yuto kawamura
/
George_Slave_BOTHMOVE
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Revision 13:678870d8f851, committed 2019-05-15
- Comitter:
- yuto17320508
- Date:
- Wed May 15 10:19:13 2019 +0000
- Parent:
- 12:e6fd3a3201f0
- Commit message:
- l
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Wed May 15 06:49:13 2019 +0000
+++ b/main.cpp Wed May 15 10:19:13 2019 +0000
@@ -72,30 +72,30 @@
bus_out = 1;
printf("start\n\r");
int mode = -1;
- air_hand = 1;
+ air_hand = 0;
while(1) {
float duty = 0.0;
can_receive(mode,duty);
+ bus_out = 0;//未収束
printf("mode:%d duty:%.3f\n\r", mode, duty);
motor_ro.setDutyLimit(duty);
motor_ri.setDutyLimit(duty);
- if(hand_mode == G_OPEN) {
- air_hand = 1;
+ //printf("target is %d\n\r",target_ro);
+ if(mode == FORWARD) forward();
+ else if(mode == STOP) stop();
+ else if(mode == BACK) back();
+ if(hand_mode == G_CLOSE) {
+ air_hand = 0;
}
- else if(hand_mode == G_CLOSE) {
- air_hand = 0;
+ else if(hand_mode == G_OPEN) {
+ air_hand = 1;
} else if(hand_mode == GOAL) {
for(int i=0; i<10; ++i)
servo.set_degree(0,(7200 - 3500) * 270.0/(11500 - 3500));
}
- bus_out = 0;
- //printf("target is %d\n\r",target_ro);
- if(mode == FORWARD) forward();
- else if(mode == STOP) stop();
- else if(mode == BACK) back();
- bus_out = 1;
+ bus_out = 1;//収束
}
}
@@ -136,7 +136,7 @@
motor_ro_b.period_us(100);
motor_ri_f.period_us(100);
motor_ri_b.period_us(100);
- air_hand = 1;//ゲレゲを離す手の形にしておく
+ air_hand = 0;//ゲレゲを離す手の形にしておく
switch_ro.mode(PullUp);
switch_ri.mode(PullUp);
servo.init();