Revision 38:b492990e2b56, committed 2017-03-11

Comitter:

YusukeWakuta

Date:

Sat Mar 11 16:47:45 2017 +0000

Branch:

XBus???

Parent:

37:1f71ca1e5dd1

Child:

39:c6036315831a

Commit message:

?????????8931????????????????????

Changed in this revision

--- a/main.cpp	Sat Mar 11 16:22:16 2017 +0000
+++ b/main.cpp	Sat Mar 11 16:47:45 2017 +0000
@@ -12,23 +12,17 @@
 #define SEND_DATAS_LOOP_TIME 0.1
 #define RECEIVE_DATAS_LOOP_TIME 0.1
 
-#define ERURON_MOVE_DEG_INI_R 1.0
-#define DRUG_MOVE_DEG_INI_R 0.3
+#define ERURON_MOVE_DEG_INI_R 0.5
+#define DRUG_MOVE_DEG_INI_R 0.34
 #define ERURON_TRIM_INI_R 0
-#define DRUG_TRIM_INI_R 0.5
+#define DRUG_TRIM_INI_R 0.65
 
-#define ERURON_MOVE_DEG_INI_L 1.0
-#define DRUG_MOVE_DEG_INI_L 0.3
+#define ERURON_MOVE_DEG_INI_L 0.5
+#define DRUG_MOVE_DEG_INI_L 0.34
 #define ERURON_TRIM_INI_L 0
-#define DRUG_TRIM_INI_L 0.5
+#define DRUG_TRIM_INI_L 0.65
 
-/*
-#define kMaxServoNum        1       // 1 - 50
-#define kMaxServoPause     (sizeof(motionData) / sizeof(pauseRec))
-#define kMotionInterval     10      // flame / sec
-#define kMotionMinMark      0x1249
-#define kMotionEndMark      0xED86
-
+/*ドラッグラダー
 初期値 0.65
 最大角0.99
 */
@@ -76,7 +70,6 @@
 void receiveDatas();
 void WriteServo();
 
-//XBusServo gXBus(p13, NC, NC, kMaxServoNum);
 Ticker gTimer;
 
 bool servoInit()
@@ -106,24 +99,6 @@
     return true;
 }
 
-/*
-XBusError initXBus()
-{
-    XBusError result;
-    result = gXBus.start();
-    if (result != kXBusError_NoError) {
-        gXBus.stop();
-        return result;
-    }
-    result = gXBus.addServo(servoChannel, kXbusServoNeutral);
-    if (result != kXBusError_NoError) {
-        gXBus.stop();
-        return result;
-    }
-    return kXBusError_NoError;
-}
-*/
-
 void init()
 {
     if(!LRstatePin) {
@@ -177,7 +152,7 @@
 
 double calcPulse(float deg)
 {
-    return (0.0006+(deg)*(0.00235-0.00045));
+    return (0.0006+(deg)*(0.00220-0.00045));
     /*
         int start=510, end=2390;
     while(1) {
@@ -196,9 +171,9 @@
 
 void WriteServo()
 {
-    drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)]));
-    eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * SampleFloat((eruronfloat / 2.0))));
-     pc.printf("drValue::%f   ef::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)] / 2.0,SampleFloat((eruronfloat / 2.0)));
+    drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)] / 2.0));
+    eruronServo.pulsewidth(calcPulse( eruronTrim + eruronMoveDeg * SampleFloat((eruronfloat))));
+     pc.printf("drValue::%f   ef::%f\n\r",drugTrim + drugMoveDeg *(float)controlValues[sizeof(float)],SampleFloat((eruronfloat)));
     //  pc.printf("raw:%f    sampled:%f\n\r",eruronfloat /3.0,SampleFloat(eruronfloat / 3.0));
 }