Diff: main.cpp

Revision:

36:b0edccff7457

Parent:

35:b4e1b8f25cd7

Child:

37:e4b37af4d8c7

--- a/main.cpp	Mon Mar 04 09:54:47 2019 +0000
+++ b/main.cpp	Mon Mar 04 09:56:52 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
@@ -159,8 +159,11 @@
     nh_mbed.getHardware()->setBaud(115200);
     nh_mbed.initNode();
     nh_mbed.subscribe(sub_vel);
-    while (1)
+    while (1){
         nh_mbed.spinOnce();
+            SetWalk(walk, LRFPOSTURE);
+    MoveOneCycle(walk, leg);
+    }
 #else
 
     if (SetWalk(walk, FRONTLEG_ON_SANDDUNE) == 1)
@@ -302,7 +305,6 @@
         stride_m[LEFT_B] = 0.2;
         stride_m[RIGHT_B] = 0.2;
     }
-    SetWalk(walk, LRFPOSTURE);
-    MoveOneCycle(walk, leg);
+
 }
 #endif
\ No newline at end of file