albatross
/
ControlMain2017
2017年度の製作を開始します
Fork of Control_Main_Full_20160608 by
Diff: main.cpp
- Revision:
- 1:65a3a2a4f535
- Parent:
- 0:b1290ca6c4a2
- Child:
- 2:9dc7d5f1e910
--- a/main.cpp Sat Feb 13 07:17:50 2016 +0000 +++ b/main.cpp Tue Feb 16 08:09:38 2016 +0000 @@ -10,8 +10,10 @@ CAN can_L(p30,p29); Serial toKeikiSerial(p28,p27); Serial pc(USBTX,USBRX); -DigitalIn eruron_R(p7); -DigitalIn eruron_L(p7); +//DigitalIn eruron_R(p7); +//DigitalIn eruron_L(p7); +int eruron_R = 0; +int eruron_L = 0; DigitalIn drug_R(p8); DigitalIn drug_L(p8); DigitalOut myled1(LED1); @@ -30,7 +32,7 @@ inputDatas_R[1] = drug_R; for(int i = 0; i < IMPUT_DATAS_NUM; i++){ if(can_R.write(recmsg_R)){ - pc.printf("Right successed!\n\r"); + //pc.printf("Right successed!\n\r"); } } } @@ -49,12 +51,27 @@ wait(0.2); } +void servo_check(){ + int counter = 0; + counter++; + if(counter >= 170) + counter = 0; + if(counter >= 20){ + eruron_R = 1; + eruron_L = 1; + } + else{ + eruron_R = 0; + eruron_L = 0; + } + } + void InputAndSentControlValues_L(){ inputDatas_L[0] = eruron_L; inputDatas_L[1] = drug_L; for(int i = 0; i < IMPUT_DATAS_NUM; i++){ if(can_L.write(recmsg_L)){ - pc.printf("Left successed!\n\r"); + // pc.printf("Left successed!\n\r"); } } } @@ -68,14 +85,16 @@ void toString_R(){ for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ - pc.printf("R : %i:",yokutanDatas_R[i]); + pc.printf("R : "); + pc.printf("%i:",yokutanDatas_R[i]); } pc.printf("\t"); } void toString_L(){ for(int i = 0; i < YOKUTAN_DATAS_NUM; i++){ - pc.printf("L : %i:",yokutanDatas_L[i]); + pc.printf("L : "); + pc.printf("%i:",yokutanDatas_L[i]); } pc.printf("\n\r"); } @@ -103,6 +122,7 @@ int main(){ init(); while(1){ + servo_check(); InputAndSentControlValues_R(); InputAndSentControlValues_L(); wait_us(10);