MEC-B / Mbed 2 deprecated AR_MastarNode_copy

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Dependencies:   DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed

Fork of AR_MastarNode by MEC-B

Diff: main.cpp

Revision:
13:0479a4f3e997
Parent:
12:91218718ae75
Child:
14:8334c241bb0a
Child:
18:268ab2ab0b2a
--- a/main.cpp	Sat Sep 15 00:16:35 2018 +0000
+++ b/main.cpp	Sat Sep 15 06:48:13 2018 +0000
@@ -91,13 +91,17 @@
     odm.x = 0;
     timer.start();
     
-    changeToBlueZone();
-    
     while(1)
     {
         riseUssTriger();
         can.read();
         
+        int sw[9];
+        for(int i = 0; i < 9; i++)
+            sw[i] = can.get(2, i + 1);
+        if(sw[8] == 0)
+            changeToBlueZone();
+        
         //目指すべきロボットの状態を取得
         state tar_state = getTargetState();