Shohei Kamiguchi / Mbed 2 deprecated Iwatobi_Control_Modulen

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Dependencies:   mbed

Diff: main.cpp

Revision:
1:f52578243f96
Parent:
0:dde37cabc667
Child:
2:1ae5e25618e0
--- a/main.cpp	Sun Nov 15 14:01:48 2020 +0000
+++ b/main.cpp	Sun Nov 15 15:19:11 2020 +0000
@@ -25,12 +25,12 @@
 
 /* サーボ */
 //                               MIN    MID     MAX
-double Servo_1_pulsewidth[3] = {0.001, 0.0015, 0.0020};
-double Servo_2_pulsewidth[3] = {0.001, 0.0015, 0.0020};
-double Servo_3_pulsewidth[3] = {0.001, 0.0015, 0.0020};
-double Servo_4_pulsewidth[3] = {0.001, 0.0015, 0.0020};
-double Servo_5_pulsewidth[3] = {0.001, 0.0015, 0.0020};
-double Servo_6_pulsewidth[3] = {0.001, 0.0015, 0.0020};
+double Servo_1_pulsewidth[3] = {0.0013, 0.0015, 0.0017};
+double Servo_2_pulsewidth[3] = {0.0013, 0.0015, 0.0017};
+double Servo_3_pulsewidth[3] = {0.0013, 0.0015, 0.0017};
+double Servo_4_pulsewidth[3] = {0.0013, 0.0015, 0.0017};
+double Servo_5_pulsewidth[3] = {0.0013, 0.0015, 0.0017};
+double Servo_6_pulsewidth[3] = {0.0013, 0.0015, 0.0017};
 
 Ticker tick_MANUAL;
 Timeout timo_MANUAL;
@@ -150,6 +150,8 @@
     led[2] =~ led[2];
 }
 
+
+Timer log_loop_timer;
 int main()
 {
     Servo_1.period_ms(20);
@@ -177,12 +179,19 @@
 
     wait(1);
     led[0] = 1;
-    
+   
     nucleo_led = 0;
     while(1) {
-        PM_receive();
+        log_loop_timer.reset();
+        log_loop_timer.start();
+       
         pc.printf("CM : %02d\n", kModuleID);
+       
+        while(log_loop_timer.read() < 0.5f){
+            PM_receive();
+        }
+       
         nucleo_led =~ nucleo_led;
-        wait(0.5);
+        log_loop_timer.stop();
     }
 }
\ No newline at end of file