cafads
Dependencies: mbed
Fork of Speed by
Diff: main.cpp
- Revision:
- 4:1125b24078a3
- Parent:
- 1:571a7ee6023d
diff -r 571a7ee6023d -r 1125b24078a3 main.cpp --- a/main.cpp Fri May 27 16:26:14 2016 +0000 +++ b/main.cpp Mon Jun 06 10:06:08 2016 +0000 @@ -56,10 +56,12 @@ float v2_err = 0.0, v2_err_old = 0.0, PIout_2 = 0.0; float v2_old[10] = {}, v2_avg = 0.0; -int servo_angle = 87; +int servo_angle = 70; float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90 +int servo_work = 0; -char Receive_Data[8] = {}; + +//char Receive_Data[8] = {}; int main() { init_BLUETOOTH(); @@ -70,6 +72,9 @@ v1_ref = 0.0; v2_ref = 0.0; + servo_duty = 0.079 + (0.084/180)*servo_angle; // 要修改 + servo.write(servo_duty); + //bluetooth.baud(115200); //設定鮑率 //pc.baud(57600); @@ -77,9 +82,14 @@ { if(bluetooth.readable()) { - bluetooth.scanf("%f%f",&v1_ref,&v2_ref); + bluetooth.scanf("%f %f %d",&v1_ref,&v2_ref, &servo_work); v1_ref = v1_ref - 300.0f; v2_ref = v2_ref - 300.0f; + + if(servo_work == 0) + servo_angle = 70; + else + servo_angle = 20; } /*if(pc.readable()) { @@ -166,12 +176,10 @@ } } - /*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; - */ + + } void CN_interrupt(void)