Diff: main.cpp

Revision:

3:29999b02e940

Parent:

2:db2bc2ae4d20

Child:

4:db1640bd0e89

diff -r db2bc2ae4d20 -r 29999b02e940 main.cpp
--- a/main.cpp	Mon Apr 29 07:00:04 2019 +0000
+++ b/main.cpp	Wed May 01 05:46:53 2019 +0000
@@ -205,7 +205,7 @@
 }
 void Robot::run()
 {
-    while (!Leg1_->pid_->IsConvergence_ /*|| !Leg2_->pid_->IsConvergence_*/) //片方が収束していない時*/
+    while (!Leg1_->pid_->IsConvergence_ || !Leg2_->pid_->IsConvergence_) //片方が収束していない時*/
     {
         //ticker_time毎にモータに出力する
         float time_s = timer.read();
@@ -253,6 +253,7 @@
     printf("standby ok\n\r");
     setup();
     
+   
     pid_ro.setTolerance(10);
     pid_ri.setTolerance(10);
     
@@ -269,13 +270,15 @@
     robot.setLeg(&leg_ro, &leg_ri);
     robot.setTickerTime(0.01); //モータ出力間隔 0.01
     
-    motor_ro.setDutyLimit(0.1);
-    motor_ri.setDutyLimit(0.1);
+    motor_ro.setDutyLimit(0.5);
+    motor_ri.setDutyLimit(0.5);
     
     reset();
     bus_out = 1;
     printf("start\n\r");
     
+    
+    
     float target_ro, target_ri;
     while(1) 
     {
@@ -318,14 +321,14 @@
 void reset()
 {
     while(switch_ro.read()) {
-        motor_ro.output(0.13);
+        motor_ro.output(0.3);
     }
      ec_ro.reset();
      motor_ro.output(0.0);
      printf("ro OK\n\r");
-    /*while(switch_ri.read()) {
-        motor_ri.output(0.13);
-    }*/
+    while(switch_ri.read()) {
+        motor_ri.output(0.3);
+    }
     
      ec_ri.reset();
      motor_ri.output(0.0);