![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Main Program
Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/setup_command_active/setup.cpp
- Revision:
- 34:69bdf29a4442
- Parent:
- 31:0b0f64831771
- Child:
- 37:ae5661306900
diff -r 7fab3eb2b929 -r 69bdf29a4442 main_processing/setup_command_active/setup.cpp --- a/main_processing/setup_command_active/setup.cpp Tue Feb 02 04:21:09 2016 +0000 +++ b/main_processing/setup_command_active/setup.cpp Tue Feb 02 10:31:05 2016 +0000 @@ -4,7 +4,8 @@ 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); @@ -22,8 +23,8 @@ data.strategy = 0; data.motorlog[X_AXIS] = 0; data.motorlog[Y_AXIS] = 0; - data.s_pow=20; - data.l_pow=20; + data.s_pow=30; + data.l_pow=30; //spi spi.format(16, 3); @@ -51,9 +52,16 @@ //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; @@ -63,7 +71,7 @@ data.FrontDeg=0; Line_ticker.attach(&ReadLine, 0.005); - Solenoid_ticker.attach(&AvailableSolenoid, 6.0); + //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); @@ -80,4 +88,6 @@ move(0,0,0); data.OutputPID=0; data.InputPID=REFERENCE; + //solenoid + kicker=0; }