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:
- 71:a00561d455d1
- Parent:
- 70:7da315abec17
- Child:
- 72:aef1ec8c66c7
diff -r 7da315abec17 -r a00561d455d1 main.cpp --- a/main.cpp Fri Sep 29 09:17:11 2017 +0000 +++ b/main.cpp Sat Oct 21 06:52:10 2017 +0000 @@ -44,14 +44,15 @@ I2C ina226_i2c(p28,p27); INA226 VCmonitor(ina226_i2c); PwmOut drugServo(p23); -PwmOut eruronServo(p24); +PwmOut eruronServo(p25); DigitalOut led1(LED1); AnalogIn setDeg10(p20); AnalogIn setDeg1(p19); -DigitalIn IsRPin(p11,PullDown); -DigitalIn InSetModePin(p12,PullDown); -DigitalIn EDstatePin(p14,PullDown); -DigitalIn TrimMaxDegPin(p15,PullDown); +DigitalIn IsRPin(p13,PullDown); +DigitalIn InSetModePin(p14,PullDown); +DigitalIn EDstatePin(p15,PullDown); +DigitalIn TrimMaxDegPin(p16,PullDown); +DigitalOut servoOff(p17); DigitalOut led2(LED2); DigitalOut led3(LED3); DigitalOut led4(LED4); @@ -289,15 +290,17 @@ } // toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)(V/100); toSendDatas[TO_SEND_DATAS_NUM - 1] = (char)V; + pc.printf("test\n\r"); } void receiveDatas() { if(can.read(recmsg)) { //ここの中でpc.printfすると重すぎて固まるので注意 - for(int i = 0; i < 5; i++) { + for(int i = 0; i < CONTROL_VALUES_NUM; i++) { floatValues[i] = recmsg.data[i]; } drugInput = recmsg.data[5]- '0'; + servoOff = recmsg.data[6]-'0'; eruronfloat = atof(floatValues); led1 = !led1; } @@ -373,7 +376,8 @@ led4 = 0; led2 = 0; receiveDatas(); -// sendDatas(); + sendDatas(); + pc.printf("V:%f\n\r",V); WriteServo(); updateDatas(); led3 = !led3;