Diff: main.cpp

Revision:

12:6445a3c3d34c

Parent:

11:1ca2498815c9

Child:

13:5bccc2d600eb

--- a/main.cpp	Sat Sep 19 02:11:33 2015 +0000
+++ b/main.cpp	Fri Oct 02 09:53:20 2015 +0000
@@ -194,6 +194,13 @@
     return input;
 }
 
+void setFCLED(double RED,double GREEN,double BLUE)
+{
+    Red=RED;
+    Green=GREEN;
+    Blue=BLUE;
+}
+
 int main() { 
     pc.baud(230400);
     Dev.baud(921600);
@@ -201,19 +208,17 @@
     DigitalIn bt(USER_BUTTON);
     Dev.attach(num,Serial::RxIrq);//受信割り込み設定
     Green=0;Blue=0;Red=0;
+    double gValue=0,bValue=0,rValue=0;
     DigitalOut l(PB_2);
     int sqf=0;
     double deg;
     int val;
     i2c.frequency(400000); 
-    Blue=0.8f;Green=0;
-    kGreen=0.8f;
+    setFCLED(0,0.8,0.8);
     bool obonFlag=false,pLeftF=false,pRightF=false,btCrF=false;
 
     while(true)
-    {   
-        Blue=0.8f;Green=0;Red=0;
-        
+    {           
         //ポール検出モード
         if(getBt(btTri)&&getBt(btSph)){
             detectPole();
@@ -239,7 +244,8 @@
         //射出
         if(getBt(btTri)&&obonFlag){
             kRed=shotToDenziben(0x02,15,1,airAddr);
-            wait(0.1f);
+            wait(0.2f);
+            kRed=shotToDenziben(0x02,0,1,airAddr);
             kRed=0;
         }
         
@@ -278,19 +284,25 @@
             sqf=1;
             
         //タッチセンサ
-        if(((int)DATA[1]&12)==12)
-            Blue=0.0f;Green=0.8f;Red=0;
+        if(((int)DATA[1]&12)==12){
+            bValue=0.0f;gValue=0.8f;rValue=0;
+        }
+        else{
+            bValue=0.8f;gValue=0;rValue=0;
+        }
         
         //お盆回し
         if(getPress(presUp)){
             kRed=shotToDenziben(0x02,7,1,airAddr);
             wait(0.1);
             obonFlag=true;
+            rValue=0.8;gValue=0;bValue=0.8;
             kRed=0;
         }
         else if(getPress(presDown)){
             kRed=shotToDenziben(0x02,0,1,airAddr);
             wait(0.1);
+            bValue=0.8f;gValue=0;rValue=0;
             obonFlag=false;
             kRed=0;
         }
@@ -304,6 +316,7 @@
         else
             stopCounter++;
         Mechanum.putc(val);
+        setFCLED(rValue,gValue,bValue);
         wait(0.03f);
         do{
             if(!debugFlag)