Diff: main_processing/setup_command_active/setup.cpp

Revision:

21:d69a8f3c76e1

Parent:

19:342da3a5a474

Child:

22:a95f7c63af3c

--- a/main_processing/setup_command_active/setup.cpp	Thu Jan 21 16:54:54 2016 +0000
+++ b/main_processing/setup_command_active/setup.cpp	Sat Jan 30 09:02:03 2016 +0000
@@ -5,9 +5,6 @@
 void SetUp(void){//電源を入れた時の処理
     //int i=1;
     
-    //gyro
-    //Init();
-    
     //sw&lcd
     Sw[0].mode(PullUp);
     Sw[1].mode(PullUp);
@@ -26,26 +23,21 @@
     data.strategy = 3;
     
     //spi
-    //spi.format(16, 0);
-    //spi.frequency(5000000);
-    //spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1;
+    spi.format(16, 3);
+    spi.frequency(1000000);
+    spi_ss[0]=spi_ss[1]=spi_ss[2]=spi_ss[3]=1;
     
     //motor
     //motor.baud(115200);                             //ボーレート設定
     //motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
     //motor.attach(&tx_motor,Serial::TxIrq);          //送信空き割り込み（モータ用）
     
-    //bluetooth
-    //RN42.attach(&TX, Serial::TxIrq);//送信バッファ空き割込み
-    //RN42.attach(&RX, Serial::RxIrq);//受信割込み
-    //RN42.putc(i);//送信開始
-    //i = RN42.getc();//受信開始
-    
     for(int i=0; i<5; i++){
-        //data.GyroInitialValue = ROUND(data.gyro);
-        //wait_ms(10);
+        
+        data.CmpsInitialValue = data.cmps;
+        wait_ms(10);
     }
-    //data.FrontDeg=0;
+    data.FrontDeg=0;
     
     //pid.setInputLimits(MINIMUM,MAXIMUM);            //pid sed def
     //pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT);     //pid sed def