mbedを用いた制御学生の制御 / Mbed 2 deprecated Kouryuu_reciverv1

アナログスティックの傾いてる角度を算出し、それにおうじてオムニの進む方向をコントロールしています。関数の使い回しはご自由にどうぞ。

Dependencies:   HMC6352 mbed

Diff: main.cpp

Revision:
8:5c54756c501b
Parent:
7:0e9cbd33abfe
Child:
10:9de2ce23c712
--- a/main.cpp	Mon Mar 09 09:01:33 2015 +0000
+++ b/main.cpp	Tue Mar 10 08:59:52 2015 +0000
@@ -17,6 +17,7 @@
 double get_sen(void)
 {
     double degree;
+    int degreed;
     double phi,theta,tp;
     double val[3];
     int i = 0;
@@ -53,7 +54,8 @@
     }else{
         degree = (pi+theta)/pi*180+180;
     }
-    //printf("degree-->%f\n\r",degree);
+    degreed = degree;
+    printf("degree-->%d\n\r",degreed);
     return degree;
 }
 double get_theta(double stickx,double sticky)
@@ -190,9 +192,9 @@
         if (asen < 0){
             asen = 360;
         }
-        if (sen > asen+10){
+        if (sen > asen+20){
             hun = 1;
-        }else if (sen <asen-10){
+        }else if (sen <asen-20){
             hun = 2;
         }else {
             hun = 0;
@@ -204,7 +206,7 @@
         if (ec == 0){
             em.reset();
             theta = get_theta(sx,sy);
-            pc.printf("%f\n\r",theta);
+            //pc.printf("%f\n\r",theta);
             if (sw1 == -1){
                 omni_cont(hun,theta,&motor[0],&motor[1],&motor[2],&motp[0],&motp[1],&motp[2]);
                 mo1 = motor[0];
@@ -219,16 +221,16 @@
                 mo1 = 1;
                 mo2 = 1;
                 mo3 = 1;
-                mop1 = 1;
-                mop2 = 1;
-                mop3 = 1;
+                mop1 = 0.5;
+                mop2 = 0.5;
+                mop3 = 0.5;
             }else if(hun == 2){
                 mo1 = 2;
                 mo2 = 2;
                 mo3 = 2;
-                mop1 = 1;
-                mop2 = 1;
-                mop3 = 1;
+                mop1 = 0.5;
+                mop2 = 0.5;
+                mop3 = 0.5;
             }else {
                 mo1 = 0;
                 mo2 = 0;