Diff: main.cpp

Revision:

3:82008ebeb93c

Parent:

2:830db42bae7e

Child:

4:ab73021bbce1

--- a/main.cpp	Tue Sep 17 08:54:21 2019 +0000
+++ b/main.cpp	Fri Sep 27 23:53:04 2019 +0000
@@ -32,7 +32,6 @@
 DigitalOut led1(LED1);
 Timer timer;
 Timer timer2;
-Timer timer3;
 
 //変数
 char data1;//右上
@@ -102,9 +101,9 @@
 void send_data(char address,char data);
 void emergency();
 void change_rack_2();
-//void sequence_kaisyu();
-void kaisyu();
-void kaisyu_short();
+void sequence_kaisyu();
+//void kaisyu();
+//void sequence_kaisyu_short();
 //void sequence_hakidashi();
 void hakidashi();
 void mode_change();
@@ -126,9 +125,9 @@
         change_data();
         //change_rack();
         change_rack_2();
-        //sequence_kaisyu();
-        kaisyu();
-        kaisyu_short();
+        sequence_kaisyu();
+        //kaisyu();
+        //sequence_kaisyu_short();
         //sequence_hakidashi();
         hakidashi();
         change_fan();
@@ -191,7 +190,11 @@
         send_data(0x40,data10);
     }
     
-    timer.reset();
+    /*data_servo=0x03;
+    send_data(0x18,data_servo);
+    data_servo=0x04;
+    send_data(0x18,data_servo);*/
+    timer2.reset();
     
 }
 
@@ -217,6 +220,7 @@
     hidari1=ps3.getButtonState(hidari);
     migi1=ps3.getButtonState(migi);
     get_data_rs232=slave.getc();
+    
 
 
     if(get_data_rs232) {
@@ -263,6 +267,10 @@
             if(q==0){
                 //送風モード
                 q=1;
+        /*        data_servo=0x03;
+                send_data(0x18,data_servo);
+                data_servo=0x04;
+                send_data(0x18,data_servo);*/
                 data10=0xcf;
                 send_data(0x40,data10);
             }else if(q==1){
@@ -606,6 +614,11 @@
         if(ue1==1&&start==0){
             data5=0x00;
             data6=0xff;
+            
+            /*data_servo=0x03;
+            send_data(0x18,data_servo);
+            data_servo=0x04;
+            send_data(0x18,data_servo);*/
         }
     }else if(shita!=old_shita){
         old_shita=shita;
@@ -635,18 +648,19 @@
 }
 
 //回収機構
-/*
+
 void sequence_kaisyu()
 {
     if(q==0){
     if(square!=old_square) {
         old_square=square;
-        if(square==1) {
-
+        if(square==1&&select==0) {
+            
             data_servo=0x07;
             send_data(0x18,data_servo);
-            wait(1.5);
+            wait(1.3);
             data7=0x00;
+            get_data_rs232=get_data_rs232 & 0b11101111;
             while(!(get_data_rs232 & 0x10)) {
                 send_data(0x24,data7);
                 get_data_rs232=slave.getc();
@@ -655,22 +669,46 @@
             send_data(0x24,data7);
             data_servo=0x08;
             send_data(0x18,data_servo);
-            wait(1.5);
+            wait(1.3);
             data7=0xff;
+            get_data_rs232=get_data_rs232 & 0b11011111;
             while(!(get_data_rs232 & 0x20)) {
                 send_data(0x24,data7);
                 get_data_rs232=slave.getc();
             }
             data7=0x10;
             send_data(0x24,data7);
-
+            
+            }
+        }else if(triangle!=old_triangle){
+            if(triangle==1&&select==0){
+                                
+                data_servo=0x07;
+                send_data(0x18,data_servo);
+                wait(1.3);
+                data7=0x00;
+                send_data(0x24,data7);
+                wait(0.3);
+                data7=0x10;
+                send_data(0x24,data7);
+                data_servo=0x08;
+                send_data(0x18,data_servo);
+                wait(1.3);
+                data7=0xff;
+                get_data_rs232=get_data_rs232 & 0b11011111;
+                while(!(get_data_rs232 & 0x20)) {
+                    send_data(0x24,data7);
+                    get_data_rs232=slave.getc();
+                }
+                data7=0x10;
+                send_data(0x24,data7);
             }
         }
     }
 }
-*/
 
 
+/*
 void kaisyu(){
         if(q==0){
         if(old_square!=square){
@@ -730,7 +768,7 @@
             }
          }   
     }
-
+*/
 
 /*
 void sequence_hakidashi()
@@ -775,12 +813,43 @@
 }
 */
 
+/*
+void sequence_kaisyu_short(){
+    if(q==0){
+        if(old_triangle!=triangle){
+            old_triangle=triangle;
+            if(triangle==1){
+                
+                data_servo=0x07;
+                send_data(0x18,data_servo);
+                wait(1.3);
+                data7=0x00;
+                send_data(0x24,data7);
+                wait(0.3);
+                data7=0x10;
+                send_data(0x24,data7);
+                data_servo=0x08;
+                send_data(0x18,data_servo);
+                wait(1.3);
+                data7=0xff;
+                get_data_rs232=get_data_rs232 & 0x;
+                while(!(get_data_rs232 & 0x20)) {
+                    send_data(0x24,data7);
+                    get_data_rs232=slave.getc();
+                }
+                data7=0x10;
+                send_data(0x24,data7);
+
+            }
+        }
+    }
+}*/
 
 void hakidashi(){
     if(q==0){
         if(old_migi1!=migi1){
             old_migi1=migi1;
-            if(migi1==1){
+            if(migi1==1&&select==0){
                 r=1;
             }
         }
@@ -847,63 +916,7 @@
     }
 }
 
-void kaisyu_short(){
-    if(q==0){
-        if(triangle!=old_triangle){
-            old_triangle=triangle;
-            if(triangle==1){
-                s=1;
-                }
-            }
-            
-        switch(s){
-            case 1:
-            data_servo=0x07;
-            send_data(0x18,data_servo);
-            timer3.start();
-            if(timer3.read()>3.5){
-                timer3.stop();
-                timer3.reset();
-                s=2;
-            }
-            break;
-            
-            case 2:
-            data7=0x00;
-            send_data(0x24,data7);
-            timer3.start();
-            if(timer3.read()>0.5){
-                data7=0x10;
-                send_data(0x24,data7);
-                s=3;
-            }
-            break;
-            
-            case 3:
-            data_servo=0x08;
-            send_data(0x18,data_servo);
-            timer3.start();
-            if(timer3.read()>1.3){
-                s=4;
-            }
-            break;
-            
-            case 4:
-            data7=0xff;
-            send_data(0x24,data7);
-            if(get_data_rs232 & 0x20){
-                data7=0x10;
-                send_data(0x24,data7);
-                s=5;
-            }
-            break;
-            
-            default:
-            s=5;
-            break;
-        }
-    }
-}
+
 
 //ファン
 void change_fan()
@@ -945,9 +958,6 @@
     
 }
 
-
-
-
 //i2c
 void send_data(char address,char data)
 {