歩行ロボ
Dependencies: HMC6352 QEI Servo mbed
Diff: main.cpp
- Revision:
- 1:f465d89a26b0
- Parent:
- 0:4644bf6bca6a
--- a/main.cpp Wed Jul 31 04:43:58 2013 +0000 +++ b/main.cpp Thu Aug 01 09:05:23 2013 +0000 @@ -8,7 +8,7 @@ //#define ROTATE_PER_REVOLUTIONS 360//enko-da no bunkainou //QEI wheel(p23/*A*/, p24/*B*/, NC, ROTATE_PER_REVOLUTIONS, QEI::X4_ENCODING); -//HMC6352 compass(p28/*sda*/, p27/*scl*/); +HMC6352 compass(p28/*sda*/, p27/*scl*/); Servo myservo1(p21); Servo myservo2(p22); DigitalOut myled(LED1); @@ -73,15 +73,16 @@ timer2.start(); interrupt.attach(&tic_sensor, 0.1/*sec*/); - //compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); + compass.setOpMode(HMC6352_CONTINUOUS, 1, 20); //printf("test%d\n",com_val); while(1) { wait(0.1); - printf("pid:%.5d\n", ultrasonicVal[0]); - + // printf("pid:%.5d\n", ultrasonicVal[0]); + printf("Heading is: %f\n", compass.sample() / 10.0); + if((ultrasonicVal[0] < 1000)&&(ultrasonicVal[1] < 1000)){ myservo1 = 0.5; myservo2 = 0.5;