Diff: sensors/sensors.cpp

Revision:

33:2dbbe198adaf

Parent:

32:aee87dcaf7ca

Child:

34:0a8ae7f92262

diff -r aee87dcaf7ca -r 2dbbe198adaf sensors/sensors.cpp
--- a/sensors/sensors.cpp	Mon May 13 03:44:50 2019 +0000
+++ b/sensors/sensors.cpp	Mon May 13 09:02:19 2019 +0000
@@ -2,6 +2,8 @@
 #include "microinfinity.h"
 #include "pinnames.h"
 #include "moves.h"
+int RightOrLeft = 0;
+
 //lowpass関係
 const float kOldWeight = 0;
 const float kOldWeightLight = 0.3; //filterの重み.軽いver
@@ -25,12 +27,11 @@
 DigitalIn hand(pin_hand,PullUp);
 DigitalIn switch_lo(pin_switch_lo,PullUp);
 DigitalIn switch_li(pin_switch_li,PullUp);
-DigitalIn switch_LR(pin_switch_LR,PullUp);
-DigitalIn switch_modes[3]=
-{
-  DigitalIn(pin_switch_modes[0],PullUp),  
-  DigitalIn(pin_switch_modes[1],PullUp),
-  DigitalIn(pin_switch_modes[2],PullUp),
+InterruptIn switch_LR(pin_switch_LR,PullUp);
+DigitalIn switch_modes[3]= {
+    DigitalIn(pin_switch_modes[0],PullUp),
+    DigitalIn(pin_switch_modes[1],PullUp),
+    DigitalIn(pin_switch_modes[2],PullUp),
 };
 //InterruptIn mode4(pin_mode4,PullUp);
 DigitalOut led4(LED4);
@@ -51,7 +52,7 @@
 const char kFileName[] = "/local/sensors.csv";
 Timer filetimer;
 
-/*int FileOpen() //1:異常終了
+int FileOpen() //1:異常終了
 {
     printf("file open\r\n");
     if ((fp = fopen(kFileName, "w")) == NULL) {
@@ -61,7 +62,13 @@
     fprintf(fp, "time[s], gyro[deg], hcsr04_forward[cm], hcsr04_back[cm], motor_lo[deg], motor_li[deg]\r\n");
     filetimer.reset();
     filetimer.start();
-    mode4.rise(FileClose);//mode4ピンを上げげればfileclose
+    if(RightOrLeft) {
+        //rightなら
+        switch_LR.fall(FileClose);//left(0)にしたらclose
+    } else {
+        //left
+        switch_LR.rise(FileClose);//left(0)にしたらclose
+    }
     return 0;
 }
 
@@ -86,7 +93,8 @@
     filetimer.stop();
     if(fp != NULL)
         fclose(fp);
-};*/
+};
+
 
 
 void TickerSetUp()