Wallbot_CaaS
Dependencies: MPU6050 mbed PID
Fork of BLE_MPU6050_test6_challenge_sb by
Diff: main.cpp
- Revision:
- 13:ed867b8003c2
- Parent:
- 12:96fbb4cb7c48
- Child:
- 14:8a589bb0868c
diff -r 96fbb4cb7c48 -r ed867b8003c2 main.cpp --- a/main.cpp Thu May 17 23:31:47 2018 +0000 +++ b/main.cpp Fri May 18 01:25:09 2018 +0000 @@ -51,7 +51,7 @@ ble.startAdvertising(); wb.set_led2(0); -#if DBG +#ifdef DEBUG pc.printf("Disconnected\n\r"); #endif } @@ -64,7 +64,7 @@ wb.control_enable(true); wb.SetRPM(0,0); -#if DBG +#ifdef DEBUG pc.printf("Connected\n\r"); #endif } @@ -101,10 +101,17 @@ uint8_t sen_buf[10]; uint8_t mpu_buf[12]; - mpu.initialize(); - pc.baud(115200); - pc.printf("Start\n\r"); + + //MPU 成功するまでリトライしてみる + wb.set_led1(1); + while(!mpu.testConnection()){ + pc.printf("MPU6050 initialize \n\r"); + mpu.initialize(); + wait(0.3); + } + wb.set_led1(0); + pc.printf("MPU6050 initialize passed \n\r"); ble.init(); @@ -134,7 +141,8 @@ //Advertizeの開始 ble.startAdvertising(); - pc.printf("auto calibrate start\n\r"); + //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(); #ifdef DEBUG for(int i = 0 ; i < 4 ; i++) @@ -154,6 +162,7 @@ } #endif + //速度制御 //wb.control_enable(true); //wb.SetRPM(-30,30);