Diff: main.cpp

Revision:

21:14cf80622dd5

Parent:

20:b0e1fa37856d

--- a/main.cpp	Fri May 25 04:52:06 2018 +0000
+++ b/main.cpp	Mon Jun 04 01:41:37 2018 +0000
@@ -158,8 +158,9 @@
 		wb._calibratedMaximum[i] = 900;
 	}
 	*/
-    
+#ifndef DEBUG
     wb.auto_calibrate(); //自動キャリブレーション
+#endif
 #ifdef DEBUG
     for(int i = 0 ; i < 4 ; i++)
 	{
@@ -180,9 +181,17 @@
 
 	//速度制御
 	//wb.control_enable(true);
-	//wb.SetRPM(-30,30);
-
+	//Timer time;
+	//int now;
+	//time.start();
     while (true) {
+    	///////////////////PID調整
+    	//now = time.read();
+    	//if((now % 10) == 0){
+    	//	pc.printf("set RPM %d ",now % 50 +10);
+	    //	wb.SetRPM(now % 50 +10,now % 50 +10);
+	    //}
+	    ///////////////////////
     	
     	//センサ値の取得
     	line = wb.GetLinePosition();
@@ -205,7 +214,8 @@
     	
 		//
 		#ifdef DEBUG
-			pc.printf("Pulse(%d,%d) RPM(%.2f,%.2f) ",wb._left_pulses,wb._right_pulses,lrpm, rrpm);
+			pc.printf("Pulse(%d,%d)",wb._left_pulses,wb._right_pulses);
+			pc.printf("RPM(%.2f,%.2f)",lrpm, rrpm);
 			pc.printf("LinePos:%d ",line);
 			pc.printf("Sens(%d,%d,%d,%d)",wb.sensor_values[0],wb.sensor_values[1],wb.sensor_values[2],wb.sensor_values[3]);
 	        pc.printf("MPU(%d,%d,%d,  %d,%d,%d)",mpu_a[0],mpu_a[1],mpu_a[2],mpu_g[0],mpu_g[1],mpu_g[2]);