Kazyoshi Morita / Mbed 2 deprecated friction_measure

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Dependencies:   Dynamixel mbed

Diff: main.cpp

Revision:
3:1bceed8a22d0
Parent:
2:d19d83df0d15
--- a/main.cpp	Sat Sep 15 06:30:49 2018 +0000
+++ b/main.cpp	Sun Sep 16 15:17:43 2018 +0000
@@ -25,10 +25,13 @@
 //Dynamixel回転方向対応用
 //多分11bitのうちMSBが符号,最上位で回転方向を指定している
 void move(int speed){
-    if(speed >= 0)
-        motor.setSpeed(speed);    
+    if(speed >= 0){
+        motor.setSpeed(speed);
+        //pc.printf("debugmode: %d\n", speed);//debug
+    }
     else{
         motor.setSpeed(-1*speed+1024);  //11bitのうちMSBが符号
+        //pc.printf("debugmode: %d\n", -1*speed+1024);//debug
     }
 }
 
@@ -42,7 +45,7 @@
             break;
         case 's':   //計測開始
             timeStamp.reset();
-            move(-20);  //(WIP)
+            move(motorspeed);  //(WIP)
             timeStamp.start();
             break;
         case 'e':   //計測終了
@@ -53,10 +56,10 @@
             hx711.tare();
             break;
         case 'l':   //モータ左回転
-            move(-20);  //(WIP)
+            move(-1 * motorspeed);  //(WIP)
             break;
         case 'r':   //モータ右回転
-            move(20);   //(WIP)
+            move(motorspeed);   //(WIP)
             break;
         case 'q':   //モータ停止
             move(0);