cafads
Dependencies: mbed
Fork of Speed by
Diff: main.cpp
- Revision:
- 3:f30bd4a0d761
- Parent:
- 2:12c55b0c9cc2
- Child:
- 5:63c9ab496df9
diff -r 12c55b0c9cc2 -r f30bd4a0d761 main.cpp --- a/main.cpp Sat May 28 15:54:48 2016 +0000 +++ b/main.cpp Sat Jun 04 03:31:27 2016 +0000 @@ -56,7 +56,7 @@ 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 = 50; float servo_duty = 0.079;//0.079 +(0.084/180)*angle, -90<angle<90 char Receive_Data[8] = {}; @@ -78,10 +78,27 @@ { if(bluetooth.readable()) { - 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; + bluetooth.scanf("%f%f",&v1_ref,&v2_ref); + + if((0<=v1_ref<=600)&&(0<=v2_ref<=600)) + { + v1_ref = v1_ref - 300.0f; + v2_ref = v2_ref - 300.0f; + } + else if((v1_ref>900)&&(0<=v2_ref<=600)) + { + v1_ref = v1_ref - 600.0f; + v2_ref = v2_ref - 300.0f; + servo_angle = 50; + } + else if((0<=v1_ref<=600)&&(v2_ref>900)) + { + v1_ref = v1_ref - 300.0f; + v2_ref = v2_ref - 600.0f; + servo_angle = 15; + } + + } /*if(pc.readable()) { @@ -152,9 +169,9 @@ 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; }