yusei sugimoeo / Mbed OS controllerForMbed_test_Re

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Revision 4:d91aa84213fd, committed 2022-09-17

Comitter:
yuseis
Date:
Sat Sep 17 07:55:41 2022 +0000
Parent:
3:59ace4ccc91d
Commit message:
Re

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Mon Sep 12 08:55:17 2022 +0000
+++ b/main.cpp	Sat Sep 17 07:55:41 2022 +0000
@@ -5,10 +5,11 @@
 #define INT_TIME 0.001
 #define INT_TIME_MS INT_TIME*1000
 
-PwmOut lfP(p21);//左前　出力
-PwmOut rfP(p22);//右前　出力
-PwmOut lbP(p23);//左後　出力
-PwmOut rbP(p24);//右後　出力
+
+RawSerial sabertooth1(p21,NC,115200);//左前　出力
+RawSerial sabertooth1(p23,NC,115200);//左後　出力
+RawSerial sabertooth2(p24,NC,115200);//右後　出力
+RawSerial sabertooth2(p22,NC,115200);//右前　出力
 DigitalOut air(p25);//エアシリンダーのつもり
 
 Serial pc(USBTX, USBRX,115200);
@@ -86,10 +87,10 @@
                 LB=joyLx+joyLy-joyRy-128;
                 RB=-joyLx+joyLy-joyRy+128;
                 
-                lfP.write(LF);
-                rfP.write(RF);
-                lbP.write(LB);
-                rbP.write(RB);
+                sabertooth1.printf("M1:%d\r\n",LF);
+                sabertooth1.printf("M2:%d\r\n",LB);
+                sabertooth2.printf("M1:%d\r\n",RB);
+                sabertooth2.printf("M2:%d\r\n",RF);
                 
                 pc.printf("%lf\t", LF);
                 pc.printf("%lf\t", RF);