4年工学基礎研究(前期)で作成したペンプロッタの制御プログラム
Dependencies: SPM_simple mbed trapezoidalMotionCal
Diff: main.cpp
- Revision:
- 4:76146d1e248a
- Parent:
- 2:80eb19e9091e
- Child:
- 5:0abb848bb2f9
diff -r 80eb19e9091e -r 76146d1e248a main.cpp --- a/main.cpp Fri Aug 04 00:53:48 2017 +0000 +++ b/main.cpp Fri Aug 04 04:08:02 2017 +0000 @@ -119,33 +119,12 @@ wait_ms(1000); - pc.printf("Hello\r\n"); debugPort.printf("Hello Debug Port\r\n"); x_axis.lock(); y_axis.lock(); driveServo(PEN_UP); - /* - while(1){ - nextPosition.x = 100; nextPosition.y = 200; - linearInterpolation(currentPosition, nextPosition); - currentPosition = nextPosition; - wait_ms(100); - nextPosition.x = 100; nextPosition.y = 0; - linearInterpolation(currentPosition, nextPosition); - currentPosition = nextPosition; - wait_ms(100); - nextPosition.x = 0; nextPosition.y = 200; - linearInterpolation(currentPosition, nextPosition); - currentPosition = nextPosition; - wait_ms(100); - nextPosition.x = 0; nextPosition.y = 0; - linearInterpolation(currentPosition, nextPosition); - currentPosition = nextPosition; - wait_ms(100); - } - */ sendRequest();