Diff: main.cpp

Revision:

5:aba9f5e97e03

Parent:

4:04f2479b83c1

Child:

6:6664c6aa67d3

--- a/main.cpp	Wed Sep 10 13:20:59 2014 +0000
+++ b/main.cpp	Thu Sep 11 02:42:46 2014 +0000
@@ -2,7 +2,7 @@
 
 #define MOTOR_NUM 8
 #define MOVE_TIME 0.060
-#define MOVE_DOWN_TIME 0.070
+#define MOVE_DOWN_TIME 0.075
 #define TEMPRA_TIME 1.0 
 #define PWM_LEVEL 1.0
 
@@ -25,10 +25,7 @@
 volatile uint8_t Way = 0,UpCt = 0;
 
 /*motorstate 上がっているか下がっている
-    flag 割込みに入ったか入ってないか←もしかしたらmotorstateと同じ可能性あり
-    flag_add入った回数の追加
-    足が上がった時向き決定
-    四回目の足下げで回数リセット
+
 
 */
 
@@ -109,7 +106,7 @@
         
         if(Flag[0]&&!FlagAdd[0]){
             FlagAdd[0] = 1;
-        }else{
+        }else if(MotorState[0]){
             StopTimer[1].attach(&MotorStop1,MOVE_DOWN_TIME);
             Motor = Motor | 0x40;//0x40 = 01000000
             MotorState[0] = 0;
@@ -141,7 +138,7 @@
         
         if(Flag[0]&&!FlagAdd[0]){
             FlagAdd[0] = 1;
-        }else{
+        }else if(MotorState[0]) {
             StopTimer[1].attach(&MotorStop1,MOVE_DOWN_TIME);
             Motor = Motor | 0x40;//0x40 = 01000000
             MotorState[0] = 0;
@@ -170,7 +167,7 @@
         
         if(Flag[1]&&!FlagAdd[1]){
             FlagAdd[1] = 1;
-        }else{
+        }else if(MotorState[1]){
             StopTimer[3].attach(&MotorStop3,MOVE_DOWN_TIME);
             Motor = Motor | 0x04;
             MotorState[1] = 0;
@@ -198,7 +195,7 @@
         
         if(Flag[1]&&!FlagAdd[1]){
             FlagAdd[1] = 1;
-        }else{
+        }else if(MotorState[1]){
             StopTimer[3].attach(&MotorStop3,MOVE_DOWN_TIME);
             Motor = Motor | 0x04;
             MotorState[1] = 0;
@@ -227,7 +224,7 @@
         
         if(Flag[2]&&!FlagAdd[2]){
             FlagAdd[2] = 1;
-        }else{
+        }else if(MotorState[2]){
             StopTimer[5].attach(&MotorStop5,MOVE_DOWN_TIME);
             Motor = Motor | 0x10;
             MotorState[2] = 0;
@@ -257,7 +254,7 @@
         
         if(Flag[2]&&!FlagAdd[2]){
             FlagAdd[2] = 1;
-        }else{
+        }else if(MotorState[2]){
             StopTimer[5].attach(&MotorStop5,MOVE_DOWN_TIME);
             Motor = Motor | 0x10;
             MotorState[2] = 0;
@@ -283,7 +280,7 @@
         
         if(Flag[3]&&!FlagAdd[3]){
             FlagAdd[3] = 1;
-        }else{
+        }else if(MotorState[3]){
             StopTimer[7].attach(&MotorStop7,MOVE_DOWN_TIME);
             Motor = Motor | 0x01;
             MotorState[3] = 0;
@@ -306,12 +303,11 @@
         }else{
             Flag[3] = 1;
         }
-    }else if(Way == 1
-    ){
+    }else if(Way == 1){
         
         if(Flag[3]&&!FlagAdd[3]){
             FlagAdd[3] = 1;
-        }else{
+        }else if(MotorState[3]){
             StopTimer[7].attach(&MotorStop7,MOVE_DOWN_TIME);
             Motor = Motor | 0x01;
             MotorState[3] = 0;
@@ -373,10 +369,12 @@
 }
 
 void SetUp(){
-    int i;
-    for(i = 0 ; i > 4 ; i++ ){    
-        Pwm[i] = PWM_LEVEL ;
-    }
+    int i;   
+    
+    Pwm[0] = PWM_LEVEL ;
+    Pwm[1] = PWM_LEVEL ;
+    Pwm[2] = PWM_LEVEL ;
+    Pwm[3] = PWM_LEVEL ;
     for(i = 0 ; i > MOTOR_NUM ;i++ ){
         Photo[i].mode(PullUp);
     }
@@ -390,7 +388,7 @@
     Photo[7].fall(FallPhoto7);
     
     Sw.mode(PullUp);                                   
-    //Sw.fall(Reset);
+    Sw.fall(Reset);
  
 
 }