Diff: main_processing/setup_command_active/setup.cpp

Revision:

27:769cb5a7ea37

Parent:

25:f98a7c2a5970

Child:

28:8ac6c3c1e643

--- a/main_processing/setup_command_active/setup.cpp	Sun Jan 31 06:53:54 2016 +0000
+++ b/main_processing/setup_command_active/setup.cpp	Sun Jan 31 15:46:19 2016 +0000
@@ -61,12 +61,15 @@
     data.CmpsDiff = REFERENCE - data.cmps;
     data.FrontDeg=0;
     
-    Line_ticker.attach(&ReadLine, 0.010);
+    Line_ticker.attach(&ReadLine, 0.005);
     Solenoid_ticker.attach(&AvailableSolenoid, 6.0);
     Ir_ticker.attach(&ValidIr, 0.050);
     //motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
-    Motor_ticker.attach(&tx_motor, 0.020);
-    pidupdate.attach(&PidUpdate, PID_CYCLE);
+    Motor_ticker.attach(&ValidTx_motor, 0.020);
+    pidupdate.attach(&ValidPidUpdate, PID_CYCLE);
+    
+    data.motorlog[X_AXIS]=0;
+    data.motorlog[Y_AXIS]=0;
 }
 void StopProcess(void){//コマンドに戻るときの処理
     pidupdate.detach();
@@ -77,4 +80,6 @@
     DriveSolenoid();
     motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
     move(0,0,0);
+    data.OutputPID=0;
+    data.InputPID=REFERENCE;
 }