mbedを用いた制御学生の制御 / Mbed 2 deprecated NHK2015_new

PS3 version

Dependencies:   Motor_NIT_Nagaoka_College PID QEI SoftServo SoftPWM mbed DebounceIn

Fork of NHK2015 by mbedを用いた制御学生の制御

Diff: main.cpp

Revision:
15:a9b36208dc32
Parent:
14:5722e243f843
Child:
16:6b8766c77d29
--- a/main.cpp	Wed Sep 30 08:25:20 2015 +0000
+++ b/main.cpp	Thu Oct 01 10:41:45 2015 +0000
@@ -108,7 +108,7 @@
         /*射角制御*/
         Tp.setSetPoint(ttilt);
         tilt = double(sensort.getPulses());
-        tilt = tilt*61/5128.0;
+        tilt = tilt*55/2684.0;
         Tp.setProcessValue(tilt);
         /*足の出力が小さい場合はゼロとする*/
         if (abs(lo) < 0.1) {
@@ -123,7 +123,7 @@
         L = (lo+1.0)/2.0;
         R = (ro+1.0)/2.0;;
         ot.speed(Tp.compute());
-        pc.printf("%d",sensort.getPulses());
+        pc.printf("%d\n\r",sensort.getPulses());
         //pc.printf("%f %d\n\r",Tp.compute(),read);
         //pc.printf("%d-%d\r\n",tlo,tro);
         wait_ms(1);