Diff: servo/servo.cpp

Revision:

28:bcfc84b481bc

Parent:

25:55f7409c3502

Child:

29:ea48140fc85e

--- a/servo/servo.cpp	Mon Sep 03 07:37:28 2018 +0000
+++ b/servo/servo.cpp	Tue Sep 04 12:00:39 2018 +0000
@@ -9,13 +9,13 @@
 const int kServoSign[] = {-1, -1, -1, -1};//サーボの正負と座標系の正負の補正
 const double kOriginDegree[] = {
     (8850 - 3500)  * kServoValToDegree,
-    (11400 - 3500)  * kServoValToDegree - 90,
-    (7500 - 3500) * kServoValToDegree,
+    (5832 - 3500)  * kServoValToDegree + 90,
+    (7543 - 3500) * kServoValToDegree,
     (8000 - 3500) * kServoValToDegree,
 };//初期状態の角度
 const int kServoSpan_ms = 3; //指示の前後に必要なwait
 const double kOpenVal = (7400 - 3500) * kServoValToDegree;//ハンドを開いたときのサーボへの指示
-const double kCloseVal = (5300 - 3500) * kServoValToDegree;//ハンドを閉じたときのサーボへの指示
+const double kCloseVal = (5200 - 3500) * kServoValToDegree;//ハンドを閉じたときのサーボへの指示
 const int kTipServoID = 4;
 //////////////////////////////
 KondoServo servo[] = {KondoServo(pin_serial_servo_tx[0], pin_serial_servo_rx[0]),//サーボID:2,3,4