Diff: manualMode.h

Revision:

3:8d8c25c556ae

Parent:

1:3ac2087996f3

Child:

6:ca3a74a93ae2

--- a/manualMode.h	Fri Oct 30 09:21:03 2015 +0000
+++ b/manualMode.h	Sat Oct 31 00:30:52 2015 +0000
@@ -1,6 +1,22 @@
 #ifndef MANUALMODE_H
 #define MANUALMODE_H
 
+void Call(){
+    mesure_state();
+    if(autoflag){
+        move_following();
+        if(spcount<speed){
+            spcount+=speed/100.0;
+            targ_velocity=spcount;
+        }
+    }
+    #ifdef MESURE
+    if(mesureflag){
+        fprintf(fp_r, "%1.3f %f\r\n",time,velocity);
+    }
+    #endif
+}
+
 //赤修正
 
 #ifdef IM920
@@ -54,6 +70,7 @@
 {
     if(b==7){  /*mode change*/
         if(edge7){
+            Com.attach(&Call,RATE);
             edge7=0;
             autoflag=1;
             Indicator4=1;
@@ -64,12 +81,37 @@
             flaga=0;
             step=114;
             CStep=114;
-            spcount=speed;            
+            spcount=speed;
         }
     }
     else if(b==5){
         if(edge5){
             edge5=0;
+            resetSwingSpeed = 1;
+            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+//            targSwingRadVelocity = swingspeed;
+            /*for(float i=0.0;i<0.6;i+=0.01){
+                Motor_swing=i;
+                wait(0.05);
+            }
+            Motor_swing = 0.6;*/
+        }
+    }
+    else if(b==8){
+        if(edge8){
+            edge8=0;
+            enableShoot=1;
+        }
+    }
+    else if(b==9){
+        interruptSwingSpeed.detach();
+        targSwingRadVelocity = 0.0;
+        contSwing.reset();
+        Motor_swing = 0.0;
+    }
+    /*else if(b==5){
+        if(edge5){
+            edge5=0;
             sendData(1,4);
         }
     }
@@ -78,7 +120,7 @@
             edge6=0;
             sendData(1,5);
         }
-    }
+    }*/
     else if(b==1){  /*L down*/
         if(edge1){
             edge1=0;