File content as of revision 34:69bdf29a4442:

#include "mbed.h"
#include "extern.h"


void SetUp(void){//電源を入れた時の処理
    //int i=1;
    //solenoid
    kicker=0;
    //sw&lcd
    Sw[0].mode(PullUp);
    Sw[1].mode(PullUp);
    Sw[2].mode(PullUp);
    Sw[3].mode(PullUp);
    Sw_ticker.attach(Sw_sample, 0.050);
    
    Lcd.cls();
    Lcd.print(lcdstr[0][0]);
    
    //ball
    BallChecker.mode(PullUp);
    
    //value
    data.strategy = 0;
    data.motorlog[X_AXIS] = 0;
    data.motorlog[Y_AXIS] = 0;
    data.s_pow=30;
    data.l_pow=30;
    
    //spi
    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）
    
    for(int i=0; i<5; i++){
        ReadCmps();
        data.CmpsInitialValue = data.cmps;
        wait_ms(10);
    }
    data.CmpsDiff = REFERENCE - data.cmps;
    data.FrontDeg=0;
    
    pid.setInputLimits(MINIMUM,MAXIMUM);            //pid sed def
    pid.setOutputLimits(-OUT_LIMIT, OUT_LIMIT);     //pid sed def
    pid.setBias(PID_BIAS);                          //pid sed def
    pid.setMode(AUTO_MODE);                         //pid sed def
    pid.setSetPoint(REFERENCE);                     //pid sed def
    //pidupdate.attach(&PidUpdate, PID_CYCLE);
}
void SetUp2(void){//スタートした時の処理
    data.KickOffFlag=1;
    data.KickFlag=0;
    //solenoid
    kicker=0;
    data.motorlog[X_AXIS] = 0;
    data.motorlog[Y_AXIS] = 0;
    /*data.LineBind[0]=0;
    data.LineBind[1]=0;
    data.LineBind[2]=0;
    data.LineBind[3]=0;*/
    for(int i=0; i<5; i++){
        ReadCmps();
        data.CmpsInitialValue = data.cmps;
        wait_ms(10);
    }
    data.CmpsDiff = REFERENCE - data.cmps;
    data.FrontDeg=0;
    
    Line_ticker.attach(&ReadLine, 0.005);
    //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）
    Motor_ticker.attach(&ValidTx_motor, 0.020);
    pidupdate.attach(&ValidPidUpdate, PID_CYCLE);
}
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();
    Ir_ticker.detach();
    DriveSolenoid();
    motor.printf("1F0002F0003F0004F000\r\n");       //モータ停止
    move(0,0,0);
    data.OutputPID=0;
    data.InputPID=REFERENCE;
    //solenoid
    kicker=0;
}