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

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Dependencies:   HMC6352 mbed

Diff: main.cpp

Revision:
9:687dddda7432
Parent:
6:78538ae01ce6
Child:
11:00c82b2d3c0f
--- a/main.cpp	Mon Mar 09 06:05:45 2015 +0000
+++ b/main.cpp	Tue Mar 10 12:58:46 2015 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 #define pi 3.141592653589793
-Serial sousin(p9,p10);
-Serial hunter(p28,p27);
+Serial sousin(p28,p27);
+Serial hunter(p9,p10);
 Serial pc(USBTX,USBRX);
 Timer em;
 DigitalOut  check (LED1);
@@ -92,9 +92,9 @@
     }else{
         t1 = 0;
     }
-    md1 = sin(theta)*0.9+t1;
-    md2 = sin(theta-pi*2/3)*0.9+t1;
-    md3 = sin(theta-pi*4/3)*0.9+t1;
+    md1 = -(sin(theta)*0.9+t1);
+    md2 = (sin(theta-pi*2/3)*0.9+t1);
+    md3 = (sin(theta-pi*4/3)*0.9+t1);
     if (md1 < 0){
         *m1 = 2;
         *mp1 = -md1;