2018年度用翼端mbedプログラム
Dependencies: Control_Yokutan_CANver1 XBusServo mbed mbed-rtos
Fork of ControlYokutan2017_2 by
Diff: main.cpp
- Branch:
- XBus???
- Revision:
- 32:b03557a08efa
- Parent:
- 31:5d22ebe5f705
- Child:
- 33:d075918d4846
- Child:
- 34:53d2723d9195
--- a/main.cpp Fri Mar 10 10:38:17 2017 +0000 +++ b/main.cpp Fri Mar 10 12:59:41 2017 +0000 @@ -12,15 +12,15 @@ #define SEND_DATAS_LOOP_TIME 0.1 #define RECEIVE_DATAS_LOOP_TIME 0.05 -#define ERURON_MOVE_DEG_INI_R 30 -#define DRUG_MOVE_DEG_INI_R 76 -#define ERURON_TRIM_INI_R 97 -#define DRUG_TRIM_INI_R 33 +#define ERURON_MOVE_DEG_INI_R 0 +#define DRUG_MOVE_DEG_INI_R 0 +#define ERURON_TRIM_INI_R 0 +#define DRUG_TRIM_INI_R 0 -#define ERURON_MOVE_DEG_INI_L -30 -#define DRUG_MOVE_DEG_INI_L -80 -#define ERURON_TRIM_INI_L 113 -#define DRUG_TRIM_INI_L 110 +#define ERURON_MOVE_DEG_INI_L 0 +#define DRUG_MOVE_DEG_INI_L 0 +#define ERURON_TRIM_INI_L 0 +#define DRUG_TRIM_INI_L 0 #define kMaxServoNum 1 // 1 - 50 #define kMaxServoPause (sizeof(motionData) / sizeof(pauseRec)) @@ -177,7 +177,7 @@ void XbusIntervalHandler() { uint16_t diff = kMotionEndMark - kMotionMinMark; - XbusValue = (uint16_t)(diff * (eruronTrim + eruronMoveDeg * (eruronfloat-1)) + kMotionMinMark); + XbusValue = (uint16_t)(diff * (eruronTrim + eruronMoveDeg * eruronfloat / 2.0) + kMotionMinMark); //pc.printf("%f",value); gXBus.setServo(servoChannel, XbusValue); gXBus.sendChannelDataPacket(); @@ -240,8 +240,9 @@ setMaxDeg(); } // pc.printf("eT:%f\n\r",eruronTrim); - // pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); - //pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); + pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); + pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); + // pc.printf("%c,%c,%c,DG:%c\n\r",controlValues[0],controlValues[1],controlValues[2],controlValues[3]); led4 = 0; debugLED = 0; @@ -250,7 +251,7 @@ WriteServo(); updateDatas(); // pc.printf("%6d,%6d,%6d\n\r",gyro[0],gyro[1],gyro[2]); - pc.printf("%f\n\r",XbusValue); + // pc.printf("%f\n\r",XbusValue); led3 = !led3; wait(WAIT_LOOP_TIME); }