NagaokaRoboticsClub_mbedTeam / Mbed OS NHK2017_octopus2

Octopus!!

Dependencies:   2017NHKpin_config FEP HMC6352 PID QEI R1307 ikarashiMDC omni_wheel

Fork of KANIv3 by NagaokaRoboticsClub_mbedTeam

Diff: bot/controller/controller.cpp

Revision:
52:320f910ca6ca
Parent:
49:69a7235d837a
--- a/bot/controller/controller.cpp	Mon Nov 13 17:33:30 2017 +0900
+++ b/bot/controller/controller.cpp	Thu Nov 23 11:49:39 2017 +0900
@@ -24,7 +24,7 @@
 {
 }
 
-bool Controller::receiveState()
+int Controller::receiveState()
 {
     fepTemp = FEP::read(data, DATA_SIZE);
     if(fepTemp == FEP_SUCCESS) {
@@ -42,10 +42,14 @@
             if(stick[i] < -1.0) stick[i] = -1.0;
         }
         setStick();
+    } else if(fepTemp == FEP_DT_BIN) {
+        return 2;
+    } else if(fepTemp == FEP_DT_BIN) {
+        return 3;
     } else if(fepTemp == FEP_NO_RESPONSE) {
         return 0;
     } else {
-        return 0;
+        return 4;
     }
     return 1;
 }