nucleo側のプログラム
Dependents: serial_connected_mcu_nucleo serial_connected_mcu_nucleo
Fork of serial_connected_mcu by
Revision 18:111207e201b6, committed 2016-09-08
- Comitter:
- inst
- Date:
- Thu Sep 08 02:27:22 2016 +0000
- Parent:
- 17:814679e7b0fc
- Commit message:
- ????
Changed in this revision
serial_connected_mcu.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 814679e7b0fc -r 111207e201b6 serial_connected_mcu.cpp --- a/serial_connected_mcu.cpp Mon Aug 08 09:15:56 2016 +0000 +++ b/serial_connected_mcu.cpp Thu Sep 08 02:27:22 2016 +0000 @@ -7,7 +7,7 @@ serial_connected_mcu* serial_connected_mcu::_instance = NULL; -const float serial_connected_mcu::_sampling_delta_time_usec = 1500.0f; +const float serial_connected_mcu::_sampling_delta_time_usec = 5000.0f; const PinName serial_connected_mcu::_servo_pins[] = { PB_6, @@ -76,7 +76,7 @@ void serial_connected_mcu::update() { float encoder_values[ENCODER_NUM]; - +/* if (_timer.read_us() > _sampling_delta_time_usec) { float t = _timer.read_us(); for (size_t i = 0; i < ENCODER_NUM; ++i) { @@ -90,6 +90,12 @@ } _timer.reset(); } + */ + for (size_t i = 0; i < ENCODER_NUM; ++i) { + encoder_values[i] = _encoders[i]->get_counts(); + //_encoders_speed[i] = encoder_values[i] - _prev_encoders_values[i]; + //_prev_encoders_values[i] = encoder_values[i]; + } _slave.set(ENCODER_SPEED1, _encoders_speed[0]); _slave.set(ENCODER_SPEED2, _encoders_speed[1]);