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ライブラリ化を行った後
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
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Diff: main.cpp
- Revision:
- 32:f535ace7c529
- Parent:
- 31:285c9898da03
- Child:
- 33:64fd1bd83bac
diff -r 285c9898da03 -r f535ace7c529 main.cpp --- a/main.cpp Tue Aug 29 02:07:56 2017 +0000 +++ b/main.cpp Tue Aug 29 03:01:50 2017 +0000 @@ -41,9 +41,9 @@ #define pin_interrupt_cylinder_min p23 #define encoder_A p25 #define encoder_B p26 -#define enc_Kp 0.01 -#define enc_Ki 0.01 -#define enc_Kd 0.01 +#define enc_Kp 0.009 +#define enc_Ki 0.00 +#define enc_Kd 0.00 #define powerdown 0.6 #define pin_servo_reload p21 // #define pin_interrupt_reload p22 // @@ -159,7 +159,7 @@ counter ++; break; case 2: - rs422.put(id[counter], sbdbt.right_y, 0.0); + rs422.put(id[counter], enc_cylinder.duty()*-1, 0.0); counter ++; break; case 3: @@ -213,7 +213,7 @@ //追記(動作未確認) float cylinder_pwm; int cylinder_pos_num = 0; -float cylinder_pos[3] = {0.0,50.0,75.0}; +float cylinder_pos[3] = {0.0,180.0,360.0}; void cylinder_cal() { cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF @@ -226,7 +226,7 @@ } enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //コントローラで数値設定 - pc.printf("terget\t%f\tnow_pulse\t%lo\tnow_rad\t%f\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.pulse(),enc_cylinder.deg(),enc_cylinder.duty()); + pc.printf("terget\t%f\tnow_deg\t%f\tnow_rad\t%f\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.deg(),enc_cylinder.rad(),enc_cylinder.duty()); //リロード機構完成後 /*