cafads
Dependencies: mbed
Fork of Speed by
Diff: main.cpp
- Revision:
- 2:12c55b0c9cc2
- Parent:
- 1:571a7ee6023d
- Child:
- 3:f30bd4a0d761
--- a/main.cpp Fri May 27 16:26:14 2016 +0000 +++ b/main.cpp Sat May 28 15:54:48 2016 +0000 @@ -62,6 +62,7 @@ char Receive_Data[8] = {}; int main() { + init_BLUETOOTH(); init_TIMER(); init_PWM(); @@ -77,9 +78,10 @@ { if(bluetooth.readable()) { - bluetooth.scanf("%f%f",&v1_ref,&v2_ref); + bluetooth.scanf("%f%f%d",&v1_ref,&v2_ref,&servo_angle); v1_ref = v1_ref - 300.0f; v2_ref = v2_ref - 300.0f; + servo_angle = servo_angle - 20; } /*if(pc.readable()) { @@ -94,24 +96,6 @@ void timer1_interrupt(void) { - - /*for(int i=0; i<8; i++) - { - Receive_Data[i] = bluetooth.getc(); - } - //read data from matlab - //distance_target - v1_ref = (Receive_Data[1]-0x30)*100 + (Receive_Data[2]-0x30)*10 + (Receive_Data[3]-0x30); - - if(Receive_Data[0] == '-')v1_ref = -1* v1_ref; - else v1_ref = v1_ref; - - //ang_rel_target - v2_ref = (Receive_Data[5]-0x30)*100 + (Receive_Data[6]-0x30)*10 + (Receive_Data[7]-0x30); - - if(Receive_Data[4] == '-')v2_ref = -1* v2_ref; - else v2_ref = v2_ref;*/ - //Motor 1 v1 = (float)v1Count * 50.0f / 12.0f * 60.0f / 29.0f; //unit: rpm v1_avg = v1_avg + ( v1 - v1_old[9])/10.0f; @@ -166,12 +150,12 @@ } } - /*servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改 + servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改 servo.write(servo_duty); - servo = 1; - wait(0.1); - servo = 0; - */ + //servo = 1; + //wait(0.1); + //servo = 0; + } void CN_interrupt(void)