2018年度用翼端mbedプログラム
Dependencies: Control_Yokutan_CANver1 XBusServo mbed mbed-rtos
Fork of ControlYokutan2017_2 by
Diff: main.cpp
- Branch:
- XBus???
- Revision:
- 31:5d22ebe5f705
- Parent:
- 30:00041540e23c
- Child:
- 32:b03557a08efa
--- a/main.cpp Fri Mar 10 08:12:54 2017 +0000 +++ b/main.cpp Fri Mar 10 10:38:17 2017 +0000 @@ -19,7 +19,7 @@ #define ERURON_MOVE_DEG_INI_L -30 #define DRUG_MOVE_DEG_INI_L -80 -#define ERURON_TRIM_INI_L 113 +#define ERURON_TRIM_INI_L 113 #define DRUG_TRIM_INI_L 110 #define kMaxServoNum 1 // 1 - 50 @@ -62,6 +62,7 @@ bool SERVO_FLAG; bool INA_FLAG; bool MPU_FLAG; +uint16_t XbusValue; char gyro_c[6] = {0,0,0,0,0,0}; @@ -175,16 +176,15 @@ void XbusIntervalHandler() { - uint16_t value; uint16_t diff = kMotionEndMark - kMotionMinMark; - value = (uint16_t)(diff * (eruronTrim + eruronMoveDeg * (eruronfloat-1)) + kMotionMinMark); - gXBus.setServo(servoChannel, value); + XbusValue = (uint16_t)(diff * (eruronTrim + eruronMoveDeg * (eruronfloat-1)) + kMotionMinMark); + //pc.printf("%f",value); + gXBus.setServo(servoChannel, XbusValue); gXBus.sendChannelDataPacket(); } void WriteServo() { - pc.printf("%d",controlValues[4]); drugServo.pulsewidth(calcPulse( drugTrim + drugMoveDeg * controlValues[4])); } @@ -223,7 +223,7 @@ { init(); XBusError result; - + setTrimPin.mode(PullDown); setMaxDegPin.mode(PullDown); EDstatePin.mode(PullDown); @@ -240,8 +240,8 @@ setMaxDeg(); } // pc.printf("eT:%f\n\r",eruronTrim); - pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); - pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); + // pc.printf("eruronTrim:%f drugTrim:%f ",eruronTrim,drugTrim); + //pc.printf("eMD:%f dMD:%f ef:%f\n\r",eruronMoveDeg,drugMoveDeg,eruronfloat); led4 = 0; debugLED = 0; @@ -250,6 +250,7 @@ WriteServo(); updateDatas(); // pc.printf("%6d,%6d,%6d\n\r",gyro[0],gyro[1],gyro[2]); + pc.printf("%f\n\r",XbusValue); led3 = !led3; wait(WAIT_LOOP_TIME); }