2019NHK_teamA
/
NHK2019robokon_11_19
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Revision 9:01146bd5850c, committed 2019-11-19
- Comitter:
- shina
- Date:
- Tue Nov 19 06:16:20 2019 +0000
- Parent:
- 8:959fe4717597
- Commit message:
- NHK2019 manual program 11/19version
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Nov 18 06:18:13 2019 +0000
+++ b/main.cpp Tue Nov 19 06:16:20 2019 +0000
@@ -83,7 +83,7 @@
int o=1;
int old_right1=0;
int old_left1=0;
-int p=5;
+int p=6;
int q=0;
int old_ue1=0;
int old_shita=0;
@@ -741,82 +741,93 @@
void kaisyu(){
if(q==0){
if(kaisyu_arm!=0){
- if(old_square!=square){
- old_square=square;
- if(square==1){
- if(x==0){
- /*
- data_servo=0x02;
- send_data(0x18,data_servo);
- */
- p=1;
- x=1;
- timer2.start();
- }else if(x==1){
- p=4;
- x=0;
+ if(old_square!=square){
+ old_square=square;
+ if(square==1){
+ if(x==0&&p==6){
+ /*
+ data_servo=0x02;
+ send_data(0x18,data_servo);
+ */
+ p=1;
+ x=1;
+ timer2.start();
+ }else if(x==1&&p==3){
+ p=4;
+ x=0;
+ }
}
}
- }
- switch(p){
-
- case 1:
- y=0;
- data_servo=0x07;
- send_data(0x18,data_servo);
- //timer2.start();
- if(timer2.read()>1.5f){
- timer2.stop();
- timer2.reset();
- p=2;
- }
- break;
-
- case 2:
- data7=0x00;
- send_data(0x24,data7);
- if(get_data_rs232 & 0x10){
- data7=0x10;
+ switch(p){
+
+ case 1:
+ y=0;
+ data_servo=0x07;
+ send_data(0x18,data_servo);
+ //timer2.start();
+ if(timer2.read()>1.5f){
+ timer2.stop();
+ timer2.reset();
+ p=2;
+ }
+ break;
+
+ case 2:
+ data7=0x00;
send_data(0x24,data7);
- p=3;
- }
- break;
-
- case 3:
- /*
- if(triangle!=old_triangle){
- old_triangle=triangle;
- if(triangle==1){
- if(y==0){
- data_servo=0x08;
- send_data(0x18,data_servo);
- y=1;
- }else if(y==1){
- data_servo=0x07;
- send_data(0x18,data_servo);
- y=0;
+ if(get_data_rs232 & 0x10){
+ data7=0x10;
+ send_data(0x24,data7);
+ p=3;
+ }
+ break;
+
+ case 3:
+ /*
+ if(triangle!=old_triangle){
+ old_triangle=triangle;
+ if(triangle==1){
+ if(y==0){
+ data_servo=0x08;
+ send_data(0x18,data_servo);
+ y=1;
+ }else if(y==1){
+ data_servo=0x07;
+ send_data(0x18,data_servo);
+ y=0;
+ }
}
- }
- }*/
-
- break;
-
- case 4:
- data7=0xff;
- send_data(0x24,data7);
- if(get_data_rs232 & 0x20){
- data7=0x10;
+ }*/
+
+ break;
+
+ case 4:
+ data7=0xff;
send_data(0x24,data7);
p=5;
+ /*
+ if(get_data_rs232 & 0x20){
+ data7=0x10;
+ send_data(0x24,data7);
+ p=5;
+ }*/
+ break;
+
+ case 5:
+ if(get_data_rs232 & 0x20){
+ data7=0x10;
+ send_data(0x24,data7);
+ p=6;
+ }
+ break;
+
+ default:
+ p=6;
+ break;
+
+
}
- break;
-
- default:
- p=5;
- break;
-
- }
}
}
}