Diff: main.cpp

Revision:

12:5c2b9f7be93f

Parent:

11:4ed9e37e5ffd

Child:

13:5f5c2b446aac

--- a/main.cpp	Thu Apr 09 04:28:43 2015 +0000
+++ b/main.cpp	Thu Apr 09 04:32:48 2015 +0000
@@ -139,9 +139,9 @@
     
     while(1) {
         
-        sock.receiveFrom(echo_server, R_data, sizeof(R_data)); 
+        sock.receiveFrom(echo_server, R_data, sizeof(R_data)); //オペステからデータを取得
         wait_ms(1);
-        Joy_mode = atoi(R_data[0] & 0x03);
+        Joy_mode = atoi(R_data[0] & 0x03); //ジョイスティックのモード判定
         
         switch(Joy_mode){
             case 0: //通常モード
@@ -153,12 +153,12 @@
                 yP = yaw.GetPosition(); yC = yaw.GetCurrent();
                 myled1=0;
                                   
-                //JoyStickのモード
+                //Dynamixelへの命令を判定
                 linear_mode = R_data[0] & 0x0c; linear_mode = linear_mode >> 2;
                 pitch_mode = R_data[0] & 0x30; pitch_mode = linear_mode >> 4;
                 yaw_mode = R_data[0] & 0xc0; yaw_mode = linear_mode >> 6;                
 
-                //目標角度へ動かす
+                //目標角度を変更
                 myled2=1;
                 linear_goal=lP;
                 switch(linear_mode){