2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: machine_ps3.h

Revision:
4:51d87d2b698c
Parent:
2:cf8ca6742db9
Child:
10:36f81cc33202
--- a/machine_ps3.h	Mon Aug 31 04:10:00 2015 +0000
+++ b/machine_ps3.h	Sat Sep 05 04:27:19 2015 +0000
@@ -33,7 +33,8 @@
 inline void Move_l_speed_following();
 inline void Swing_speed_following();
 void Emergency_toggle();
-short toggle=0,edge=0;
+short toggle=0,edge_circle=0,edge_triangle=0,edge_r1=0,edge_l1=0,edge_l_up=0,edge_l_down=0,edge_r_up=0,edge_r_down=0,edge_right=0,edge_left=0,edge_up=0;
+int step=0,cylinder_step=0;
 
 /**
  * include function header files.
@@ -154,7 +155,7 @@
 }
 inline void mesure_swing_velocity()
 {
-    Pulses_swing = (double)Swing_speed_sens.getPulses();
+    Pulses_swing = (double)Swing_speed_sense.getPulses();
     swing_velocity = Pulses_swing - PrefPulses_swing;
     PrefPulses_swing = Pulses_swing;
 }
@@ -185,11 +186,20 @@
     Motor_swing_pwm = cont_swing;
 }
 
+/***move step.***/
+void move_step(){
+    if(edge_triangle) {
+        edge_triangle=0;
+        if(step==7) step=0;
+        else step++;
+    }
+}
+
 /***Emergency stop.***/
 void Emergency_toggle()
 {
-    if(edge) {
-        edge=0;
+    if(edge_circle) {
+        edge_circle=0;
         if(toggle) toggle=0,Emergency_stop=0;
         else toggle=1,Emergency_stop=1;
     }