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2/27 操舵翼端TF後
Dependencies: ADXL345_I2C Control_Yokutan_CANver1 mbed
Fork of Control_Yokutan_CAN_ver3 by
Diff: main.cpp
- Revision:
- 5:7459a428e16e
- Parent:
- 3:4417217b4f66
- Child:
- 7:d6a3e47e6ef9
--- a/main.cpp Wed Feb 17 01:56:21 2016 +0000 +++ b/main.cpp Wed Feb 17 02:29:14 2016 +0000 @@ -15,10 +15,11 @@ I2C ina226_i2c(p28,p27); INA226 VCmonitor(ina226_i2c); PwmOut servo1(p22); -PwmOut servo2(p23); +PwmOut servo2(p23);// eruron DigitalOut led1(LED1); AnalogIn a(p20); AnalogIn b(p19); +DigialIn switch1(p15); char toSendDatas[TO_SEND_DATAS_NUM]; char controlValues[CONTROL_VALUES_NUM];//0:eruruon,1:drug @@ -31,6 +32,8 @@ bool SERVO_FLAG; bool ADXL_FLAG; bool INA_FLAG; +int neutral_a = 0; +int neutral_b = 0; int acc[3] = {0,0,0}; @@ -122,32 +125,45 @@ return (0.00093+(deg/180.0)*(0.00235-0.00077)); } -void WriteServo(){ +void WriteServo(int a,int b){ + if(a >= 45 && a <= 90 && b >= 45 && b <= 90){ if(controlValues[0] == (char)1){ - servo1.pulsewidth(calcPulse(90)); - } + servo1.Pulsewidth(calcPulse(90)); else{ - servo1.pulsewidth(calcPulse(45)); + servo1.pulsewidth(calcPulse(a)); } if(controlValues[1] == (char)1){ servo2.pulsewidth(calcPulse(90)); } else{ - servo2.pulsewidth(calcPulse(45)); + servo2.pulsewidth(calcPulse(b)); + } } //servo1.pulsewidth(calcPulse(a.read()*170)); // servo2.pulsewidth(calcPulse(b.read()*170)); //pc.printf("%f", a.read()); } + +//初期迎角を変える +void Debug(){ + if(switch1 == 1){ + neutral_a = (int)(a * 180); + neutral_b = (int)(b * 180); + WriteServo(neutral_a); + WriteServo(neutral_b); + } + } + int main(){ init(); while(1){ receiveDatas(); - WriteServo(); + WriteServo(neutral_a,neutral_b); updateDatas(); toString(); sendDatas(); + Debug(); wait(WAIT_LOOP_TIME); } } \ No newline at end of file