Diff: main.cpp

Revision:

33:9c98ab97084e

Parent:

30:00277f63ffeb

Child:

34:aa464f72d111

--- a/main.cpp	Tue Oct 07 10:09:54 2014 +0000
+++ b/main.cpp	Sat Oct 11 05:05:12 2014 +0000
@@ -53,7 +53,7 @@
 
 } xbee_packet;
 
-xbee_packet packet;
+xbee_packet packet = {0};
 
 uint8_t get_data[DATA_NUM]= {0};
 uint8_t check_data[2]= {0};
@@ -68,7 +68,7 @@
         case 0: //err check
             check = 0xA;
             wait(0.5);
-            check != 0xF;
+            check = 0x5;
             wait(0.5);
 
             break;
@@ -105,7 +105,6 @@
     }
 }
 
-
 int main()
 {
 
@@ -118,8 +117,9 @@
     xbee_packet *pt_packet=&packet;
 
     //connect_check();
-    int radio_check=0;
-
+    int abs_count=0;
+    int radio_count=0;
+    
     xbee.start_read();
     xbee.read_data(get_data,XBEE_KEY);
 
@@ -128,36 +128,48 @@
 
     display_LED(1);
 
-    int counter=0;
+    //int counter=0;
+    
+   // int pwm_check=0;
 
     for(;;) {
 
-        wait_ms(0.5);
+        //wait_ms(0.5);
 
         //memcpy(&packet, get_data, DATA_NUM);
         packet.arm[0] = get_data[1];
         packet.leg = get_data[0];
 
-        //check = get_data[1];
-        counter++;
-        check = counter/1000;
-        if(counter>=15*100) {
-            counter=0;
-        }
-
+        abs_count++;            
 
         if(xbee.readable_check() == 0) {
-
-            radio_check++;
-
-            if(radio_check>=500) {
-                safety_mode();
+          
+            radio_count++; 
+                  
+        }
+        
+        if(abs_count>=10){
+            abs_count=0;
+   
+            if(radio_count>=5){
+                
+            motors = 0;
+            
+            pwm[0] = 0;
+            pwm[1] = 0;
+            pwm[2] = 0;
+            pwm[3] = 0;
+            
+            check =0x3;
+            
+            packet.arm[0] = 0; //できれば構造体を直接初期化
+            packet.leg = 0;
+            
             }
-
-        } else {
-
-            radio_check = 0;
-        }
+            
+            radio_count=0;
+            
+        } 
 
         /* Stop */
         if(packet.leg==0x0) {