test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: main.cpp
- Revision:
- 47:c2c579909787
- Parent:
- 46:621ea6492dea
- Child:
- 48:1aad3cc386e8
--- a/main.cpp Fri Mar 08 02:13:10 2019 +0000 +++ b/main.cpp Fri Mar 08 04:34:29 2019 +0000 @@ -82,7 +82,7 @@ //複数歩行に共有するパラメータはここに書く。それ以外はcase内に入れる。 //LRFを使って歩行する際のパラメータ.stride_mだけグローバルにある。 float area1_offset_y_m[4] = {0.27, 0.27, 0.27, 0.27}; - float area2_offset_y_m[4] = {0.275, 0.275, 0.275, 0.275}; + float area2_offset_y_m[4] = {0.27, 0.27, 0.27, 0.27}; float offset_x_m[4] = {-0.15, 0.15, -0.15, 0.15}; float height_m[4] = {0.05, 0.05, 0.05, 0.05}, buffer_height_m = 0.02, stridetime_s = 1, toptime_s = 0.2, buffer_time_s = 0.1; @@ -99,7 +99,7 @@ case STANDUP: { //受け渡し用に待つ float offset_x_m[4] = {}, - offset_y_m[4] = {0.3, 0.3, 0.3, 0.3}; + offset_y_m[4] = {0.275, 0.275, 0.275, 0.275}; for (int i = 0; i < 4; i++) SetOneLegStandParam(walk, i, offset_x_m[i], offset_y_m[i], 0.5); walk.SetOffsetTime(0, 0, 0, 0); @@ -312,8 +312,8 @@ WaitStdin('y'); // キーボード入力されるまでまで待つ #endif /////立つ - // SetWalk(walk, STANDUP); - SetWalk(walk, AFTER_OVERCOME); //段差越え後調整用に一時的に入れた + SetWalk(walk, STANDUP); +// SetWalk(walk, AFTER_OVERCOME); //段差越え後調整用に一時的に入れた MoveOneCycle(walk, leg); #ifndef USE_ROS printf("Move?\r\n"); @@ -418,11 +418,11 @@ stride_m[RIGHT_B] = cmd_vel.y; back_vel = cmd_vel; pub_vel.publish(&back_vel); - led[0] = !led[0]; +// led[0] = !led[0]; } void callback_state(const std_msgs::Int16 &cmd) { - state_from_ros = cmd.data; - // led[state_from_ros] = 1; + state_from_ros = (ROS_STATE)cmd.data; + led[state_from_ros % 4] = 1; } #endif \ No newline at end of file