Revision 59:04c26e2c20bb, committed 2018-01-19

Comitter:

tsumagari

Date:

Fri Jan 19 11:07:39 2018 +0000

Branch:

?????

Parent:

58:0b4b842149de

Commit message:

rsp???input?????normedRoll drR,normedPitch drL?????????????????

Changed in this revision

diff -r 0b4b842149de -r 04c26e2c20bb main.cpp
--- a/main.cpp	Sat Dec 23 05:30:02 2017 +0000
+++ b/main.cpp	Fri Jan 19 11:07:39 2018 +0000
@@ -3,10 +3,10 @@
 ******************************************
 **magic character of debug**
 *
-*(0)i:pilot's input datas: inputR,inputL,normedPitch,normedRoll
+*(0)]:pilot's input datas: inputR,inputL,normedPitch,normedRoll
                             ,rollIC.shiftedMax,rollIC.shiftedMin,(int)drug_R,(int)drug_L
 *(1)g:getting datas: mpu(LR),servoV(LR) <- mbed always send this to pc(rsp)
-*(2)j:data to debug what you want(joker)
+*(2)_:data to debug what you want(joker)
 ******************************************
 *
 */
@@ -42,9 +42,9 @@
     bool flag;
 };
 struct flaglist debugflag[]={
-    {'i',0},
+    {']',0},
     {'g',0},
-    {'j',0},
+    {'_',0},
     {'0',0}//footer
 };
 //-----------------------------------(resetInterrupt def)
@@ -64,10 +64,10 @@
 CAN can_R(p30,p29);
 CAN can_L(p9,p10);
 Serial toKeikiSerial(p28,p27);
-AnalogIn rollPin(p15);
-AnalogIn pitchPin(p18);
-DigitalIn drug_R(p14);
-DigitalIn drug_L(p17);
+AnalogIn rollPin(p15);// right hand
+DigitalIn drug_R(p14);// right hand
+AnalogIn pitchPin(p18);// left hand
+DigitalIn drug_L(p17);// left hand
 DigitalIn servoOff(p26);
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
@@ -81,9 +81,9 @@
 
 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
-char inputDatas_R[INPUT_DATAS_NUM];
-char inputDatas_L[INPUT_DATAS_NUM];
-
+char inputDatas_R[INPUT_DATAS_NUM+1];//for \0 space
+char inputDatas_L[INPUT_DATAS_NUM+1];
+char toKeikiBufInput[(3+1)*2];
 CANMessage recmsg_R(0x701,yokutanDatas_R,YOKUTAN_DATAS_NUM);
 CANMessage recmsg_L(0x701,yokutanDatas_L,YOKUTAN_DATAS_NUM);
 int to_keiki_sending_timer = 0;
@@ -127,8 +127,9 @@
     if(abs(inputL)==1.0){
         inputL -= 0.01*SIGN(inputL);
     }
-    sprintf(inputDatas_R,"%03d%1d",(int)(inputR*100),drR);
-    sprintf(inputDatas_L,"%03d%1d",(int)(inputL*100),drL);
+    sprintf(inputDatas_R,"%03d%1d",(int)(inputR*99),drR);
+    sprintf(inputDatas_L,"%03d%1d",(int)(inputL*99),drL);
+    sprintf(toKeikiBufInput,"%03d%1d,%03d%d",(int)(normedRoll*99),drR,(int)(normedPitch*99),drL);
     print2pc(INPUT_DATA_DEBUG_FLAG,"inR:%5.2f inL:%5.2f nrmR:%5.2f nrmL:%5.2f sMax:%5.2f sMin:%5.2f drugR:%d drugL:%d\n"
         ,inputR,inputL,normedPitch,normedRoll,rollIC.shiftedMax,rollIC.shiftedMin,(int)drug_R,(int)drug_L);
 
@@ -151,8 +152,8 @@
     /*keiki*/
     char *toKeikiBuf = (char*)malloc(sizeof(char)*55);
     int ahead = 0;
-    ahead += sprintf(toKeikiBuf,"i%s,%s",inputDatas_R,inputDatas_L);
-    
+//    ahead += sprintf(toKeikiBuf,"i%s,%s",inputDatas_R,inputDatas_L);
+    ahead += sprintf(toKeikiBuf,"i%s",toKeikiBufInput);
     if(can_R.read(recmsg_R)){
         led3 = !led3;
         char mpu1[3]={recmsg_R.data[0],recmsg_R.data[1],recmsg_R.data[2]};