Diff: servo/servo.cpp

Revision:

12:174f0090aa79

Parent:

10:6d1d44fa9739

Child:

13:126c3f7f9b89

--- a/servo/servo.cpp	Sat Aug 11 07:28:20 2018 +0000
+++ b/servo/servo.cpp	Mon Aug 13 02:22:58 2018 +0000
@@ -6,7 +6,14 @@
 #include "KondoServo.h"
 
 KondoServo servo(pin_serial_servo_tx, pin_serial_servo_rx);//サーボID:0,1,2,3,4
-const double kOriginTheta[] = {164,236.8669,151.18,180}; //初期状態の角度
+const double kOriginTheta[] = {
+    163.9575,
+    236.79,
+    151.1325,
+    205.875,
+};//初期状態の角度
+
+
 const int kServoSign[] = {-1, -1, -1, 1};//サーボの正負と座標系の正負の補正
 const int kServoSpan_ms = 5; //指示の前後に必要なwait
 
@@ -21,7 +28,7 @@
         SetNowRadRelative(i,rad);
         wait_ms(kServoSpan_ms);
     }
-    
+
 }
 
 int HandSet(WorkState &params)
@@ -40,10 +47,9 @@
 
 void Open()
 {
-    servo.set_degree(4,182.7225);
+    servo.set_degree(4,203.61375);
 }
-
 void Close()
 {
-    servo.set_degree(4,135.43875);
+    servo.set_degree(4,124.63875);
 }
\ No newline at end of file