質問編集履歴
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@@ -12,58 +12,90 @@
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### 該当のソースコード
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```C++(Arduino)
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-
#define M5STACK_MPU6886
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-
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#include <M5Stack.h>
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19
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-
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const int pin_F = 19;
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18
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const int pin_R = 18;
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20
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const int PWM_CH_F = 1;
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const int PWM_CH_R = 2;
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const int PWM_Hz = 50;
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const uint8_t PWM_level = 12;
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//PWM resolution max1023?
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const int Uprate = 1;
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const int Deforate = pow(2, PWM_level) / 20;
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signed int UDcount = 0;
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char _data;
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void startin(){
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Serial.print("boot\r\n");
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ledcWrite(PWM_CH_F, 0);
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ledcWrite(PWM_CH_R, 0);
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M5.Lcd.fillScreen(BLACK);
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delay(500);
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Serial.print("start\r\n");
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ledcWrite(PWM_CH_F, 230);
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ledcWrite(PWM_CH_R, 230);//1dato over current
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delay(1000);
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M5.Lcd.fillScreen(BLUE);
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ledcWrite(PWM_CH_F, Deforate);
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ledcWrite(PWM_CH_R, Deforate);
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}
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void setup() {
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M5.begin();
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M5.Power.begin();
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M5.
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M5.Lcd.fillScreen(BLACK);
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-
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M5.Lcd.setTextColor(WHITE , BLACK);
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M5.Lcd.setTextSize(2);
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M5.Lcd.setTextColor(GREEN , BLACK);
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M5.Lcd.fillScreen(BLACK);
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-
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m5.Lcd.setCursor(100, 100);
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m5.Lcd.printf("M5 boot\r\n");
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-
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//まる１
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pinMode(pin_F, OUTPUT);
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pinMode(pin_R, OUTPUT);
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ledcSetup(PWM_CH_F, PWM_Hz, PWM_level);
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ledcSetup(PWM_CH_R, PWM_Hz, PWM_level);
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//まる２
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ledcAttachPin(pin_F, PWM_CH_F);
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ledcAttachPin(pin_F, PWM_CH_F);
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ledcAttachPin(pin_R, PWM_CH_R);
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ledcAttachPin(pin_R, PWM_CH_R);
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-
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startin();
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pinMode(pin_R, OUTPUT);
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-
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m5.Lcd.clear(WHITE);//まる１やまる２に移動させるとできる
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M5.Lcd.setTextColor(GREEN , WHITE);
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-
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startin();//setupが長くなるので色々詰め込んだやつ
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-
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m5.Lcd.printf("startin
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m5.Lcd.printf("startin");
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}
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void loop() {
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if(Serial.available() > 0){
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-
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_data = Serial.read();
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Serial.printf("%c\r\n", _data);
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}
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if(_data == 'w'){
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UDcount ++;
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ledcWrite(PWM_CH_F, Deforate + Uprate * UDcount);
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ledcWrite(PWM_CH_R, Deforate + Uprate * UDcount);
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Serial.printf("w %d\r\n", Deforate + Uprate * UDcount);
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}
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else if(_data == 's'){
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UDcount --;
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ledcWrite(PWM_CH_F, Deforate + Uprate * UDcount);
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ledcWrite(PWM_CH_R, Deforate + Uprate * UDcount);
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Serial.printf("s %d\r\n", Deforate + Uprate * UDcount);
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}
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else if(_data == 'r'){
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90
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UDcount = 0;
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startin();
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}
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else if(_data == 'e'){
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58
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-
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94
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ledcWrite(PWM_CH_F, 0);
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59
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delta_pitch = (my_pitch - default_pitch) * DTR;
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60
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delta_roll = (my_roll - default_roll) * DTR;
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M5.Lcd.printf("dP = %5.1f, dR = %5.1f", delta_pitch, delta_roll);//表示されない
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-
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63
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-
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95
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ledcWrite(PWM_CH_R, 0);
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96
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}
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}
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65
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66
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-
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67
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```
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68
100
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69
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### 試したこと
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