albatross / Mbed 2 deprecated Control_Yokutan_CAN_ver2

2/13 操舵翼端CAN

Dependencies:   ADXL345_I2C Control_Yokutan_CANver1 mbed

Fork of Control_Yokutan_CAN_ver1 by albatross

main.cpp

Committer:
YusukeWakuta
Date:
2016-02-17
Revision:
5:a839ccbf7f9a
Parent:
3:4417217b4f66

File content as of revision 5:a839ccbf7f9a:

//翼端can program
#include "mbed.h"
#define INIT_SERVO_PERIOD_MS 20
#define WAIT_LOOP_TIME 0.2

Serial pc(USBTX,USBRX);
PwmOut servo1(p22);
PwmOut servo2(p23);// eruron
DigitalOut led1(LED1);
AnalogIn a(p20);
AnalogIn b(p19);

int neutral_a = 0;
int neutral_b = 0;

bool servoInit()
{
    servo1.period_ms(INIT_SERVO_PERIOD_MS);
    servo2.period_ms(INIT_SERVO_PERIOD_MS);
    return true;
}


double calcPulse(int deg)
{
    return (0.00093+(deg/180.0)*(0.00235-0.00077));
}

void WriteServo(int a,int b)
{
    servoInit();
        servo1.pulsewidth(calcPulse(a * 90));
        servo2.pulsewidth(calcPulse(b * 90));
    }

    //servo1.pulsewidth(calcPulse(a.read()*170));
//    servo2.pulsewidth(calcPulse(b.read()*170));
    //pc.printf("%f", a.read());


int main()
{
    while(1) {
        WriteServo(a,b);
        wait(WAIT_LOOP_TIME);
    }
}