albatross / Mbed 2 deprecated ControlMain2017_2

今までのジョイスティックの入力を段階分けしていた方式から、アナログ値をできる限りそのまま使用する方式に変更しました。

Dependencies:   mbed-rtos mbed

Fork of ControlMain2017 by albatross

Diff: main.cpp

Revision:
30:eb7b7af1070a
Parent:
29:8bff47ab602d
Child:
31:3a6be197e98f
--- a/main.cpp	Tue Mar 21 19:47:11 2017 +0000
+++ b/main.cpp	Tue Mar 21 23:23:32 2017 +0000
@@ -80,6 +80,7 @@
 
     neutralDiff = pitchNeutral - rollNeutral; //ピッチの初期値の方がい小さいと仮定
     rollNeutral += neutralDiff;
+    rollUpperDiff = 0;
 }
 
 void setMaxAndMin(InputType it,float value)
@@ -167,8 +168,9 @@
         return PHASE_NUM;
 }
 
-float SetRollPitchRacio(float pitch,float roll){
-return (roll + pitch * PITCHPERROLL) / (1.0 + PITCHPERROLL);
+float SetRollPitchRacio(float pitch,float roll)
+{
+    return (roll + pitch * PITCHPERROLL) / (1.0 + PITCHPERROLL);
 }
 
 void InputControlValues()
@@ -176,7 +178,7 @@
     setMaxAndMin(enumRoll, rollPin.read());
     setMaxAndMin(enumPitch, pitchPin.read());
 
-    // pc.printf("rollN:%f     rollMax:%f     rollMin:%f   pitchN:%f   pitchMax:%f   pitchUpper:%f  pitchMin:%f   pitchLo:%f  raw:%f\r\n",rollNeutral,rollNeutral+rollUpperDiff,rollNeutral+rollLowerDiff,pitchNeutral,pitchNeutral+pitchUpperDiff,pitchUpperDiff,pitchNeutral+pitchLowerDiff,pitchLowerDiff,pitchPin.read());
+//   pc.printf("rollN:%f     rollMax:%f     rollMin:%f   pitchN:%f   pitchMax:%f   pitchUpper:%f  pitchMin:%f   pitchLo:%f  raw:%f\r\n",rollNeutral,rollNeutral+rollUpperDiff,rollNeutral+rollLowerDiff,pitchNeutral,pitchNeutral+pitchUpperDiff,pitchUpperDiff,pitchNeutral+pitchLowerDiff,pitchLowerDiff,pitchPin.read());
     float MatchedRoll = MatchUpperAndLower(enumRoll, rollNeutral + rollUpperDiff,rollLowerDiff + rollLowerDiff,rollNeutral,rollPin.read() + neutralDiff);
     float MatchedPitch = MatchUpperAndLower(enumPitch, pitchNeutral + pitchUpperDiff,pitchNeutral + pitchLowerDiff,pitchNeutral,pitchPin.read());
 
@@ -196,7 +198,7 @@
     else if(*(int *)inputDatas_L > PHASE_NUM)
         *(int *)inputDatas_L =PHASE_NUM;
 
-    pc.printf("input_R:%d   input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L);
+   pc.printf("input_R:%d   input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L);
     inputDatas_R[4] = (char)drug_R;
     led4 =! led4;
     // pc.printf("%c",*(char *)inputDatas_R[4]);
@@ -211,6 +213,7 @@
     can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
     toKeikiSerial.putc(';');
     for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
+        
         toKeikiSerial.putc(yokutanDatas_R[i]);
         toKeikiSerial.putc(yokutanDatas_L[i]);
     }