Diff: main.cpp

Revision:

17:c55a8b8a3eb2

Parent:

16:6b8766c77d29

Child:

19:f1c567cb5bb8

--- a/main.cpp	Mon Oct 05 12:02:38 2015 +0000
+++ b/main.cpp	Wed Oct 07 07:47:49 2015 +0000
@@ -13,7 +13,7 @@
 Serial slave(p28,p27);
 Servo L(p25);
 Servo R(p26);
-PID Tp(150,40000000,0,0.001);
+PID Tp(50,40000,0,0.001);
 //PID Tp(4.,40000,0,0.001);
 BusOut led(p8,p13,p14,p24);
 Motor ot(p23,p19,p20);
@@ -68,7 +68,6 @@
             tmpttilt = conn.getc();
             tro = conn.getc();
             tlo = conn.getc();
-            ajst = conn.getc();
             if(tmpread^tmpttilt^tro^tlo == conn.getc()) {
                 ttilt = tmpttilt;
                 read = tmpread;
@@ -108,8 +107,6 @@
         if (abs(ro) < 0.1) {
             ro = 0;
         }
-        lo = lo*abs(lo);
-        ro = ro*abs(ro);
         /*スレーブにreadを送信*/
         slave.putc(read);
         /*各モーターに出力*/
@@ -119,7 +116,7 @@
         //pc.printf("%f\n\r",tilt);
         //pc.printf("%d\n\r",sensort.getPulses());
         //pc.printf("%f \n\r",Tp.compute());
-        //pc.printf("%d-%d\r\n",tlo,tro);
-        wait_ms(1);
+        pc.printf("%d-%d\r\n",tlo,tro);
+        wait_ms(20);
     }
 }