Wallbot_CaaS
Dependencies: MPU6050 mbed PID
Fork of BLE_MPU6050_test6_challenge_sb by
Diff: main.cpp
- Revision:
- 20:b0e1fa37856d
- Parent:
- 19:5f1e153ef63e
- Child:
- 21:14cf80622dd5
diff -r 5f1e153ef63e -r b0e1fa37856d main.cpp --- a/main.cpp Thu May 24 04:20:45 2018 +0000 +++ b/main.cpp Fri May 25 04:52:06 2018 +0000 @@ -7,7 +7,7 @@ //#include "Adafruit_GFX.h" //#include "pictLIB.h" -#define DEBUG +//#define DEBUG Serial pc(USBTX, USBRX); BLEDevice ble; @@ -80,7 +80,7 @@ float left_cmd = 0; memcpy( &right_cmd, params->data , sizeof(right_cmd)); memcpy( &left_cmd, params->data + sizeof(right_cmd), sizeof(left_cmd)); - wb.SetRPM(right_cmd,left_cmd); + wb.SetRPM(left_cmd,right_cmd); #ifdef DEBUG //割り込みハンドラの中でシリアル通信しないこと。 //printf("SetRPM:%f,%f",left_cmd,right_cmd) @@ -151,13 +151,15 @@ //pc.printf("auto calibrate start\n\r"); //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 + */ + + wb.auto_calibrate(); //自動キャリブレーション #ifdef DEBUG for(int i = 0 ; i < 4 ; i++) {