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:
38:5bccc1c7f812
Parent:
35:adad361dbb53
Child:
40:4455b8c02e46
diff -r adad361dbb53 -r 5bccc1c7f812 main.cpp
--- a/main.cpp	Wed Apr 19 15:02:51 2017 +0000
+++ b/main.cpp	Fri Apr 21 02:46:11 2017 +0000
@@ -9,7 +9,7 @@
 #define THRESHOLD_OH_VALUE 0.14
 #define SAMPLE_INTERVAL 0.05
 
-#define PHASE_NUM 15 //奇数にしてください
+#define PHASE_NUM 13 //奇数にしてください
 #define SUM_UP_NUM 10.0
 #define PITCHPERROLL 1.5
 /*
@@ -174,7 +174,7 @@
     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    ",rollNeutral,rollNeutral+rollUpperDiff,rollNeutral+rollLowerDiff,pitchNeutral,pitchNeutral+pitchUpperDiff,pitchUpperDiff,pitchNeutral+pitchLowerDiff,pitchLowerDiff,pitchPin.read());
     float MatchedRoll = MatchUpperAndLower(enumRoll, rollNeutral + rollUpperDiff,rollNeutral + rollLowerDiff,rollNeutral,rollPin.read() + neutralDiff);
     float MatchedPitch = MatchUpperAndLower(enumPitch, pitchNeutral + pitchUpperDiff,pitchNeutral + pitchLowerDiff,pitchNeutral,pitchPin.read());
 //pc.printf("Rollmax:%f   value:%f    Min:%f" ,);
@@ -182,9 +182,9 @@
     *(int *)inputDatas_R =PhaseFloat(FormatedRoll_R,SetRollPitchRacio(pitchNeutral + pitchUpperDiff,rollNeutral + rollUpperDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff,rollNeutral + rollLowerDiff));
 
     float FormatedRoll_L = Format2Range(SetRollPitchRacio(MatchedPitch, - MatchedRoll),SetRollPitchRacio(pitchNeutral + pitchUpperDiff,-rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral  +pitchLowerDiff, - rollNeutral - rollUpperDiff));
-    //pc.printf("matched:%f    max:%f  min:%f\n\r",(MatchedPitch - MatchedRoll) / 2.0,(pitchNeutral  +pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0,(pitchNeutral + pitchUpperDiff-rollNeutral - rollLowerDiff) / 2.0);
+  //  pc.printf("matched:%f    max:%f  min:%f\n\r",(MatchedPitch - MatchedRoll) / 2.0,(pitchNeutral  +pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0,(pitchNeutral + pitchUpperDiff-rollNeutral - rollLowerDiff) / 2.0);
     *(int *)inputDatas_L = PhaseFloat(FormatedRoll_L,SetRollPitchRacio(pitchNeutral + pitchUpperDiff ,- rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff ,- rollNeutral - rollUpperDiff));
-    //pc.printf("Format:%f    max:%f  min:%f\n\r",FormatedRoll_L,(pitchNeutral + pitchUpperDiff - rollNeutral - rollLowerDiff) / 2.0,(pitchNeutral + pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0);
+    pc.printf("Format:%f    max:%f  min:%f  ",FormatedRoll_L,(pitchNeutral + pitchUpperDiff - rollNeutral - rollLowerDiff) / 2.0,(pitchNeutral + pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0);
     if(*(int *)inputDatas_R < 1)
         *(int *)inputDatas_R = 1;
     else if(*(int *)inputDatas_R > PHASE_NUM)
@@ -194,7 +194,7 @@
     else if(*(int *)inputDatas_L > PHASE_NUM)
         *(int *)inputDatas_L =PHASE_NUM;
 
-    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);
+    pc.printf("input_R:%d   input_L:%d\n\r",*(int *)inputDatas_R,*(int *)inputDatas_L);
     inputDatas_R[sizeof(int)+ 2] = (char)drug_R;
     led4 =! led4;
     // pc.printf("%c",*(char *)inputDatas_R[4]);