test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: main.cpp
- Revision:
- 41:38d79b6513c0
- Parent:
- 39:87dcdff27797
- Child:
- 42:982064594ba6
--- a/main.cpp Mon Mar 04 23:44:07 2019 +0000 +++ b/main.cpp Tue Mar 05 01:45:03 2019 +0000 @@ -10,7 +10,7 @@ #include "pi.h" #include "can.h" #define USE_CAN //can通信するならdefine.しないなら切らないとエラー出る -#define USE_ROS +//#define USE_ROS #include <ros.h> #include <geometry_msgs/Vector3.h> #endif @@ -72,11 +72,11 @@ FRONTLEG_ON_SANDDUNE, //前足かける }; -float offset_x_m[4] = {-0.1, 0.1, -0.1, 0.1}, +float offset_x_m[4] = {-0.1, -0.1, -0.1, -0.1}, offset_y_m[4] = {0.35, 0.35, 0.35, 0.35}; //strideはLRFから変更するようにする float stride_m[4] = {0.2, 0.2, 0.2, 0.2}, - height_m[4] = {0.1, 0.1, 0.1, 0.1}, buffer_height_m = 0.05, + height_m[4] = {0.02, 0.02, 0.02, 0.02}, buffer_height_m = 0.05, stridetime_s = 1, toptime_s = 0.4, buffer_time_s = 0.2; /* LineParam over_come_front[]{ @@ -159,13 +159,23 @@ nh_mbed.spinOnce(); } #else - if (SetWalk(walk, OVERCOME) == 1) + /*if (SetWalk(walk, OVERCOME) == 1) { printf("error: OVERCOME\r\n"); return 1; //強制終了 } for (int i = 0; i < 2; i++) //歩数 - MoveOneCycle(walk, leg); + MoveOneCycle(walk, leg);*/ + stride_m[LEFT_F] = 0.25; + stride_m[RIGHT_F] = 0.25; + stride_m[LEFT_B] = 0.25; + stride_m[RIGHT_B] = 0.25; + if (SetWalk(walk, LRFPOSTURE) == 1) + { + printf("error: OVERCOME\r\n"); + return 1; //強制終了 + } + while(1) MoveOneCycle(walk, leg); /* if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1) {