Diff: main_processing/setup_command_active/setup.cpp

Revision:

45:c23f25c00d0d

Parent:

43:f11f68918299

--- a/main_processing/setup_command_active/setup.cpp	Fri Feb 05 14:04:07 2016 +0000
+++ b/main_processing/setup_command_active/setup.cpp	Thu Feb 25 06:12:47 2016 +0000
@@ -77,7 +77,7 @@
     Line[A_SPOT].rise(&LineCall_A);
     Line[B_SPOT].rise(&LineCall_B);
     Line[C_SPOT].rise(&LineCall_C);
-    //Solenoid_ticker.attach(&AvailableSolenoid, 3.0);
+    Solenoid_ticker.attach(&AvailableSolenoid, 6.0);
     Ir_ticker.attach(&ValidIr, 0.050);
     Ping_ticker.attach(&ValidPing, 0.050);
     //Hmc_ticker.attach(&HmcReset, 1.0);
@@ -88,17 +88,18 @@
 void StopProcess(void){//コマンドに戻るときの処理
     pidupdate.detach();
     Motor_ticker.detach();
-    //Line_ticker.detach();
-    //Solenoid_ticker.detach();
+    ////Line_ticker.detach();
+    Solenoid_ticker.detach();
     Ir_ticker.detach();
     Ping_ticker.detach();
-    //Hmc_ticker.detach();
-    //DriveSolenoid();
+    ////Hmc_ticker.detach();
     motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
     move(0,0,0);
     data.OutputPID=0;
     data.InputPID=REFERENCE;
     //solenoid
+    kicker=1;
+    wait(0.25);
     kicker=0;
     
     __disable_irq(); // 禁止