Diff: main.cpp

Revision:

4:04f2479b83c1

Parent:

3:cd7d3613e8e4

Child:

5:aba9f5e97e03

--- a/main.cpp	Wed Sep 10 11:07:44 2014 +0000
+++ b/main.cpp	Wed Sep 10 13:20:59 2014 +0000
@@ -9,17 +9,16 @@
 Serial pc(USBTX,USBRX);
 
 InterruptIn Photo[8] = {p5,p6,p7,p8,p9,p10,p11,p12};
-InterruptIn Sw(p28);
+InterruptIn Sw(p30);
 
 
 DigitalOut Led[4] = {LED1, LED2, LED3, LED4 };
 BusOut Motor(p13, p14, p15, p16, p17, p18, p19, p20 );//{left front, right front, left back ，right back }
-BusOut Tempra(p29,p30);
-PwmOut Pwm[4] = {p21, p22, p23, p24 };
-PwmOut TempraPwm(p22);  
+BusOut Tempra(p25,p26,p27,p28);
+PwmOut Pwm[4] = {p21, p22, p23, p24 }; 
 
 Timeout StopTimer[8];
-Timeout StopTempra;
+//Timeout StopTempra;
 
 
 volatile bool MotorState[4] = {0},Flag[4] = {0},FlagAdd[4] = {0},And[4] = {0};
@@ -344,22 +343,31 @@
         Motor = Motor | 0x01;//00000001   
     }
     for(i = 0; i > 4; i++){
+        Led[i] = 0;
         Flag[i] = 0; 
         FlagAdd[i] = 0;
         MotorState[i] = 0;
+        And[i] = 0;
     }
+    Way = 0;
+    UpCt = 0;
     
 }
 
 void NumCount(){//足を上げた回数を記録
 
     bool AndCk = And[0]&And[1]&And[2]&And[3];
-    
+    if(Way == 1){
+        Tempra = 0x0A;
+    }
     if(AndCk){
         UpCt ++;
         And[0] = And[1] = And[2] = And[3] = 0 ;
         if(UpCt > 4){
+            Tempra = 0;
             UpCt = 0;
+            Way = 0;
+            
         }
     }
 }
@@ -382,8 +390,7 @@
     Photo[7].fall(FallPhoto7);
     
     Sw.mode(PullUp);                                   
-    Sw.fall(Reset);
-    TempraPwm = PWM_LEVEL;
+    //Sw.fall(Reset);
  
 
 }