Diff: main.cpp

Revision:

14:aaf2ae25e508

Parent:

13:5bccc2d600eb

Child:

15:c941d06092ec

--- a/main.cpp	Sun Oct 04 03:53:39 2015 +0000
+++ b/main.cpp	Sun Oct 04 07:34:44 2015 +0000
@@ -141,17 +141,17 @@
     double deg=32;
     while(true)
     {
-        /*//スイッチが押された時
+        //スイッチが押された時
         if(((int)DATA[1]&12)==12&&!btFlag){
             wait(0.001f);
             Mechanum.putc(64);
             btFlag=true;
             Blue=0.0f;Green=0.8f;Red=0;
             vector=64;
-        }*/
+        }
         
         //方向選択
-        if(!btFlag)
+        else if((int)deg==devideNum)
         {
             deg=devidePoint((double)DATA[3],(double)DATA[2],15,360/devideNum);
             pc.printf("deg%lf\r\n",deg);
@@ -253,25 +253,41 @@
         if(getPress(presLeft)&&pLeftF){
             pLeftF=false;
             kRed=shotToDenziben(7,1,1,valveAddr);
+            wait(2.0);
+            if(!kRed)
+                kRed=shotToDenziben(7,0,1,valveAddr);
         }
-        else if(!getPress(presLeft))
+        else if(!getPress(presLeft)){
+            kRed=0;
             pLeftF=true;
+        }
             
         //バルブ開放
         if(getPress(presRight)&&pRightF){
             pRightF=false;
             kRed=shotToDenziben(8,1,1,valveAddr);
+            wait(2.0);
+            if(!kRed)
+                kRed=shotToDenziben(8,0,1,valveAddr);
         }
-        else if(!getPress(presRight))
+        else if(!getPress(presRight)){
+            kRed=0;
             pRightF=true;
+        }
         
         //バルブ開放
         if(getBt(btCro)&&btCrF){
             btCrF=false;
             kRed=shotToDenziben(9,1,1,valveAddr);
+            wait(0.2);
+            if(!kRed)
+                kRed=shotToDenziben(9,0,1,valveAddr);
         }
         else if(!getBt(btCro))
+        {
+            kRed=0;
             btCrF=true;
+        }
 
 
         //レーザーポインタ
@@ -321,7 +337,7 @@
         do{
             if(!debugFlag)
                 break;
-            pc.printf("val:%d\r\n",val);
+            //pc.printf("val:%d\r\n",val);
             //printf("%lf:%d:%d\r\n",deg,(int)DATA[3],(int)DATA[2]);
             //printf("%d\r\n",(int)DATA[0]);
             //pc.printf("DATA[1]%d\r\n",(int)(DATA[1]&0x02));