PS3 version
Dependencies: Motor_NIT_Nagaoka_College PID QEI SoftServo SoftPWM mbed DebounceIn
Fork of NHK2015 by
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); } }