hidaka sato / Mbed 2 deprecated WRS2019_master

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Dependencies:   mbed BufferedSerial PID2 JY901 ros_lib_kinetic TextLCD i2cmaster Make_Sequencer_3

Files at this revision

API Documentation at this revision

Revision 2:83fa142c5bcc, committed 2019-12-17

Comitter:
sgrsn
Date:
Tue Dec 17 07:23:55 2019 +0000
Parent:
1:f102831401a8
Child:
3:4ac32aff309c
Commit message:
Fix start command

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Tue Dec 17 04:41:19 2019 +0000
+++ b/main.cpp	Tue Dec 17 07:23:55 2019 +0000
@@ -113,7 +113,7 @@
 {
     float threshold_x     = 5; //[mm]
     float threshold_y     = 5; //[mm]
-    float threshold_theta = 5 * DEG_TO_RAD;
+    float threshold_theta = 1 * DEG_TO_RAD;
     
     // 角度補正係数
     float L = 233; //[mm]
@@ -167,8 +167,8 @@
         {
             wheel_rad[i] = counter[i].getRadian(v[i]);
         }
-        float dx = (-wheel_rad[0] + wheel_rad[1] + wheel_rad[2] - wheel_rad[3]) * wheel_r*0.3535534 * 0.7;
-        float dy = (-wheel_rad[0] - wheel_rad[1] + wheel_rad[2] + wheel_rad[3]) * wheel_r*0.3535534 * 0.7;
+        float dx = (-wheel_rad[0] + wheel_rad[1] + wheel_rad[2] - wheel_rad[3]) * wheel_r*0.3535534 * 0.67;
+        float dy = (-wheel_rad[0] - wheel_rad[1] + wheel_rad[2] + wheel_rad[3]) * wheel_r*0.3535534 * 0.67;
         
         x_robot += dx * cos(theta_robot) + dy * sin(-theta_robot);
         y_robot += dy * cos(theta_robot) + dx * sin(theta_robot);
@@ -248,10 +248,14 @@
     jy901.calibrateAll(5000);
     //controlFromWASD();
     PC.printf("\r\nI'm ready to start. Press Enter\r\n");
-    bool startable = false;
-    while(!startable)
+    //bool startable = false;
+    char input_character = 0;
+    while(input_character != 'a')
     {
-        startable = PC.readable() > 0;
+        if(PC.readable() > 0)
+        {
+            input_character = PC.getc();   
+        }
     }
     controlFromGcode();
 }