Diff: main.cpp

Revision:

1:b2edadf8c3d9

Parent:

0:5cafeb163455

Child:

2:6ac9ac3e5704

diff -r 5cafeb163455 -r b2edadf8c3d9 main.cpp
--- a/main.cpp	Fri Sep 07 05:19:29 2018 +0000
+++ b/main.cpp	Thu Sep 13 13:33:33 2018 +0000
@@ -1,3 +1,4 @@
+
 #include "mbed.h"
 #include "R1370P.h"
 
@@ -6,7 +7,7 @@
 
 SPISlave spi(PA_7,PA_6,PA_5,PA_4);
 
-PwmOut servo1(PB_4);  //servo1 = アサリつかみ（手前）
+PwmOut servo1(PA_3);  //servo1 = アサリつかみ（手前）
 PwmOut servo2(PB_5);  //servo2 = アサリつかみ（奥）
 PwmOut servo3(PA_11);  //servo3 = アサリアーム
 PwmOut servo4(PA_8);  //servo4 = ガチアサリアーム
@@ -51,7 +52,7 @@
                reply_angle = (360 + angle - (360 * a))*100;
             }
             
-            printf("angle = %f\r\n",reply_angle);
+            //printf("angle = %f\r\n",reply_angle);
             spi.reply(reply_angle);
 
             /*printf("%d\r\n",debug);
@@ -64,15 +65,15 @@
                 servo1.pulsewidth_us(1000);
                 flag1=0;
             } else if((flag1 == 0) && (data1 == 1)) {
-                servo1.pulsewidth_us(2050);
+                servo1.pulsewidth_us(1800);
                 flag1=1;
             }
 
             if((flag2 == 1) && (data1 == 2)) {
-                servo2.pulsewidth_us(1000);
+                servo2.pulsewidth_us(1200);
                 flag2=0;
             } else if((flag2 == 0) && (data1 == 2)) {
-                servo2.pulsewidth_us(2050);
+                servo2.pulsewidth_us(1800);
                 flag2=1;
             }
 
@@ -85,10 +86,10 @@
             }
 
             if((flag4 == 1) && (data1 == 4)) {
-                servo4.pulsewidth_us(1100);
+                servo4.pulsewidth_us(1500);
                 flag4=0;
             } else if((flag4 == 0) && (data1 == 4)) {
-                servo4.pulsewidth_us(2350);
+                servo4.pulsewidth_us(2000);
                 flag4=1;
             }