teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

Diff: HbManager.cpp

Revision:
62:4b873328d3a8
Parent:
61:49254cc00d08
Child:
64:40943c843da7
Child:
67:ad35921e3cdc
--- a/HbManager.cpp	Fri Mar 08 11:43:00 2019 +0000
+++ b/HbManager.cpp	Mon Mar 11 04:07:43 2019 +0000
@@ -94,7 +94,7 @@
         if(gf_Print.d1.bf.d) {sp.printf("PID:D=%f,",att->getD()); }
         if(gf_Print.d1.bf.v) {sp.printf("PID:V=%f,",att->getV()); }
         if(gf_Print.d1.bf.fb){
-            sp.printf("PID FB:%f, %f, %f,",pidRtn, nowAngle, nowRate);
+            sp.printf("PID FB: %f, %f, %f, %f,", pidRtn, nowTrgtAng, nowAngle, nowRate);
         }
     }
     float fl, fr, bl, br;
@@ -974,6 +974,7 @@
         en_srv_adj_step[i] = 20;
     }
     mot_brk = DEF_BRK_RPM;
+    ang_rate_brk = DEF_BRK_ANG / static_cast<float>(UPDATE_RATE);
     // //初期化    
     // motorVal[0]=0;
     // motorVal[1]=0;