Revision 3:7a30251664f0, committed 2015-04-24

Comitter:

yusuke_kyo

Date:

Fri Apr 24 03:21:58 2015 +0000

Parent:

2:b46156a5c6a5

Commit message:

uparrow,downarrow,rightarrow

Changed in this revision

--- a/Dynamixel.lib	Wed Apr 22 18:10:04 2015 +0000
+++ b/Dynamixel.lib	Fri Apr 24 03:21:58 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/yusuke_kyo/code/Dynamixel/#5ce46b6748fd
+http://developer.mbed.org/users/yusuke_kyo/code/Dynamixel/#4b2c48ab30fe

--- a/MEMS_Thermal_Sensor.lib	Wed Apr 22 18:10:04 2015 +0000
+++ b/MEMS_Thermal_Sensor.lib	Fri Apr 24 03:21:58 2015 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/users/yusuke_kyo/code/MEMS_Thermal_Sensor/#c7d3279ba305
+http://developer.mbed.org/users/yusuke_kyo/code/MEMS_Thermal_Sensor/#6a5ab8af56a4

--- a/main.cpp	Wed Apr 22 18:10:04 2015 +0000
+++ b/main.cpp	Fri Apr 24 03:21:58 2015 +0000
@@ -45,31 +45,31 @@
     yP = yaw.GetPosition(); yC = yaw.GetCurrent();
     
     linear_goal=lP; pitch_goal=pP; yaw_goal=yP; //現在角度を目標値に設定
-    printf("linearPosition : %4f[degree]\n",lP); printf("Voltage : %4f[V]\n",lV);
-    printf("pitchPosition : %4f[degree]\n",pP); printf("pitchCurrent : %4f[A]\n",pC);
-    printf("yawPosition : %4f[degree]\n",yP); printf("yawCurrent : %4f[A]\n",yC);
-    sprintf(data,"%4f %4f %4f %4f %4f %4f ",lP,lV,pP,pC,yP,yC);  
+    printf("linearPosition : %4.1f[degree]\n",lP); printf("Voltage : %4.1f[V]\n",lV);
+    printf("pitchPosition : %4.1f[degree]\n",pP); printf("pitchCurrent : %4.1f[A]\n",pC);
+    printf("yawPosition : %4.1f[degree]\n",yP); printf("yawCurrent : %4.1f[A]\n",yC);
+    sprintf(data,"%4.1f %4.1f %4.1f %4.1f %4.1f %4.1f ",lP,lV,pP,pC,yP,yC);  
 }
 
 void Dyna_SetGoal(int linear_mode, int pitch_mode, int yaw_mode) {
     switch(linear_mode){
-        case 0: break;
-        case 1: linear.SetTorqueLimit(1); linear_goal+=5; break;
-        case 2: linear.SetTorqueLimit(1); linear_goal-=5; break;
+        case 29: break;
+        case 30: linear.SetTorqueLimit(1); linear_goal+=5; break;
+        case 31: linear.SetTorqueLimit(1); linear_goal-=5; break;
     }
     linear.SetGoal(linear_goal);
     
     switch(pitch_mode){
-        case 0: break;
-        case 1: pitch_goal+=5; break;
-        case 2: pitch_goal-=5; break;
+        case 29: break;
+        case 30: pitch_goal+=5; break;
+        case 31: pitch_goal-=5; break;
     }    
     pitch.SetGoal(pitch_goal);
     
     switch(yaw_mode){
-        case 0: break;
-        case 1: yaw_goal+=5; break;
-        case 2: yaw_goal-=5; break;
+        case 29: break;
+        case 30: yaw_goal+=5; break;
+        case 31: yaw_goal-=5; break;
     }
     yaw.SetGoal(yaw_goal);
 }
@@ -104,6 +104,7 @@
             if(i%4==0) printf("\n");
             printf("%3.1f ",ThD1[i]);
         }
+        printf("\n");
     }
     
     for(int i=0;i<16;i++){
@@ -117,6 +118,7 @@
             if(i%4==0) printf("\n");
             printf("%3.1f ",ThD2[i]);
         }
+        printf("\n");
     }
 }
 /*--Thermal_Sensor:end------------------------------------------------------------------------------------*/
@@ -140,7 +142,7 @@
     sensor_v = v * 5.0/3.3; //電圧レベルを合わせる
     CO2 = sensor_v * 1000 + 400;  //データシートより
     
-    if(CO2_DEBUG) printf("\n%4f",CO2);
+    if(CO2_DEBUG) printf("\nCO2:%4f\n",CO2);
 
     return(CO2);
 }
@@ -175,12 +177,15 @@
             printf("%s\n",Dyna_data);
             myled1=0;
         
-            printf("linear_mode : \n");
+            printf("linear_mode : ");
             linear_mode=pc.getc();
-            printf("pitch_mode : \n");
+            printf("%d\n",linear_mode);
+            printf("pitch_mode : ");
             pitch_mode=pc.getc();
-            printf("yaw_mode : \n");
+            printf("%d\n",pitch_mode);
+            printf("yaw_mode : ");
             yaw_mode=pc.getc();
+            printf("%d\n",yaw_mode);
         
             //目標角度を変更
             myled2=1;
@@ -188,23 +193,23 @@
             myled2=0;
         /*--Dynamixel:end------------------------------------------------------------------*/       
     
-        /*--Thermal_Sensor:begin-----------------------------------------------------------*/
-            //値を取得
-            myled3=1;
-            GetThermo(Thermo_data);
-        /*--Thermal_Sensor:end-------------------------------------------------------------*/
-    
-        /*--CO2_Sensor:begin---------------------------------------------------------------*/
-            //値を取得
-            CO2_data=GetCO2();
-            myled3=0;
-        /*--CO2_Sensor:end-----------------------------------------------------------------*/
-        
-        //値を送信
-            myled4=1;
-            sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data);
-            printf("%s\n",Send_data);
-            myled4=0;           
+//        /*--Thermal_Sensor:begin-----------------------------------------------------------*/
+//            //値を取得
+//            myled3=1;
+//            GetThermo(Thermo_data);
+//        /*--Thermal_Sensor:end-------------------------------------------------------------*/
+//    
+//        /*--CO2_Sensor:begin---------------------------------------------------------------*/
+//            //値を取得
+//            CO2_data=GetCO2();
+//            myled3=0;
+//        /*--CO2_Sensor:end-----------------------------------------------------------------*/
+//        
+//        //値を送信
+//            myled4=1;
+//            sprintf(Send_data,"%s%s%f",Dyna_data,Thermo_data,CO2_data);
+//            printf("\n%s\n",Send_data);
+//            myled4=0;           
 
     }
 }
\ No newline at end of file