Main Program
Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/setup_command_active/setup.cpp
- Revision:
- 41:3cdcdec9c885
- Parent:
- 38:a7eb15b1f813
- Child:
- 42:02aaa806d929
--- a/main_processing/setup_command_active/setup.cpp Thu Feb 04 07:12:34 2016 +0000 +++ b/main_processing/setup_command_active/setup.cpp Thu Feb 04 11:43:53 2016 +0000 @@ -52,6 +52,7 @@ //pidupdate.attach(&PidUpdate, PID_CYCLE); } void SetUp2(void){//スタートした時の処理 + __enable_irq(); // 許可 data.KickOffFlag=1; data.KickFlag=0; //solenoid @@ -70,7 +71,10 @@ data.CmpsDiff = REFERENCE - data.cmps; data.FrontDeg=0; - Line_ticker.attach(&ReadLine, 0.005); + //Line_ticker.attach(&ReadLine, 0.005); + Line[A_SPOT].rise(&LineCall_A); + Line[B_SPOT].rise(&LineCall_B); + Line[C_SPOT].rise(&LineCall_C); //Solenoid_ticker.attach(&AvailableSolenoid, 3.0); Ir_ticker.attach(&ValidIr, 0.050); //motor.attach(&tx_motor,Serial::TxIrq); //送信空き割り込み(モータ用) @@ -80,7 +84,7 @@ void StopProcess(void){//コマンドに戻るときの処理 pidupdate.detach(); Motor_ticker.detach(); - Line_ticker.detach(); + //Line_ticker.detach(); Solenoid_ticker.detach(); Ir_ticker.detach(); DriveSolenoid(); @@ -90,4 +94,6 @@ data.InputPID=REFERENCE; //solenoid kicker=0; + + __disable_irq(); // 禁止 }