Revision 25:e8bfb629e1b1, committed 2017-02-15

Comitter:

YusukeWakuta

Date:

Wed Feb 15 13:29:20 2017 +0000

Branch:

XBus???

Parent:

24:d416722b4aad

Parent:

23:d551db88df65

Child:

26:f14579683f98

Commit message:

merge

Changed in this revision

--- a/ADXL345_I2C.lib	Wed Feb 15 13:27:52 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/teams/albatross/code/ADXL345_I2C/#732904bc32c3

--- a/main.cpp	Wed Feb 15 13:27:52 2017 +0000
+++ b/main.cpp	Wed Feb 15 13:29:20 2017 +0000
@@ -8,18 +8,18 @@
 #define TO_SEND_DATAS_NUM 7
 #define INIT_SERVO_PERIOD_MS 20
 #define WAIT_LOOP_TIME 0.02
-#define CONTROL_VALUES_NUM 2
+#define CONTROL_VALUES_NUM sizeof(float) + 1
 #define TO_SEND_CAN_ID 100
 #define ADXL_MEAN_NUM 10
 #define SEND_DATAS_LOOP_TIME 0.1
 #define RECEIVE_DATAS_LOOP_TIME 0.05
 
-#define ERURON_MOVE_DEG_INI_R 10 // もともと10
+#define ERURON_MOVE_DEG_INI_R 30 // もともと10
 #define DRUG_MOVE_DEG_INI_R 76
 #define ERURON_TRIM_INI_R 97  //元々94　
 #define DRUG_TRIM_INI_R 33
 
-#define ERURON_MOVE_DEG_INI_L -8 //もともと-7
+#define ERURON_MOVE_DEG_INI_L -30 //もともと-7
 #define DRUG_MOVE_DEG_INI_L -80
 #define ERURON_TRIM_INI_L 113   //元々95
 #define DRUG_TRIM_INI_L 110
@@ -55,12 +55,13 @@
 Ticker receiveDatasTicker;
 
 char toSendDatas[TO_SEND_DATAS_NUM];
-char controlValues[CONTROL_VALUES_NUM];//0:eruruon,1:drug
-
+char controlValues[CONTROL_VALUES_NUM];//0~3:eruruon,4:drug
+char floatvalues[sizeof(float)];
 float eruronTrim;
 float drugTrim;
 float eruronMoveDeg;
 float drugMoveDeg;
+float eruronfloat;
 unsigned short ina_val;
 double V,C;
 bool SERVO_FLAG;
@@ -192,7 +193,9 @@
     if(can.read(recmsg)){
         for(int i = 0; i < CONTROL_VALUES_NUM; i++){
             controlValues[i] = recmsg.data[i];
+            if(i<CONTROL_VALUES_NUM-1) floatvalues[i] = controlValues[i];
         }
+        eruronfloat = *(const float *)floatvalues;
         led1 = !led1;
         //WriteServo();
     }
@@ -221,8 +224,9 @@
 //    }
 //    else{
       //  led3 = 0;
-        eruronServo.pulsewidth(calcPulse(eruronTrim+eruronMoveDeg*(controlValues[0]-1)));
-        drugServo.pulsewidth(calcPulse(drugTrim+drugMoveDeg*controlValues[1]));
+//        eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * (controlValues[0]-1) ));
+        drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg * controlValues[4]));
+        eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * (eruronfloat-1) ));
     //}
 }
 
@@ -238,7 +242,7 @@
     }
     //pc.printf("eruronTrim:%f    drugTrim:%f\n\r",eruronTrim,drugTrim);
      pc.printf("eruronTrim:%f    drugTrim:%f    ",eruronTrim,drugTrim);
-      pc.printf("eMD:%f   dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
+      pc.printf("eMD:%f   dMD:%f    ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
 }
 
 void checkMaxDeg(){
@@ -255,7 +259,7 @@
     }
    // pc.printf("eMD:%f   dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
     pc.printf("eruronTrim:%f    drugTrim:%f    ",eruronTrim,drugTrim);
-      pc.printf("eMD:%f   dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
+    pc.printf("eMD:%f   dMD:%f    ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
     wait_us(10);
 }
 
@@ -275,7 +279,7 @@
         }
       //  pc.printf("eT:%f\n\r",eruronTrim);
       pc.printf("eruronTrim:%f    drugTrim:%f    ",eruronTrim,drugTrim);
-      pc.printf("eMD:%f   dMD:%f\n\r",eruronMoveDeg,drugMoveDeg);
+      pc.printf("eMD:%f   dMD:%f    ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat);
         led4 = 0;
         
         debugLED = 0;