Main Program
Dependencies: mbed AQM1602 HMC6352 PID
Diff: main_processing/setup_command_active/setup.cpp
- Revision:
- 43:f11f68918299
- Parent:
- 42:02aaa806d929
- Child:
- 45:c23f25c00d0d
diff -r 02aaa806d929 -r f11f68918299 main_processing/setup_command_active/setup.cpp --- a/main_processing/setup_command_active/setup.cpp Thu Feb 04 20:45:41 2016 +0000 +++ b/main_processing/setup_command_active/setup.cpp Fri Feb 05 11:01:03 2016 +0000 @@ -53,6 +53,9 @@ //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 @@ -76,7 +79,7 @@ Line[C_SPOT].rise(&LineCall_C); //Solenoid_ticker.attach(&AvailableSolenoid, 3.0); Ir_ticker.attach(&ValidIr, 0.050); - //Ping_ticker.attach(&ValidPing, 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); @@ -88,7 +91,7 @@ //Line_ticker.detach(); //Solenoid_ticker.detach(); Ir_ticker.detach(); - //Ping_ticker.detach(); + Ping_ticker.detach(); //Hmc_ticker.detach(); //DriveSolenoid(); motor.printf("1F0002F0003F0004F000\r\n"); //モータ停止 @@ -97,4 +100,9 @@ data.InputPID=REFERENCE; //solenoid kicker=0; + + __disable_irq(); // 禁止 + __enable_irq(); // 許可 + Sw_ticker.attach(Sw_sample, 0.050); + }