ControlMainでの変更に対応して、新しくレポジトリを作りました
Dependencies: Control_Yokutan_CANver1 XBusServo mbed mbed-rtos
Fork of ControlYokutan2017 by
Diff: main.cpp
- Branch:
- mpu????????
- Revision:
- 47:5e3a836deaba
- Parent:
- 46:c722841055c7
- Child:
- 48:0bd406fa4a7f
--- a/main.cpp Wed Mar 22 13:47:03 2017 +0000 +++ b/main.cpp Thu Mar 23 08:50:40 2017 +0000 @@ -8,7 +8,7 @@ #define TO_SEND_DATAS_NUM 7 #define INIT_SERVO_PERIOD_MS 20 #define WAIT_LOOP_TIME 0.02 -#define CONTROL_VALUES_NUM sizeof(int) + 2 +#define CONTROL_VALUES_NUM 7 #define TO_SEND_CAN_ID 100 #define SEND_DATAS_LOOP_TIME 0.1 #define RECEIVE_DATAS_LOOP_TIME 0.1 @@ -17,14 +17,14 @@ #define MPU_DELT_MIN 250 #define ERURON_MOVE_DEG_INI_R 1.0 -#define DRUG_MOVE_DEG_INI_R 0.5 +#define DRUG_MOVE_DEG_INI_R -0.32 #define ERURON_TRIM_INI_R 0.35 -#define DRUG_TRIM_INI_R 0.37 +#define DRUG_TRIM_INI_R 0.62 #define ERURON_MOVE_DEG_INI_L 0.8 -#define DRUG_MOVE_DEG_INI_L -0.32 +#define DRUG_MOVE_DEG_INI_L -0.43 #define ERURON_TRIM_INI_L 0.4 -#define DRUG_TRIM_INI_L 0.62 +#define DRUG_TRIM_INI_L 0.68//値を小さくすると開く側 #define ERURON_MOVE_RANGE 0.24 @@ -161,7 +161,7 @@ pitch *= 180.0f / PI; yaw *= 180.0f / PI; roll *= 180.0f / PI; - myled= !myled; + // myled= !myled; count = t.read_ms(); sum = 0; sumCount = 0; @@ -252,7 +252,7 @@ drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2])); eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * ((1.0/PHASE_NUM) * eruronint) * ERURON_MOVE_RANGE)); pc.printf("WriteNum:%f ",calcPulse( eruronTrim + eruronMoveDeg * (1.0/PHASE_NUM) * eruronint* ERURON_MOVE_RANGE)); - pc.printf("drValue::%f ef::%d\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)],eruronint); + pc.printf("drValue::%f ef::%d\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(int) + 2],eruronint); // pc.printf("raw:%f sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0)); }