Diff: main_processing/setup_command_active/active.cpp

Revision:

19:342da3a5a474

Child:

22:a95f7c63af3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_processing/setup_command_active/active.cpp	Thu Jan 21 07:11:08 2016 +0000
@@ -0,0 +1,56 @@
+#include "mbed.h"
+#include "extern.h"
+
+void ActiveLoop(void){
+    uint8_t i;
+    void (*DutyFunction[DUTY_NUM])(void) = {
+        Active2Command
+    };
+    void (*StrategyFunction[STRATEGY_NUM])(void) = {
+        modeAttack0
+    };
+    for(i=0; i<DUTY_NUM; i++){
+        Duty[DUTY_SW].attach(DutyFunction[i], dutycycle[i]);
+    }
+    data.stopflag=0;
+    //スタート直前の処理
+    SetUp2();
+    while(1){
+        //pc.printf("data.stopflag=%d\r\n", data.stopflag);
+        if(data.stopflag==1){
+            //システム上の停止処理
+            button.detach();
+            last_statesum = statesum = 0;
+            state[0] = state[1] = state[2] = state[3] = 0;
+        
+            for(i=0; i<DUTY_NUM; i++){
+                Duty[DUTY_SW].detach();
+            }
+            data.stopflag=0;
+            //その他停止処理
+            StopProcess();
+            break;
+        }
+        StrategyFunction[data.strategy]();
+    }
+    return;
+}
+//for transition
+void ResetState(void){
+    last_statesum = statesum = 0;
+    state[0] = state[1] = state[2] = state[3] = 0;
+}
+void Active2Command(void){
+    uint8_t i;
+    for(i=0; i<4; i++){
+        if(CountSw(i)==1) state[i]=1;
+    }
+    last_statesum = statesum;
+    statesum = state[0]+state[1]+state[2]+state[3];
+    if((statesum>=1)&&(!(statesum==last_statesum))){
+        button.attach(&ResetState, 2.0);
+    }
+    if((statesum>=2)&&(1)){
+        data.stopflag=1;
+    }
+}
\ No newline at end of file