albatross / Mbed 2 deprecated ControlYokutan2018

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Dependencies:   Control_Yokutan_CANver1 XBusServo mbed mbed-rtos

Fork of ControlYokutan2017_2 by albatross

Files at this revision

API Documentation at this revision

Revision 32:b03557a08efa, committed 2017-03-10

Comitter:
YusukeWakuta
Date:
Fri Mar 10 12:59:41 2017 +0000
Branch:
XBus???
Parent:
31:5d22ebe5f705
Child:
33:d075918d4846
Child:
34:53d2723d9195
Commit message:
????0???

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- 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);
     }