ROBOSTEP_5期 / Mbed 2 deprecated George_Master_Param

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Dependencies:   mbed robot

Diff: moves/moves.cpp

Revision:
58:dc0faefeba39
Parent:
57:30cd20c654d1
--- a/moves/moves.cpp	Sat May 25 04:50:48 2019 +0000
+++ b/moves/moves.cpp	Mon May 27 04:50:42 2019 +0000
@@ -19,10 +19,29 @@
     BACK,
     STOP,
     FORWARD,
+    RESET,
 };
 int step_num_l, step_num_r;
 void WaitAnotherLeg();
 
+void ResetRun()
+{
+    int target_step = step_num_l;
+    leg_lo.setTargetPose(180 + target_step*180);
+    leg_li.setTargetPose(180 + target_step*180);
+    can_send(RESET, motor_lo.getDutyLimit());
+    led1 = 1;
+    robot.run();
+    led1 = 0;
+    motor_lo_f.write(0);
+    motor_lo_b.write(0);
+    motor_li_f.write(0);
+    motor_li_b.write(0);
+    FileWrite();
+}
+
+
+
 //収束していなければLED1をON. param:: d_step_l:左足を動かす歩数。負なら後ろに進む
 void Run(WalkMode mode, int d_step_l)
 {
@@ -98,6 +117,7 @@
     if(lope_count >= max_count) {
 //        mode = STRAIGHT;
         is_turn = 1;
+        lope_count=0;
     }
     switch(mode) {
         case STRAIGHT: