Diff: main.cpp

Revision:

31:3a6be197e98f

Parent:

30:eb7b7af1070a

Child:

32:60af346703d3

diff -r eb7b7af1070a -r 3a6be197e98f main.cpp
--- a/main.cpp	Tue Mar 21 23:23:32 2017 +0000
+++ b/main.cpp	Thu Mar 23 08:50:19 2017 +0000
@@ -3,7 +3,7 @@
 #include "mbed.h"
 #define WAIT_LOOP_TIME 0.001
 #define YOKUTAN_DATAS_NUM 7
-#define INPUT_DATAS_NUM 5
+#define INPUT_DATAS_NUM 7
 #define SEND_DATAS_CAN_ID 100
 #define SEND_DATAS_TIME 0.5
 #define THRESHOLD_OH_VALUE 0.14
@@ -35,9 +35,9 @@
 Serial toKeikiSerial(p28,p27);
 Serial pc(USBTX,USBRX);
 AnalogIn rollPin(p15);
-AnalogIn pitchPin(p20);
+AnalogIn pitchPin(p18);
 DigitalIn drug_R(p14);
-DigitalIn drug_L(p19);
+DigitalIn drug_L(p17);
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led4(LED4);
@@ -110,12 +110,12 @@
         if(Upper > Lower) {
             if(value < neutral) {
                 value =  neutral - ((neutral - value) * (Upper / Lower));
-                //      rollLowerDiff  =  (rollLowerDiff)* (Upper / Lower);     //現状範囲値を変えれてないから、ここは要対応。0で割ってしまってnanが出るようになったからコメントアウトした。
+                rollLowerDiff  =  -rollUpperDiff; 
             }
         } else  {
             if(value > neutral) {
                 value =  neutral + ((value - neutral) * (Lower / Upper));
-                //       rollUpperDiff = rollUpperDiff* (Upper / Lower);
+                rollUpperDiff = -rollLowerDiff;
             }
         }
         return value;
@@ -123,12 +123,12 @@
         if(Upper > Lower) {
             if(value < neutral) {
                 value =  neutral - ((neutral - value) * (Upper / Lower));
-                //  pitchLowerDiff =  (pitchLowerDiff)* (Upper / Lower);
+                pitchLowerDiff =  -pitchUpperDiff;
             }
         } else  {
             if(value > neutral) {
                 value =  neutral + ((value - neutral) * (Lower / Upper));
-                //    pitchUpperDiff= (pitchUpperDiff)* (Upper / Lower);
+                pitchUpperDiff= -pitchLowerDiff;
             }
         }
         return value;
@@ -144,10 +144,6 @@
         result= max;
     else if(value < min)
         result = min;
-    else if(value > 1)
-        result = 1;
-    else if(value < 0)
-        result = 0;
     else
         result = value;
     return result;
@@ -198,12 +194,14 @@
     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);
-    inputDatas_R[4] = (char)drug_R;
+   // pc.printf("DR :%d   DL:%d     input_R:%d   input_L:%d\n\r",drug_R.read(),drug_L.read(),*(int *)inputDatas_R,*(int *)inputDatas_L);
+    inputDatas_R[sizeof(int)+ 2] = (char)drug_R;
     led4 =! led4;
     // pc.printf("%c",*(char *)inputDatas_R[4]);
     //pc.printf("%c",(char)drug_R);
-    inputDatas_L[4] = (char)drug_L;
+    inputDatas_L[sizeof(int)+2] = (char)drug_L;
+  //  pc.printf("eruron:%f    drug:%f\n\r,",);
+  pc.printf(" DL:%d     input_R:%d\n\r",inputDatas_L[sizeof(int)+2],*(int *)inputDatas_L);
     // pc.printf("");
 }
 
@@ -213,7 +211,7 @@
     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]);
     }