2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: main.cpp

Revision:
30:c596a0f5d685
Parent:
29:a51cb2cf22ae
Child:
31:042c08a7434f
--- a/main.cpp	Sat Jul 08 06:20:29 2017 +0000
+++ b/main.cpp	Fri Jul 21 10:20:57 2017 +0000
@@ -126,17 +126,16 @@
     wait(3);
 
     while(1) {
-        //getCurrentErrCount(&eCounter);
+        getCurrentErrCount(&eCounter);
 
         timer.reset();
 
         driveTVD(0, isPressedRTD());
-
-        printf("%f\n\r", M_PI * getSteerAngle()/127.0f);
+        
+        brakeSignal.write(isBrakeOn());
 
         /*
         writeCanBuff(isBrakeOn(),                                           canBrake,           CANDATANUM_BRAKE);
-        writeCanBuff(calcRequestTorque(),                                   canRequestTorque,   CANDATANUM_REQTRQ);
         writeCanBuff(getMotorTorque(RIGHT) + (getMotorTorque(LEFT) << 16),  canMotorTorque,     CANDATANUM_MOTORTRQ);
         writeCanBuff(getSteerAngle(),                                       canSteer,           CANDATANUM_STEERING);
         writeCanBuff(getRPS(RIGHT, 0) + (getRPS(LEFT, 0)<<16),              canMotorSpeed,      CANDATANUM_MOTORSPEED);
@@ -144,7 +143,6 @@
         writeCanBuff(getVelocity() / 0.1f,                                  canVehicleSpeed,    CANDATANUM_VEHICLESPEED);
 
         can.write(CANMessage(CANID_BRAKE, canBrake, CANDATANUM_BRAKE));
-        can.write(CANMessage(CANID_REQTRQ, canRequestTorque, CANDATANUM_REQTRQ));
         can.write(CANMessage(CANID_MOTORTRQ, canMotorTorque, CANDATANUM_MOTORTRQ));
         can.write(CANMessage(CANID_STEERING, canSteer, CANDATANUM_STEERING));
         can.write(CANMessage(CANID_WHEELSPEED, canMotorSpeed, CANDATANUM_MOTORSPEED));
@@ -152,8 +150,13 @@
         can.write(CANMessage(CANID_VEHICLESPEED, canVehicleSpeed, CANDATANUM_VEHICLESPEED));
         */
         
+        writeCanBuff(calcRequestTorque(), canRequestTorque, CANDATANUM_REQTRQ);
+        can.write(CANMessage(CANID_REQTRQ, canRequestTorque, CANDATANUM_REQTRQ));
+        
         //printf("%1.6f\r\n", time);
-        //printf("%d\r\n", eCounter.brakeOverRide);
+        
+        printf("%d:%d %d %d %d\r\n", calcRequestTorque(), (int)canRequestTorque[0],(int)canRequestTorque[1],(int)canRequestTorque[2],(int)canRequestTorque[3]);
+        
         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