Diff: bot/bot.cpp

Revision:

14:1fadf7d2f583

Parent:

11:a8385ca0a275

Child:

15:9aa11febe517

--- a/bot/bot.cpp	Thu Sep 07 20:17:26 2017 +0900
+++ b/bot/bot.cpp	Tue Sep 12 10:21:00 2017 +0900
@@ -14,8 +14,7 @@
         ikarashiMDC({&RS485Controller, 1, 3, SM, &RS485})
     }),
     receiveSuccessed(0),
-    led({DebugLED1, DebugLED2, DebugLED3, DebugLED4,
-        DebugLED5, DebugLED6, DebugLED7, DebugLED8}),
+    led({DebugLED3, DebugLED4, DebugLED5}),
     debugSerial(USBTX, USBRX, 115200)
 {
     for(int i = 0; i < 3; i++) {
@@ -25,22 +24,17 @@
     quadOmni.moveXY(0, 0, 0);
 
     powerSwitch = 1;
-
-    for(int i = 0; i < 8; i++) {
-        led[i] = 1;
+    for(int i = 0; i < 3; i++) {
+        led[i] = true;
         wait(0.1);
-        led[i] = 0;
-    }
-    for(int i = 0; i < 8; i++) {
-        led[i] = 1;
-        wait(0.1);
-        led[i] = 0;
+        led[i] = false;
     }
 }
 
 void Bot::confirmAll()
 {
     receiveSuccessed = pad.receiveState();
+    led[0] = receiveSuccessed;
     if(!receiveSuccessed) {
         quadOmni.moveXY(0, 0, 0);
         slider.slide(0);
@@ -53,6 +47,7 @@
 void Bot::controllDrive()
 {
     if(receiveSuccessed) {
+        led[1] = !led[1];
         if(pad.getNorm(1) > 0.5) {
             PIDC::PID::setSetPoint((pad.getRadian(1) - M_PI / 2) * (180.0 / M_PI));
             PIDC::confirm();
@@ -91,6 +86,7 @@
     }
 
     if(receiveSuccessed) {
+        led[1] = !led[1];
         quadOmni.moveCircular(
             pad.getNorm(0) / 2.0,
             pad.getRadian(0) - PIDC::planeCurrentDegree / 10.0 * (M_PI / 180.0) + M_PI,