Diff: main.cpp

Revision:

2:89bdaf269693

Parent:

1:e8b1e591f61e

Child:

3:69ce73ed70a7

--- a/main.cpp	Mon Mar 07 06:04:16 2016 +0000
+++ b/main.cpp	Mon Mar 07 07:30:55 2016 +0000
@@ -1,3 +1,5 @@
+/* 実験中 */
+
 #include "mbed.h"
 #include "HMC6352.h"
 #include <math.h>
@@ -5,8 +7,8 @@
 
 #define PAI 3.1415926535897932384626
 #define POWER 0
-#define LIMIT 0.7
-#define TRIALS 10
+#define LIMIT 1
+#define TRIALS 1
 #define ZERO 0
 
 BusOut m_led(LED1,LED2,LED3,LED4);
@@ -56,20 +58,13 @@
 }    
 
 int main() {
-    int seeta=0,diff=0,min1=0,min2=1,max1=359,max2=358;
+    int seeta=0,diff=0,getFirst=0,min1=0,min2=1,max1=359,max2=358;
     int sampleC[TRIALS] = {0},getCompass[TRIALS] = {0};
+    compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);//最初のSetting
     
-    compass.setOpMode(HMC6352_CONTINUOUS, 1, 20);
-    for(j=0;j<TRIALS;j++){
-        sampleC[j] = ( compass.sample() / 10.0 );
-        sampleC[j] = diffKun(sampleC[j],ZERO);
-        wait_ms(1);
-        diff += sampleC[j];
-        //pc.printf("%d ",sampleC[j]);
-    }
-    diff /= TRIALS;
-    diff = diffKun(diff,ZERO);
-        
+    //
+    getFirst = ( compass.sample() / 10.0 );
+    
     seeta = 0;
     motor.baud(115200);                             //ボーレート設定
     motor.printf("1F0002F0003F0004F000\r\n");      //モータ停止     モーター番号(1~6) + ForR(前進後進) + パワー(0~100) 
@@ -86,14 +81,25 @@
     //
     
     while(1){
-         for(j=0;j<TRIALS;j++){
+         //
+         /*for(j=0;j<TRIALS;j++){
             getCompass[j] = ( compass.sample() / 10.0 );
-            getCompass[j] = diffKun();
+            //pc.printf("%d\n",getCompass[j]);
+            getCompass[j] = diffKun(getCompass[j],getFirst);
+            if((getCompass[j]>359)&&(j<0)) getCompass[j] = getCompass[j-1];
+            diff += getCompass[j];  
          }
+         diff /= TRIALS;
+         diff = diffKun(diff,getFirst);
+         pc.printf("%d\n",diff);*/
+         //
+         getCompass[0] = ( compass.sample() / 10.0 );
+         diff = diffKun(getCompass[0],getFirst);
+         
          move(seeta,diff); 
-         pc.printf("%f %f\n",getFirst,getCompass);
-         //pc.printf("%d %d %d\n",speed[0],speed[1],speed[2]);
-         wait(0.01);
+         pc.printf("%d %d  %d",getFirst,getCompass[0],diff);
+         pc.printf("  %d %d %d\n",speed[0],speed[1],speed[2]);
+         //wait(0.01);
     }
     /*wait(1); 
     speed[0] = 0;