nucleo側のプログラム
Dependents: serial_connected_mcu_nucleo serial_connected_mcu_nucleo
Fork of serial_connected_mcu by
Diff: serial_connected_mcu.cpp
- Revision:
- 13:2f9a5207fb51
- Parent:
- 11:6f8e34a71c7e
- Child:
- 14:014c339ecaf1
diff -r 810a484f113f -r 2f9a5207fb51 serial_connected_mcu.cpp --- a/serial_connected_mcu.cpp Sat Jul 30 06:03:21 2016 +0000 +++ b/serial_connected_mcu.cpp Mon Aug 01 05:06:28 2016 +0000 @@ -5,7 +5,7 @@ namespace serial_connected_mcu { serial_connected_mcu* serial_connected_mcu::_instance = NULL; - +/* const int16_t _init_write_data[] = { 0, // ENCODER1 0, // ENCODER2 @@ -14,6 +14,7 @@ 0, // POTENTIONMETER2 0 // POTENTIONMETER3 }; +*/ const PinName serial_connected_mcu::_servo_pins[] = { PB_6, PB_7, @@ -86,7 +87,7 @@ float encoders_speed[] = {}; for (size_t i = 0; i < _encoder_num; ++i) { - encoder_values[i] = _encoders[i]->get_revol_num(); + encoder_values[i] = _encoders[i]->get_counts(); if ((encoder_values[i] != _prev_encoders_values[i]) && _timer.read_us() != 0) { encoders_speed[i] = (encoder_values[i] - _prev_encoders_values[i]) * 1000.0f / _timer.read_us(); @@ -95,12 +96,12 @@ _prev_encoders_values[i] = encoder_values[i]; } - _slave.set(ENCODER1, encoder_values[0] * 32767.0f); - _slave.set(ENCODER2, encoder_values[1] * 32767.0f); - _slave.set(ENCODER3, encoder_values[2] * 32767.0f); - _slave.set(ENCODER_SPEED1, encoder_speed[0] * 32767.0f); - _slave.set(ENCODER_SPEED2, encoder_speed[1] * 32767.0f); - _slave.set(ENCODER_SPEED3, encoder_speed[2] * 32767.0f); + _slave.set(ENCODER_SPEED1, encoders_speed[0]); + _slave.set(ENCODER_SPEED2, encoders_speed[1]); + _slave.set(ENCODER_SPEED3, encoders_speed[2]); + _slave.set(ENCODER1, encoder_values[0]); + _slave.set(ENCODER2, encoder_values[1]); + _slave.set(ENCODER3, encoder_values[2]); _slave.set(POTENTIONMETER1, (_analog_inputs[0]->read() - 0.5f) * 2.0f * 32767.0f); _slave.set(POTENTIONMETER2, (_analog_inputs[1]->read() - 0.5f) * 2.0f * 32767.0f); _slave.set(POTENTIONMETER3, (_analog_inputs[2]->read() - 0.5f) * 2.0f * 32767.0f);