3/18 翼端操舵
Dependencies: ADXL345_I2C Control_Yokutan_CANver1 mbed
Fork of ControlYokutan02 by
Revision 1:9cc932a16d17, committed 2016-02-13
- Comitter:
- taurin
- Date:
- Sat Feb 13 11:35:50 2016 +0000
- Parent:
- 0:e052602db102
- Child:
- 2:7fcb4f970a02
- Commit message:
- 2/13
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Jan 29 13:38:29 2016 +0000 +++ b/main.cpp Sat Feb 13 11:35:50 2016 +0000 @@ -15,9 +15,10 @@ INA226 VCmonitor(ina226_i2c); PwmOut servo1(p21); PwmOut servo2(p22); +DigitalOut led1(LED1); char toSendDatas[TO_SEND_DATAS_NUM]; -char controlValues[CONTROL_VALUES_NUM]; +char controlValues[CONTROL_VALUES_NUM];//0:eruruon,1:drug int counter = 0; int eruron_deg = 0; @@ -85,6 +86,7 @@ for(int i = 0; i < recmsg.len; i++){ controlValues[i] = recmsg.data[i]; } + led1 = !led1; } } @@ -107,14 +109,25 @@ pc.printf("resend suc\n\r"); } -void +double calcPulse(int deg){ + return (0.00093+(deg/180.0)*(0.00235-0.00077)); +} + +void WriteServo(){ + if(controlValues[0]){ + servo1.pulsewidth(calcPulse(90)); + } + else{ + servo1.pulsewidth(calcPulse(45)); + } +} int main(){ init(); while(1){ receiveDatas(); updateDatas(); - //WriteServo(); + WriteServo(); toString(); sendDatas(); wait_ms(WAIT_LOOP_TIME_MS);