Kiko Ishimoto / Mbed 2 deprecated robocon2017_Slave_ver2

ロボットに積む

Dependencies:   Servo mbed

Files at this revision

API Documentation at this revision

Revision 1:4fb26a2daf03, committed 2017-10-21

Comitter:
kikoaac
Date:
Sat Oct 21 04:56:12 2017 +0000
Parent:
0:06f2d82c048c
Commit message:
???;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Oct 13 22:48:12 2017 +0000
+++ b/main.cpp	Sat Oct 21 04:56:12 2017 +0000
@@ -19,7 +19,6 @@
         for(int i = 1;i < 24;i++){
             RXDATA[i] = master.getc();
         }
-        for(int i  = 0 ;  i < 4 ; i++)run(i);
     }
 }
 void waitTime(float ti){
@@ -29,14 +28,13 @@
     t.stop();
     return;
 }
-#if 1//R
+#if 0//R
 #define head 4
     void run(int i){
         //for(int i = 0 ; i < 4 ; i ++ ){
         for(int j = 0 ; j < 2; j++){
-            data[i][0].c[j] = RXDATA[head + i*2 + j];
-            
-        }  
+            data[i][0].c[j] = RXDATA[head + i*2 + j];   
+        }
         arm[i] = (float)data[i][0].sd/0xffff;
         //printf("%d %f  ",i,float(data[i].sd)/0xffff);
         //}
@@ -48,7 +46,7 @@
         //for(int i = 0 ; i < 4 ; i ++ ){
         for(int j = 0 ; j < 2; j++){
             data[i][0].c[j] = RXDATA[head + i*2 + j];
-        } 
+        }
         arm[i] = (float)data[i][0].sd/0xffff;
         //printf("%d %f %d %d ",i,float(data[i].sd)/0xffff , data[i].c[1] , data[i].c[0]);
         //}
@@ -90,6 +88,7 @@
         }
         waitTime(0.01);
         */
-        wait(0.001);
+        for(int i  = 0 ;  i < 4 ; i++)run(i);
+        waitTime(20.0/1000.0);
     }
 }
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