(0.5);
+    motor_lo.setDutyLimit(0.3);
+    motor_li.setDutyLimit(0.3);
 
     /*
     char str[255] = {};
@@ -332,7 +332,7 @@
 }
 void straight(int &step_num_l, int &step_num_r)
 {
-    can_send(360+step_num_r*180,180+step_num_r*180);
+    can_send((float)step_num_r,(float)step_num_r);
     leg_lo.setTargetPose(360+step_num_l*180);
     leg_li.setTargetPose(180+step_num_l*180);
     robot.run();
@@ -343,7 +343,8 @@
     while(1) {
         if(bus_in.read() == 1) break;
     }
-    step_num_l = step_num_r ++;
+    step_num_l++;
+    step_num_r++;
 }
 void turnLeft(int &step_num_l, int &step_num_r)
 {