a
Dependents: 4thcomp 6th33222_copy
Fork of Locate by
Diff: locate.cpp
- Revision:
- 10:d88fe87720d2
- Parent:
- 9:69fe7b8350c6
--- a/locate.cpp Fri Sep 16 08:48:12 2016 +0000 +++ b/locate.cpp Sat Sep 17 23:20:49 2016 +0000 @@ -5,13 +5,13 @@ /********以下グローバル変数宣言**************/ - +Serial pc(SERIAL_TX, SERIAL_RX); TIM_Encoder_InitTypeDef encoder1, encoder2; //Encoderライブラリで使う TIM_HandleTypeDef timer1, timer2; //Encoderライブラリで使う uint16_t count1=0, count2=0; //Encoderライブラリで使う int8_t dir1, dir2; //Encoderライブラリで使う -Serial pc(SERIAL_TX, SERIAL_RX); //pcと通信 + DigitalOut enc_v(PC_7); //エンコーダの電源 int r, l; //現在の回転数 @@ -82,7 +82,7 @@ pr = r; pl = l; //pc.printf("count1:%d%s count2:%d%s\r\n", count1, dir1==0 ? "+":"-",count2, dir2==0 ? "+":"-"); - pc.printf("right:%d left:%d x:%d y:%d t:%f\n\r", r, l, coordinateX(), coordinateY(), coordinateTheta()); + pc.printf("right:%d left:%d x:%d y:%d t:%f d%d\n\r", r, l, coordinateX(), coordinateY(), coordinateTheta(),r-l); } void update_np() @@ -103,6 +103,7 @@ pr = r; pl = l; + pc.printf("right:%d left:%d x:%d y:%d t:%f d%d\n\r", r, l, coordinateX(), coordinateY(), coordinateTheta(),r-l); } int coordinateX()