Revision 60:a45dc19a6001, committed 2017-06-07

Comitter:

YusukeWakuta

Date:

Wed Jun 07 14:13:53 2017 +0000

Branch:

mpu????????

Parent:

59:f007e543f8c9

Child:

61:988e3f4280ac

Commit message:

????????????????

Changed in this revision

--- a/main.cpp	Tue Jun 06 15:46:30 2017 +0000
+++ b/main.cpp	Wed Jun 07 14:13:53 2017 +0000
@@ -60,7 +60,7 @@
 
 char toSendDatas[TO_SEND_DATAS_NUM];
 char controlValues[sizeof(float) +3];//0~3:eruruon,4( sizeof(float)で指定してください ):drug
-char intvalues[sizeof(float)];
+char floatValues[10];
 float eruronTrim;
 float drugTrim;
 float eruronMoveDeg;
@@ -242,12 +242,12 @@
 void receiveDatas()
 {
     if(can.read(recmsg)) {
-        for(int i = 0; i < CONTROL_VALUES_NUM; i++) {
-            controlValues[i] = recmsg.data[i];
-            if(i<sizeof(float)) intvalues[i] = controlValues[i];
+        for(int i = 0; i < 6; i++) {
+            floatValues[i] = recmsg.data[i];
+            //   controlValues[i] = recmsg.data[i];
+            //   if(i<sizeof(float)) floatValues[i] = controlValues[i];
         }
-        //   intvalues[0] = controlValues[0];
-        eruronfloat = *(const float *)intvalues;
+        eruronfloat = atof(floatValues);
         led1 = !led1;
     }
 }
@@ -274,10 +274,15 @@
 
 void WriteServo()
 {
+    for(int i = 0; i< 10; i++) {
+        pc.printf("%c",floatValues[i]);
+    }
+    pc.printf(" : %f",eruronfloat);
+    pc.printf("\n\r");
     drugServo.pulsewidth(calcPulse(drugTrim + drugMoveDeg *(float)controlValues[sizeof(float) + 2]));
     eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * eruronfloat));
-    pc.printf("WriteNum:%f    ef:%d  ",calcPulse( eruronTrim + eruronMoveDeg * eruronfloat),eruronfloat);
-    pc.printf("drValue::%f   ei::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float) + 2]);
+    //pc.printf("WriteNum:%10f    ef:%10d  \n\r",calcPulse( eruronTrim + eruronMoveDeg * eruronfloat),eruronfloat);
+    // pc.printf("drValue::%f   ei::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float) + 2]);
 }
 
 void setTrim()