Diff: main.cpp

Revision:

26:331e77bb479b

Parent:

25:c21d35c7f0de

Child:

27:37a8b4f6d28d

--- a/main.cpp	Sat Jul 01 00:26:28 2017 +0000
+++ b/main.cpp	Sat Jul 01 07:24:50 2017 +0000
@@ -52,14 +52,14 @@
     SLCTSW[0].mode(PullNone);
     SLCTSW[1].mode(PullNone);
     SLCTSW[2].mode(PullNone);
-    
+
     rightMotorPulse.mode(PullNone);
     leftMotorPulse.mode(PullNone);
     rightTirePulse1.mode(PullNone);
     rightTirePulse2.mode(PullNone);
     leftTirePulse1.mode(PullNone);
     leftTirePulse2.mode(PullNone);
-    
+
     indicateSystem(1);
     bootSystem();
 }
@@ -67,11 +67,11 @@
 int main(void)
 {
     int f_whatchdog=0;
-    
+
     wait(1);
 
     pc.baud(115200);
-    printf("\033[2J");
+    printf("\033[2J");          //teratermの画面クリア
     printf("\033[1;1H");        //teratermの画面クリア
     printf("\r\nVersion:TVDctrller2017_brdRev1...start!!!!!\r\n");
 
@@ -86,24 +86,26 @@
     float time;
 
     struct errCounter_t eCounter= {0,0,0,0,0,0,0,0};
-    
+
+    wait(1);
+
     while(1) {
         //f_whatchdog = ~f_whatchdog;
         //WDT.write(f_whatchdog);
         //getCurrentErrCount(&eCounter);
-        
+
         timer.reset();
 
-        driveTVD();
+        driveTVD(0, isPressedRTD());
 
         //printf("%f\n\r", 45.0/0xFFFF * calcRequestTorque());
 
-        //printf("%2.2f\t%3.2f\t%1.2f\r\n", 45.0f / 0xffff * calcRequestTorque(), getVelocity(), getSteerAngle());
+        printf("%2.2f\t%3.2f\t%1.2f\r\n", 45.0f / 0xffff * calcRequestTorque(), getVelocity(), getSteerAngle());
         //printf("%1.6f\r\n", time);
         //printf("%d\r\n", eCounter.brakeOverRide);
         time = timer.read();
         while(timer.read_ms() < CONTROL_CYCLE_MS);      //制御周期管理 関数内処理時間より短い時間の制御周期の設定は禁止
-        
+
         //printf("%d\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t\r\n", eCounter.apsUnderVolt, eCounter.apsExceedVolt, eCounter.apsErrorTolerance, eCounter.apsStick, eCounter.brakeUnderVolt, eCounter.brakeExceedVolt, eCounter.brakeFuzzyVolt, eCounter.brakeOverRide);
         //printf("apsP:%1.2f, apsS:%1.2f, brake:%1.2f\r", 3.3f/65535 * getRawSensor(APS_PRIMARY), 3.3f/65535 * getRawSensor(APS_SECONDARY), 3.3f/65535 * getRawSensor(BRAKE));
     }