merge

Standard_robot/MDK-ARM/Standard_robot.uvoptx

@@ -427,7 +427,7 @@
       <GroupNumber>4</GroupNumber>
       <FileNumber>17</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\BSP\Driver\bsp_uart.c</PathWithFileName>

Standard_robot/Src/main.c

@@ -198,11 +198,11 @@ int main(void)
 			m2006.target += 60;
     };
 		
-		m3508_frontleft.target =  4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1];
-		m3508_frontright.target = -(4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1]);
-		m3508_backleft.target =   -(4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1]);
-		m3508_backright.target =  4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1];
-		
+
+		m3508_frontleft.target =  4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1] - 4*rc_ctrl.rc.ch[4];
+		m3508_frontright.target = -(4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1] + 4*rc_ctrl.rc.ch[4]);
+		m3508_backleft.target =   -(4*rc_ctrl.rc.ch[0] + 4*rc_ctrl.rc.ch[1] + 4*rc_ctrl.rc.ch[4]);
+		m3508_backright.target =  4*rc_ctrl.rc.ch[0] - 4*rc_ctrl.rc.ch[1] - 4*rc_ctrl.rc.ch[4];
 
 		get_motor_data(&m3508_frontleft);
 		get_motor_data(&m3508_frontright);
@@ -221,10 +221,10 @@ int main(void)
 
 		oled_clear(Pen_Clear);
 		oled_printf(0, 1, "Manette");
-		oled_printf(1, 1,"  CH1: %i", rc_ctrl.rc.ch[0]);
-		oled_printf(2, 1,"  CH2: %i", rc_ctrl.rc.ch[1]);
-		oled_printf(3, 1,"  CH3: %i", rc_ctrl.rc.ch[2]);
-		oled_printf(4, 1,"  CH4: %i", rc_ctrl.rc.ch[3]);
+		oled_printf(1, 1,"  CH5: %i", rc_ctrl.rc.ch[4]);
+//		oled_printf(2, 1,"  CH2: %i", rc_ctrl.rc.ch[1]);
+//		oled_printf(3, 1,"  CH3: %i", rc_ctrl.rc.ch[2]);
+//		oled_printf(4, 1,"  CH4: %i", rc_ctrl.rc.ch[3]);
 		oled_refresh_gram();
 		
      /* led blink */