Diff: main.cpp

Revision:

2:9189fa810ef8

Parent:

1:3f38c4bad274

Child:

3:7c90c4811843

diff -r 3f38c4bad274 -r 9189fa810ef8 main.cpp
--- a/main.cpp	Fri Jan 30 01:46:36 2015 +0000
+++ b/main.cpp	Sat Feb 21 07:55:05 2015 +0000
@@ -94,10 +94,14 @@
     }
 }
 
+// you must adjust center position
+#define RL_ADJ (-120)
+
 // RC servo
-void servo (float deg)
+// rl : -1.0 ? 1.0
+void servo (float rl)
 {
-    servo_pwm.pulsewidth_us(1500 + (int)(500.0 * deg));
+    servo_pwm.pulsewidth_us(1500 + RL_ADJ - (int)(500.0 * rl));
 }
 
 void disconnectionCallback(Gap::Handle_t handle, Gap::DisconnectionReason_t reason)
@@ -129,7 +133,7 @@
 // Distance sensor averaging number
 #define AVE_SIZE 8
 
-// Distance constant
+// Distance constant (for Sharp GP2Y0E03)
 // Vout[V] = 2.369V - 0.0369*d[cm]
 // sample = Vout[V]/3.3V * 0xFFFF
 // sample = 47190 - 733.66*d[cm]
@@ -181,7 +185,7 @@
 {
     // initialize servo & motor
     servo_pwm.period_ms(20);
-    servo(0.5);
+    servo(0);
     motor(0);
     
     Ticker ticker;