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:
- mpu????????
- Revision:
- 45:e3df49d7b912
- Parent:
- 44:624a4469ae21
- Child:
- 46:c722841055c7
--- a/main.cpp Tue Mar 21 23:24:04 2017 +0000 +++ b/main.cpp Wed Mar 22 01:43:51 2017 +0000 @@ -62,7 +62,7 @@ I2C i2c_mpu(p9,p10); char toSendDatas[TO_SEND_DATAS_NUM]; -char controlValues[CONTROL_VALUES_NUM];//0~3:eruruon,4( sizeof(float)で指定してください ):drug +char controlValues[sizeof(int) +3];//0~3:eruruon,4( sizeof(float)で指定してください ):drug char intvalues[sizeof(int)]; float eruronTrim; float drugTrim; @@ -249,7 +249,7 @@ void WriteServo() { - drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)])); + 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);