Diff: main.cpp

Revision:

18:8bab3e5c4ea2

Parent:

17:0a7b2afd075b

Child:

19:5f1e153ef63e

--- a/main.cpp	Thu May 24 03:23:49 2018 +0000
+++ b/main.cpp	Thu May 24 03:32:29 2018 +0000
@@ -75,8 +75,8 @@
     float right_cmd;
     float left_cmd;
 
-    memcpy( &right_cmd, params->data 					, sizeof(right_cmd));
-    memcpy( &left_cmd, params->data + sizeof(right_cmd)	, sizeof(left_cmd));
+    memcpy( &right_cmd, params->data , sizeof(right_cmd));
+    memcpy( &left_cmd, params->data + sizeof(right_cmd), sizeof(left_cmd));
     
 	wb.SetRPM(left_cmd,right_cmd);
 #ifdef DEBUG
@@ -114,8 +114,8 @@
     pc.printf("MPU6050 initialize passed \n\r");
 
 	
-	//const uint8_t address1[] = {0xe7,0xAA,0xAA,0xAA,0xAA,0xAA};
-	//ble.setAddress(Gap::ADDR_TYPE_PUBLIC, address1);
+	const uint8_t address1[] = {0xe7,0xAA,0xAA,0xAA,0xAA,0xAA};
+	ble.setAddress(Gap::ADDR_TYPE_PUBLIC, address1);
 	
 	ble.init();
     //イベント時のコールバック関数
@@ -146,7 +146,15 @@
 
 	//ラインセンサキャリブレーション
 	//pc.printf("auto calibrate start\n\r");
-    //wb.auto_calibrate();
+
+	//適当キャリブレーション
+	for(int i = 0 ; i < 4 ; i++)
+	{
+		wb._calibratedMinimum[i] = 300;
+		wb._calibratedMaximum[i] = 900;
+	}
+	
+    //wb.auto_calibrate(); //自動キャリブレーション
 #ifdef DEBUG
     for(int i = 0 ; i < 4 ; i++)
 	{
@@ -178,7 +186,7 @@
         mpu.getAcceleroRaw(mpu_a);
         mpu.getGyroRaw(mpu_g);
     	
-    	//送信の準備
+    	//送信の準備(リトルエンディアン)
     	memcpy(sen_buf							,&line,sizeof(line));
     	memcpy(sen_buf+sizeof(line)				,&rrpm,sizeof(rrpm));
     	memcpy(sen_buf+sizeof(line)+sizeof(rrpm),&lrpm,sizeof(lrpm));