Diff: main.cpp

Revision:

40:917b50b9e863

Parent:

39:3faddfc87351

Child:

41:d142afd3c2f7

--- a/main.cpp	Mon Mar 04 17:28:47 2019 +0000
+++ b/main.cpp	Tue Mar 05 16:46:01 2019 +0000
@@ -74,7 +74,7 @@
 
 bool setupFlag = false;
 bool CameraDegFlag = false;
-bool jevoisFlag = false;
+bool jevoisFlag = true;
 bool FocusFlag = false;
 
 int g_CameraDegCounter = 0;    //カメラの回転数をカウント
@@ -144,7 +144,7 @@
     pc.attach(getSF_Serial_jevois, Serial::RxIrq);
     pc2.attach(getSF_Serial_pi, Serial::RxIrq);
     t2.start();
-    
+    /*
     NVIC_DisableIRQ(USART2_IRQn);
     while(g_landingcommand != 'B'){
         wait_ms(30);
@@ -164,7 +164,7 @@
     g_fp = fopen( "/sd/Datalog01.txt","a" );
     fprintf(g_fp, "Time = %d min %d sec : Start sarching target .\r\n",(int)t2.read()/60,(int)t2.read()%60);        
     fclose(g_fp); 
-    
+    */
     
     servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
     pc.printf("MatchPosition\r\n");
@@ -474,6 +474,28 @@
     
     
     pc.printf("g_CameraDegCounter = %d\r\n",g_CameraDegCounter);
+    
+    //ターゲットを発見できなかった場合
+    if(g_CameraDegCounter-2 > (float)Time360/(float)Camera_board_wait){
+        
+        servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
+        wait(1);
+        while(BoardCheck == 0){
+                }
+        servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
+        
+        if(jevoisFlag == true ) {
+            servoTurnTable.pulsewidth_us(Turntable_NEUTRAL + Turntable_speed);
+            wait_ms((float)Time360/(float)2);
+            servoTurnTable.pulsewidth_us(Turntable_NEUTRAL);
+            }
+        if(jevoisFlag == false) MoveCansat('4');
+        
+        jevoisFlag = !jevoisFlag;
+        
+        g_CameraDegCounter = 0;
+    }
+        
     //pc.printf("Move Board Finish\r\n");  
     return;
 }