Main Program
Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/setup_command_active/setup.cpp
- Revision:
- 42:02aaa806d929
- Parent:
- 41:3cdcdec9c885
- Child:
- 43:f11f68918299
diff -r 3cdcdec9c885 -r 02aaa806d929 main_processing/setup_command_active/setup.cpp --- a/main_processing/setup_command_active/setup.cpp Thu Feb 04 11:43:53 2016 +0000 +++ b/main_processing/setup_command_active/setup.cpp Thu Feb 04 20:45:41 2016 +0000 @@ -35,7 +35,8 @@ 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) - + //compass + RN42_Reset=0; for(int i=0; i<5; i++){ ReadCmps(); data.CmpsInitialValue = data.cmps; @@ -52,17 +53,15 @@ //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 kicker=0; + //motorsum 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;*/ + //compass + RN42_Reset=0; for(int i=0; i<5; i++){ ReadCmps(); data.CmpsInitialValue = data.cmps; @@ -77,6 +76,8 @@ Line[C_SPOT].rise(&LineCall_C); //Solenoid_ticker.attach(&AvailableSolenoid, 3.0); Ir_ticker.attach(&ValidIr, 0.050); + //Ping_ticker.attach(&ValidPing, 0.050); + //Hmc_ticker.attach(&HmcReset, 1.0); //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); @@ -85,15 +86,15 @@ pidupdate.detach(); Motor_ticker.detach(); //Line_ticker.detach(); - Solenoid_ticker.detach(); + //Solenoid_ticker.detach(); Ir_ticker.detach(); - DriveSolenoid(); + //Ping_ticker.detach(); + //Hmc_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; - - __disable_irq(); // 禁止 }