Diff: main.cpp

Revision:

23:a162feaea9ab

Parent:

22:97328720703c

Child:

24:deda85e681a2

--- a/main.cpp	Sun Mar 06 06:34:20 2022 +0000
+++ b/main.cpp	Fri Mar 11 04:19:33 2022 +0000
@@ -36,19 +36,20 @@
 
 //発射開始を受信
 bool get_shoot(int rx_data,int &tx_data){
-    if(shoot_phase == 0 && shoot_start == 0){//フェーズ0以外は、発射できないように
-        shoot_start = 1;
-        shoot_phase = 1;
+    if(shoot_phase == 0){//フェーズ0以外は、発射できないように
+        if(rx_data == 1){
+            shoot_phase = 1;
+        }    
     }
     return true;  
 }
 
 //非常停止を受信
 bool get_stop(int rx_data,int &tx_data){
-    if(emergency == 0){
+    /*if(emergency == 0){
         emergency = 1;//停止
         shoot_phase = 10;
-    }
+    }*/
     return true;
 }
 
@@ -114,28 +115,24 @@
                     wait(0.1);
                     printf("waiting\n");  
                 }
-                if(count < 7){
-                    shoot_phase = 1;
-                }else{
-                    emergency = 1;
-                    shoot_phase = 10;
-                }
-                printf("finished waiting\n");  
+                printf("finished waiting\n"); 
             break;
                 
             case 1://装填動作
-                while(limit_1.read() == 0){
-                    motor_shoot.output(load_pwm);
-                    printf("loading\n");
-                    if(limit_2.read() == 1){
-                        break;
-                    }
-                    wait(0.1);
+                if(count < 7){
+                    while(limit_1.read() == 0){
+                        motor_shoot.output(load_pwm);
+                        printf("loading\n");
+                        wait(0.1);
+                    } 
+                    motor_shoot.output(0);
+                    shoot_phase = 2;
+                    printf("finished loading\n");
+                    wait(0.1);       
+                }else{
+                    emergency = 1;
+                    shoot_phase = 10;
                 } 
-                motor_shoot.output(0);
-                shoot_phase = 2;
-                printf("finished loading\n");
-                wait(0.1); 
             break;
                 
             case 2://リボルバー回転,モーター復帰
@@ -144,6 +141,7 @@
                 revolver_back(count);
                 shoot_phase = 3;
                 printf("finished backing\n"); 
+                wait_ms(2);
                 wait(0.5);
             break;
                 
@@ -152,10 +150,12 @@
                 printf("%d shot\n",count);  
                 wait(1);
                 servo.pulsewidth_us(theta_0);
-                motor_shoot.output(load_pwm);
-                wait(0.15);
-                motor_shoot.output(0);
-                shoot_phase = 0;
+                if(count != 6){
+                    motor_shoot.output(load_pwm);
+                    wait(0.15);
+                    motor_shoot.output(0);  
+                }
+                shoot_phase = 1;
                 printf("finished init\n");  
                 count ++;
             break;