NagaokaRoboticsClub_mbedTeam / SEKIkikou

I don't know if it work properly

Dependents:   2022_NHK_B_UK 2022_NHK_B_sub2

Diff: SEKIkikou.cpp

Revision:
3:e62282fc7cf6
Parent:
2:5306c227e18b
Child:
4:d3814c6e3694
--- a/SEKIkikou.cpp	Sun Oct 09 13:54:07 2022 +0000
+++ b/SEKIkikou.cpp	Sun Oct 09 14:28:48 2022 +0000
@@ -17,6 +17,7 @@
     encoder[1] = env2; //将校
     encoder[2] = env3; //装填
     for(int i=0; i<3; i++) mspeed[i] = 0;
+    injecterFlag = false;
 }
 
 void SEKIkikou::runAll(float speedI, float speedLoad, float speedLift)
@@ -46,15 +47,17 @@
     }else{
         mspeed[0] = 0;
     }
-    if(*button[0] <= 0){
+    if(*button[0] <= 0 && !injecterFlag){
         mspeed[0] = 0;
         return;
     }
     if(*encoder[0] < 360){
         mspeed[0] = speed;
+        injecterFlag = true;
     }else if(*encoder[0] >= 360){
         timer.start();
         mspeed[0] = 0;
+        injecterFlag = false;
     }
 }