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Dependencies: Control_Yokutan_CANver1 XBusServo mbed mbed-rtos
Fork of
ControlYokutan2017_2
by 
albatross
Revision 45:e3df49d7b912, committed 2017-03-22
- Comitter:
- YusukeWakuta
- Date:
- Wed Mar 22 01:43:51 2017 +0000
- Branch:
- mpu????????
- Parent:
- 44:624a4469ae21
- Child:
- 46:c722841055c7
- Commit message:
- ?????????????????
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- 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);