Revision 37:1f71ca1e5dd1, committed 2017-03-11

Comitter:

YusukeWakuta

Date:

Sat Mar 11 16:22:16 2017 +0000

Branch:

XBus???

Parent:

36:ddf4aa818e88

Child:

38:b492990e2b56

Commit message:

??????????????

Changed in this revision

--- a/main.cpp	Sat Mar 11 11:06:20 2017 +0000
+++ b/main.cpp	Sat Mar 11 16:22:16 2017 +0000
@@ -13,14 +13,14 @@
 #define RECEIVE_DATAS_LOOP_TIME 0.1
 
 #define ERURON_MOVE_DEG_INI_R 1.0
-#define DRUG_MOVE_DEG_INI_R 1.0
+#define DRUG_MOVE_DEG_INI_R 0.3
 #define ERURON_TRIM_INI_R 0
-#define DRUG_TRIM_INI_R 0
+#define DRUG_TRIM_INI_R 0.5
 
 #define ERURON_MOVE_DEG_INI_L 1.0
-#define DRUG_MOVE_DEG_INI_L 1.0
+#define DRUG_MOVE_DEG_INI_L 0.3
 #define ERURON_TRIM_INI_L 0
-#define DRUG_TRIM_INI_L 0
+#define DRUG_TRIM_INI_L 0.5
 
 /*
 #define kMaxServoNum        1       // 1 - 50
@@ -28,6 +28,9 @@
 #define kMotionInterval     10      // flame / sec
 #define kMotionMinMark      0x1249
 #define kMotionEndMark      0xED86
+
+初期値 0.65
+最大角0.99
 */
 
 CAN can(p30,p29);
@@ -175,6 +178,13 @@
 double calcPulse(float deg)
 {
     return (0.0006+(deg)*(0.00235-0.00045));
+    /*
+        int start=510, end=2390;
+    while(1) {
+        //    pc.printf("%f\n\r",(start + (double)(end - start) * analogIn.read()));
+        pc.printf("%f\n\r",analogIn.read());
+        pwm.pulsewidth_us(start + (double)(end - start) * analogIn.read());
+    */
 }
 
 float SampleFloat(float f)  //小数点以下第二位を切り捨て
@@ -186,10 +196,10 @@
 
 void WriteServo()
 {
-    drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg * float)controlValues[sizeof(float)] / 2.0));
-    eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg *SampleFloat( (eruronfloat / 2.0)));
-    // pc.printf("dr::%f   ef::%f\n\r",(float)controlValues[sizeof(float)],eruronfloat - 1.5);
-    pc.printf("raw:%f    sampled:%f\n\r",(eruronfloat - 1.5) * 2.0,SampleFloat( (eruronfloat - 1.5) * 2.0));
+    drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)]));
+    eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * SampleFloat((eruronfloat / 2.0))));
+     pc.printf("drValue::%f   ef::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)] / 2.0,SampleFloat((eruronfloat / 2.0)));
+    //  pc.printf("raw:%f    sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0));
 }
 
 void setTrim()
@@ -198,7 +208,7 @@
     if(EDstatePin) {
         eruronTrim = eruronAna.read();
     } else {
-        drugTrim = drugAna.read()*180;
+        drugTrim = drugAna.read();
         drugServo.pulsewidth(calcPulse(drugTrim));
     }
     //pc.printf("eruronTrim:%f    drugTrim:%f\n\r",eruronTrim,drugTrim);
@@ -210,7 +220,7 @@
 {
     led4 = 1;
     float eruronTemp = eruronAna.read();
-    float drugTemp = drugAna.read()*180;
+    float drugTemp = drugAna.read();
     if(EDstatePin) {
         eruronMoveDeg = eruronTemp-eruronTrim;
     } else {
@@ -241,6 +251,8 @@
         while (setMaxDegPin) {
             setMaxDeg();
         }
+        pc.printf("eruronTrim:%f    drugTrim:%f    ",eruronTrim,drugTrim);
+        pc.printf("eMD:%f   dMD:%f    ",eruronMoveDeg,drugMoveDeg);
         led4 = 0;
         debugLED = 0;
         //receiveDatas();