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:
- 36:ddf4aa818e88
- Parent:
- 35:707119a675dc
- Child:
- 37:1f71ca1e5dd1
--- a/main.cpp Sat Mar 11 07:46:44 2017 +0000 +++ b/main.cpp Sat Mar 11 11:06:20 2017 +0000 @@ -20,13 +20,15 @@ #define ERURON_MOVE_DEG_INI_L 1.0 #define DRUG_MOVE_DEG_INI_L 1.0 #define ERURON_TRIM_INI_L 0 -#define DRUG_TRIM_INI_L 90 +#define DRUG_TRIM_INI_L 0 +/* #define kMaxServoNum 1 // 1 - 50 #define kMaxServoPause (sizeof(motionData) / sizeof(pauseRec)) #define kMotionInterval 10 // flame / sec #define kMotionMinMark 0x1249 #define kMotionEndMark 0xED86 +*/ CAN can(p30,p29); CANMessage recmsg; @@ -71,9 +73,7 @@ void receiveDatas(); void WriteServo(); -static const uint8_t servoChannel = 0x01; - -XBusServo gXBus(p13, NC, NC, kMaxServoNum); +//XBusServo gXBus(p13, NC, NC, kMaxServoNum); Ticker gTimer; bool servoInit() @@ -103,6 +103,7 @@ return true; } +/* XBusError initXBus() { XBusError result; @@ -118,6 +119,7 @@ } return kXBusError_NoError; } +*/ void init() { @@ -139,7 +141,7 @@ // toStringTicker.attach(&toString,0.5); receiveDatasTicker.attach(&receiveDatas,RECEIVE_DATAS_LOOP_TIME); - initXBus(); + // initXBus(); } void updateDatas() @@ -177,15 +179,15 @@ float SampleFloat(float f) //小数点以下第二位を切り捨て { - int temp = ((f + 0.05) * 100.0) / 5; + int temp = ((f + 0.025) * 100.0) / 5; float result = temp / 20.0; return result; } void WriteServo() { - drugServo.pulsewidth(calcPulse(/* drugTrim + drugMoveDeg * */(float)controlValues[sizeof(float)] / 2.0)); - eruronServo.pulsewidth(calcPulse(/* eruronTrim + eruronMoveDeg **/SampleFloat( (eruronfloat - 1.5) * 2.0))); + 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)); } @@ -223,7 +225,6 @@ int main() { init(); - XBusError result; setTrimPin.mode(PullDown); setMaxDegPin.mode(PullDown); @@ -241,7 +242,6 @@ setMaxDeg(); } led4 = 0; - debugLED = 0; //receiveDatas(); // sendDatas();