Diff: main.cpp

Revision:

6:fe9fa8c2e6f9

Parent:

5:63462d696256

Child:

7:cff25545558f

--- a/main.cpp	Wed May 01 00:23:43 2019 +0000
+++ b/main.cpp	Wed May 01 05:45:06 2019 +0000
@@ -278,13 +278,15 @@
 {
     setup();
 
+
+
     pid_lo.setTolerance(10);
     pid_li.setTolerance(10);
 
     motor_lo.setEncoder(&ec_lo);
     motor_lo.setResolution(1000);
     motor_li.setEncoder(&ec_li);
-    motor_li.setResolution(600);
+    motor_li.setResolution(1000);
 
     leg_lo.setMotor(&motor_lo);
     leg_lo.setPIDcontroller(&pid_lo);
@@ -294,8 +296,8 @@
     robot.setLeg(&leg_lo, &leg_li);
     robot.setTickerTime(0.01); //モータ出力間隔 0.01
 
-    motor_lo.setDutyLimit(0.1);
-    motor_li.setDutyLimit(0.1);
+    motor_lo.setDutyLimit(0.5);
+    motor_li.setDutyLimit(0.5);
 
     /*
     char str[255] = {};
@@ -304,6 +306,10 @@
     printf("start!");
     */
 
+
+
+    
+
     reset();
     printf("bus standby\n\r");
     while(1) {
@@ -318,7 +324,7 @@
     {
         straight(step_num_l, step_num_r);
         //printf("machine degree:%.3f\r\n", degree0);
-        //wait(0.01);
+        wait(0.01);
     }
     
     //turnLeft(step_num_l, step_num_r);
@@ -412,12 +418,12 @@
 void reset()
 {
     while(switch_lo.read()) {
-        motor_lo.output(0.07);
+        motor_lo.output(0.3);
     }
     ec_lo.reset();
     motor_lo.output(0.0);
     while(switch_li.read()) {
-        motor_li.output(0.07);
+        motor_li.output(0.3);
     }
     ec_li.reset();
     motor_li.output(0.0);