ROBOSTEP4期 / Mbed 2 deprecated NHK_kaida_ros0329

射出(3/29用)

Dependencies:   mbed ros_lib_kinetic

Fork of NHK_kaida_ros0322_4 by ROBOSTEP4期

main.cpp@17:df95c0fb7b87, 2018-03-22 (annotated)

Committer:
Arare
Date:
Thu Mar 22 06:11:35 2018 +0000
Revision:
17:df95c0fb7b87
Parent:
16:85746e242e49
Child:
18:0184238dccc3
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Arare 10:a05e9a8980db 1 #include <mbed.h>
agari 0:f6fa58c56955 2 #include <ros.h>
Arare 6:ca4fab2957e4 3 #include <std_msgs/Int32.h>
agari 0:f6fa58c56955 4 #include <std_msgs/String.h>
Arare 11:5a06fd933e55 5 #define R_C_MAX 2
Arare 10:a05e9a8980db 6
Arare 6:ca4fab2957e4 7 Serial pc(USBTX,USBRX);
Arare 10:a05e9a8980db 8 I2C i2c(p9, p10); // sda, scl
Arare 10:a05e9a8980db 9 I2C i2c_2(p28, p27);
Arare 6:ca4fab2957e4 10
Arare 10:a05e9a8980db 11 DigitalOut grab(p11); //0:開く 1:閉じる
Arare 10:a05e9a8980db 12 DigitalOut snap(p14); //1:装填 0:発射
Arare 10:a05e9a8980db 13 DigitalOut s_grab(p13); //0:解放 1:把持
283 14:3858894d1a6b 14 DigitalOut fuck(p17); //0:引抜 1:突出
Arare 11:5a06fd933e55 15 DigitalOut grab2(p18); //0:開く 1:閉じる
Arare 11:5a06fd933e55 16 DigitalOut snap2(p15); //1:装填 0:発射
Arare 11:5a06fd933e55 17 DigitalOut s_grab2(p16); //0:解放 1:把持
Arare 10:a05e9a8980db 18 DigitalOut ledw(p20); //射出LED
Arare 10:a05e9a8980db 19
Arare 2:213c12298d45 20 DigitalOut led1(LED1);
Arare 2:213c12298d45 21 DigitalOut led2(LED2);
Arare 2:213c12298d45 22 DigitalOut led3(LED3);
Arare 2:213c12298d45 23 DigitalOut led4(LED4);
283 14:3858894d1a6b 24 DigitalOut LEDN(p10);
Arare 10:a05e9a8980db 25 DigitalOut out(p21);
Arare 10:a05e9a8980db 26
Arare 6:ca4fab2957e4 27 std_msgs::String action;
Arare 6:ca4fab2957e4 28 std_msgs::String fin_or_not;
Arare 6:ca4fab2957e4 29 std_msgs::String get_or_not;
Arare 10:a05e9a8980db 30
Arare 10:a05e9a8980db 31 int count=0; //何回actionしたんですか?
Arare 10:a05e9a8980db 32 int have_cock=0; //コック持ってますか？
Arare 10:a05e9a8980db 33 int have_action=0; //装填実行
Arare 6:ca4fab2957e4 34 int ready_action=0; //装填待機
Arare 6:ca4fab2957e4 35 int r,g,b,a;
Arare 6:ca4fab2957e4 36 int val;
Arare 6:ca4fab2957e4 37 int red=0;
Arare 10:a05e9a8980db 38 int val2;
Arare 10:a05e9a8980db 39 int red2=0;
Arare 10:a05e9a8980db 40 int RED_MIN=0;
Arare 10:a05e9a8980db 41 int RED_MIN2=0;
Arare 6:ca4fab2957e4 42 int32_t act=101;
Arare 11:5a06fd933e55 43 int ball_judgement=0;
Arare 11:5a06fd933e55 44 int r_c=0;
Arare 11:5a06fd933e55 45 int r_c2=0;
Arare 11:5a06fd933e55 46 int finding=0;
Arare 10:a05e9a8980db 47
Arare 10:a05e9a8980db 48 Ticker MC;
Arare 6:ca4fab2957e4 49 std_msgs::Int32 pub_act;
Arare 10:a05e9a8980db 50 std_msgs::Int32 pub_b;
Arare 11:5a06fd933e55 51 std_msgs::Int32 pub_c1;
Arare 11:5a06fd933e55 52 std_msgs::Int32 pub_c2;
Arare 11:5a06fd933e55 53 std_msgs::Int32 pub_fin;
Arare 6:ca4fab2957e4 54 ros::NodeHandle nh;
Arare 6:ca4fab2957e4 55 ros::Publisher pub_action("act_pose", &pub_act);
Arare 10:a05e9a8980db 56 ros::Publisher pub_ball("act_ball", &pub_b);
Arare 11:5a06fd933e55 57 ros::Publisher pub_color1("act_color1", &pub_c1);
Arare 11:5a06fd933e55 58 ros::Publisher pub_color2("act_color2", &pub_c2);
Arare 11:5a06fd933e55 59 ros::Publisher pub_finc("shoot_fin", &pub_fin);
Arare 10:a05e9a8980db 60
Arare 6:ca4fab2957e4 61 void messageCallback(const std_msgs::Int32 &msg)
agari 3:2184f6f5c8e3 62 {
Arare 17:df95c0fb7b87 63 if(act!=9&&msg.data==9){
Arare 17:df95c0fb7b87 64 ready_action=1;
Arare 17:df95c0fb7b87 65 count=0;
Arare 17:df95c0fb7b87 66 }
Arare 6:ca4fab2957e4 67 act=msg.data;
Arare 2:213c12298d45 68 }
Arare 11:5a06fd933e55 69
Arare 11:5a06fd933e55 70 void messageCallback2(const std_msgs::Int32 &msg)
Arare 11:5a06fd933e55 71 {
Arare 11:5a06fd933e55 72 ball_judgement=msg.data;
Arare 11:5a06fd933e55 73 }
Arare 11:5a06fd933e55 74
Arare 11:5a06fd933e55 75 void messageCallback3(const std_msgs::Int32 &msg)
Arare 11:5a06fd933e55 76 {
Arare 11:5a06fd933e55 77 finding=msg.data;
Arare 11:5a06fd933e55 78 }
Arare 11:5a06fd933e55 79
Arare 6:ca4fab2957e4 80 void MCL()
Arare 6:ca4fab2957e4 81 {
Arare 10:a05e9a8980db 82 pub_b.data=ball_judgement;
Arare 11:5a06fd933e55 83 pub_c1.data=RED_MIN2;
Arare 11:5a06fd933e55 84 pub_c2.data=r_c2;
Arare 6:ca4fab2957e4 85 pub_action.publish(&pub_act);
Arare 11:5a06fd933e55 86 pub_color1.publish(&pub_c1);
Arare 11:5a06fd933e55 87 pub_color2.publish(&pub_c2);
Arare 10:a05e9a8980db 88 pub_ball.publish(&pub_b);
Arare 6:ca4fab2957e4 89 nh.spinOnce();
Arare 6:ca4fab2957e4 90 }
Arare 6:ca4fab2957e4 91 //定点に到着した時にTz1:a,Tz2:b,Tz3:cの文字を足回りから送る。topicはshoot_action
Arare 6:ca4fab2957e4 92 //装填用の信号はdとしておく。後で変更して、どうぞ。
Arare 6:ca4fab2957e4 93 ros::Subscriber<std_msgs::Int32> sub("shoot_action",&messageCallback);
Arare 12:6832bc92272f 94 ros::Subscriber<std_msgs::Int32> sub_TZ("tz",&messageCallback2);
Arare 11:5a06fd933e55 95 ros::Subscriber<std_msgs::Int32> sub_find("find",&messageCallback3);
Arare 6:ca4fab2957e4 96
Arare 10:a05e9a8980db 97 /////射出サイクル/////
Arare 10:a05e9a8980db 98 void throw_cock(float waittime)
Arare 10:a05e9a8980db 99 {
Arare 10:a05e9a8980db 100 if (act==2) {
Arare 10:a05e9a8980db 101 led2=1;
283 14:3858894d1a6b 102 fuck=1;
Arare 11:5a06fd933e55 103 s_grab=0;
Arare 11:5a06fd933e55 104 wait(2);
Arare 11:5a06fd933e55 105 ledw=1;
Arare 11:5a06fd933e55 106 wait(1);
Arare 11:5a06fd933e55 107 snap=0;
Arare 11:5a06fd933e55 108 wait(waittime);
Arare 11:5a06fd933e55 109 grab=0;
Arare 11:5a06fd933e55 110 wait(1);
Arare 11:5a06fd933e55 111 ledw=0;
Arare 10:a05e9a8980db 112 }
Arare 10:a05e9a8980db 113 else if (act==4) {
Arare 10:a05e9a8980db 114 led3=1;
283 14:3858894d1a6b 115 fuck=1;
Arare 11:5a06fd933e55 116 s_grab2=0;
Arare 11:5a06fd933e55 117 wait(2);
Arare 11:5a06fd933e55 118 ledw=1;
Arare 11:5a06fd933e55 119 wait(1);
Arare 11:5a06fd933e55 120 snap2=0;
Arare 11:5a06fd933e55 121 wait(waittime);
Arare 11:5a06fd933e55 122 grab2=0;
Arare 11:5a06fd933e55 123 wait(1);
Arare 11:5a06fd933e55 124 ledw=0;
Arare 10:a05e9a8980db 125 }
Arare 10:a05e9a8980db 126 else if (act==6) {
Arare 10:a05e9a8980db 127 led2=1;
Arare 10:a05e9a8980db 128 led3=1;
283 14:3858894d1a6b 129 fuck=1;
Arare 11:5a06fd933e55 130 s_grab2=0;
Arare 11:5a06fd933e55 131 wait(2);
Arare 11:5a06fd933e55 132 ledw=1;
Arare 11:5a06fd933e55 133 wait(1);
Arare 11:5a06fd933e55 134 snap2=0;
Arare 11:5a06fd933e55 135 wait(waittime);
Arare 11:5a06fd933e55 136 grab2=0;
Arare 11:5a06fd933e55 137 wait(1);
Arare 11:5a06fd933e55 138 ledw=0;
Arare 10:a05e9a8980db 139 }
Arare 10:a05e9a8980db 140 else if (act==7) {
283 14:3858894d1a6b 141 fuck=1;
Arare 17:df95c0fb7b87 142 s_grab2=0;
Arare 17:df95c0fb7b87 143 wait(2);
Arare 17:df95c0fb7b87 144 ledw=1;
Arare 17:df95c0fb7b87 145 wait(1);
Arare 17:df95c0fb7b87 146 snap2=0;
Arare 17:df95c0fb7b87 147 wait(waittime);
Arare 17:df95c0fb7b87 148 grab2=0;
Arare 17:df95c0fb7b87 149 wait(1);
Arare 17:df95c0fb7b87 150 ledw=0;
Arare 17:df95c0fb7b87 151 }
Arare 17:df95c0fb7b87 152 else if (act==8) {
Arare 17:df95c0fb7b87 153 fuck=1;
Arare 11:5a06fd933e55 154 s_grab=0;
Arare 11:5a06fd933e55 155 wait(2);
Arare 11:5a06fd933e55 156 ledw=1;
Arare 11:5a06fd933e55 157 wait(1);
Arare 11:5a06fd933e55 158 snap=0;
283 14:3858894d1a6b 159 wait(waittime);
283 14:3858894d1a6b 160 grab=0;
283 14:3858894d1a6b 161 wait(1);
283 14:3858894d1a6b 162 ledw=0;
283 16:85746e242e49 163 }
Arare 17:df95c0fb7b87 164 else if (act==9) {
283 16:85746e242e49 165 fuck=1;
Arare 17:df95c0fb7b87 166 s_grab=0;
283 16:85746e242e49 167 wait(2);
283 16:85746e242e49 168 ledw=1;
283 16:85746e242e49 169 wait(1);
Arare 17:df95c0fb7b87 170 snap=0;
283 16:85746e242e49 171 wait(waittime);
Arare 17:df95c0fb7b87 172 grab=0;
Arare 11:5a06fd933e55 173 wait(1);
Arare 11:5a06fd933e55 174 ledw=0;
Arare 10:a05e9a8980db 175 }
Arare 10:a05e9a8980db 176
Arare 10:a05e9a8980db 177 if (act==2) {
Arare 10:a05e9a8980db 178 led2=0;
Arare 10:a05e9a8980db 179 }
Arare 10:a05e9a8980db 180 else if (act==4) {
Arare 10:a05e9a8980db 181 led3=0;
Arare 10:a05e9a8980db 182 }
Arare 10:a05e9a8980db 183 else if (act==6) {
Arare 10:a05e9a8980db 184 led2=0;
Arare 10:a05e9a8980db 185 led3=0;
Arare 10:a05e9a8980db 186 }
Arare 10:a05e9a8980db 187 else if (act==7) {
Arare 10:a05e9a8980db 188 led1=0;
Arare 10:a05e9a8980db 189 led2=0;
Arare 10:a05e9a8980db 190 led3=0;
Arare 10:a05e9a8980db 191 }
Arare 10:a05e9a8980db 192 }
Arare 10:a05e9a8980db 193
Arare 10:a05e9a8980db 194
agari 1:5dd2f53a286f 195 int main(int argc, char **argv)
agari 1:5dd2f53a286f 196 {
Arare 10:a05e9a8980db 197 out=1;
Arare 10:a05e9a8980db 198
Arare 2:213c12298d45 199 nh.initNode();
Arare 2:213c12298d45 200 nh.subscribe(sub);
Arare 11:5a06fd933e55 201 nh.subscribe(sub_TZ);
Arare 11:5a06fd933e55 202 nh.subscribe(sub_find);
Arare 6:ca4fab2957e4 203 nh.advertise(pub_action);
Arare 10:a05e9a8980db 204 nh.advertise(pub_ball);
Arare 11:5a06fd933e55 205 nh.advertise(pub_color1);
Arare 11:5a06fd933e55 206 nh.advertise(pub_color2);
Arare 11:5a06fd933e55 207 nh.advertise(pub_finc);
Arare 6:ca4fab2957e4 208 MC.attach(&MCL,0.01);
Arare 6:ca4fab2957e4 209 pub_act.data=0;
Arare 11:5a06fd933e55 210 pub_fin.data=0;
Arare 10:a05e9a8980db 211 pub_b.data=0;
Arare 6:ca4fab2957e4 212 char cmd[2];
Arare 6:ca4fab2957e4 213 char cell[1]= {0x03};
Arare 6:ca4fab2957e4 214 char data[8]= {0,0,0,0,0,0,0,0};
Arare 10:a05e9a8980db 215 char data2[8]= {0,0,0,0,0,0,0,0};
Arare 6:ca4fab2957e4 216 cmd[0] = 0x00;
Arare 6:ca4fab2957e4 217 cmd[1] = 0x89;
Arare 6:ca4fab2957e4 218 i2c.frequency(115200);
Arare 10:a05e9a8980db 219 i2c_2.frequency(115200);
Arare 6:ca4fab2957e4 220 val = i2c.write(84, cmd, 2);
Arare 10:a05e9a8980db 221 val2 = i2c_2.write(84, cmd, 2);
Arare 6:ca4fab2957e4 222 cmd[0] = 0x0;
Arare 6:ca4fab2957e4 223 cmd[1] = 0x09;
Arare 6:ca4fab2957e4 224 val = i2c.write(84, cmd, 2);
Arare 10:a05e9a8980db 225 val2 = i2c_2.write(84, cmd, 2);
Arare 10:a05e9a8980db 226
agari 3:2184f6f5c8e3 227 while(1) {
Arare 6:ca4fab2957e4 228 val = i2c.write(84, cell, 1);
Arare 10:a05e9a8980db 229 val2 = i2c_2.write(84, cell, 1);
Arare 6:ca4fab2957e4 230 val = i2c.read(84, data, 8);
Arare 10:a05e9a8980db 231 val2 = i2c_2.read(84, data2, 8);
Arare 6:ca4fab2957e4 232 red = data[0]<<8 | data[1];
Arare 10:a05e9a8980db 233 red2 = data2[0]<<8 | data2[1];
Arare 10:a05e9a8980db 234 /* if(red<RED_MIN) {
Arare 9:1dcd40da31ec 235 led1=1;
Arare 9:1dcd40da31ec 236 led2=0;
Arare 10:a05e9a8980db 237 } else {
Arare 9:1dcd40da31ec 238 led1=0;
Arare 9:1dcd40da31ec 239 led2=1;
Arare 10:a05e9a8980db 240 }*/
Arare 10:a05e9a8980db 241
Arare 10:a05e9a8980db 242 //pc.printf("%d",red); ///カラーセンサー閾値
Arare 10:a05e9a8980db 243
Arare 10:a05e9a8980db 244 ///装填///
283 16:85746e242e49 245 if(((act==1)||(act==3)||(act==5)||(act==10)||(act==11))&&(ready_action==0)) { //TZ3
Arare 12:6832bc92272f 246 /*if(act==1) {
Arare 11:5a06fd933e55 247 led1=1;
Arare 10:a05e9a8980db 248 }
Arare 11:5a06fd933e55 249 else if(act==3) {
Arare 11:5a06fd933e55 250 led1=1;
Arare 11:5a06fd933e55 251 led2=1;
Arare 11:5a06fd933e55 252 }
Arare 11:5a06fd933e55 253 else if(act==5) {
Arare 11:5a06fd933e55 254 led1=1;
Arare 11:5a06fd933e55 255 led3=1;
Arare 10:a05e9a8980db 256 }
Arare 11:5a06fd933e55 257 else if(act==8) {
Arare 11:5a06fd933e55 258 led4=1;
Arare 11:5a06fd933e55 259 }*/
Arare 11:5a06fd933e55 260 snap=1;
Arare 11:5a06fd933e55 261 snap2=1;
Arare 12:6832bc92272f 262 grab=0;
Arare 12:6832bc92272f 263 grab2=0;
283 14:3858894d1a6b 264 fuck=0;
Arare 12:6832bc92272f 265 while(finding!=1){
Arare 12:6832bc92272f 266 led1=0;
Arare 12:6832bc92272f 267 led2=0;
Arare 12:6832bc92272f 268 led3=0;
Arare 12:6832bc92272f 269 led4=0;
283 14:3858894d1a6b 270 LEDN=1;
Arare 12:6832bc92272f 271 }
Arare 11:5a06fd933e55 272 if(ball_judgement==1){
Arare 12:6832bc92272f 273 led1=0;
Arare 12:6832bc92272f 274 led2=1;
Arare 12:6832bc92272f 275 led3=0;
Arare 12:6832bc92272f 276 led4=0;
Arare 13:84f136900461 277 wait(2);//桃井escape
Arare 12:6832bc92272f 278 grab=1;
283 14:3858894d1a6b 279 wait(0.5);
Arare 12:6832bc92272f 280 s_grab=1;
283 14:3858894d1a6b 281 wait(0.5);
283 14:3858894d1a6b 282 fuck=0;
Arare 12:6832bc92272f 283 }
Arare 11:5a06fd933e55 284 else if(ball_judgement==2){
Arare 12:6832bc92272f 285 led1=0;
Arare 12:6832bc92272f 286 led2=0;
Arare 12:6832bc92272f 287 led3=1;
Arare 12:6832bc92272f 288 led4=0;
283 14:3858894d1a6b 289
Arare 13:84f136900461 290 wait(2);//桃井escape
Arare 12:6832bc92272f 291 grab2=1;
283 14:3858894d1a6b 292 wait(0.5);
Arare 12:6832bc92272f 293 s_grab2=1;
283 14:3858894d1a6b 294 wait(0.5);
283 14:3858894d1a6b 295 fuck=0;
Arare 11:5a06fd933e55 296 }
Arare 15:c27950efe96f 297 else if(ball_judgement>=3){
Arare 12:6832bc92272f 298 led1=0;
Arare 12:6832bc92272f 299 led2=0;
Arare 12:6832bc92272f 300 led3=0;
Arare 12:6832bc92272f 301 led4=1;
Arare 13:84f136900461 302 wait(2);//桃井escape
Arare 12:6832bc92272f 303 grab=1;
Arare 12:6832bc92272f 304 grab2=1;
283 14:3858894d1a6b 305 wait(0.5);
Arare 12:6832bc92272f 306 s_grab=1;
Arare 12:6832bc92272f 307 s_grab2=1;
283 14:3858894d1a6b 308 wait(0.5);
283 14:3858894d1a6b 309 fuck=0;
Arare 11:5a06fd933e55 310 }
Arare 12:6832bc92272f 311 else{
Arare 12:6832bc92272f 312 led1=1;
Arare 12:6832bc92272f 313 led2=0;
Arare 12:6832bc92272f 314 led3=0;
Arare 12:6832bc92272f 315 led4=0;
Arare 12:6832bc92272f 316 }
Arare 11:5a06fd933e55 317 if(act==1) {
Arare 11:5a06fd933e55 318 led1=0;
Arare 11:5a06fd933e55 319 }
Arare 11:5a06fd933e55 320 else if(act==3) {
Arare 11:5a06fd933e55 321 led1=0;
Arare 11:5a06fd933e55 322 led2=0;
Arare 11:5a06fd933e55 323 }
Arare 11:5a06fd933e55 324 else if(act==5) {
Arare 11:5a06fd933e55 325 led1=0;
Arare 11:5a06fd933e55 326 led3=0;
Arare 11:5a06fd933e55 327 }
Arare 11:5a06fd933e55 328 else if(act==8) {
Arare 11:5a06fd933e55 329 led4=0;
Arare 11:5a06fd933e55 330 }
283 14:3858894d1a6b 331 LEDN=0;
Arare 11:5a06fd933e55 332 ready_action=1;
Arare 11:5a06fd933e55 333 count=0;
Arare 11:5a06fd933e55 334 pub_act.data=act;
Arare 11:5a06fd933e55 335 pub_action.publish(&pub_act);
Arare 11:5a06fd933e55 336 r_c=0;
Arare 6:ca4fab2957e4 337 }
Arare 10:a05e9a8980db 338
Arare 10:a05e9a8980db 339 ///射出///
Arare 10:a05e9a8980db 340 if((act==2)&&(count==0)) {
Arare 12:6832bc92272f 341 int f_i=0;
Arare 17:df95c0fb7b87 342 throw_cock(0.243); //TZ1
Arare 10:a05e9a8980db 343
Arare 10:a05e9a8980db 344 ready_action=0;
Arare 10:a05e9a8980db 345 count=1;
Arare 10:a05e9a8980db 346 pub_act.data=act;
Arare 10:a05e9a8980db 347 pub_action.publish(&pub_act);
Arare 12:6832bc92272f 348 for(f_i=0;f_i<20;f_i++){
Arare 12:6832bc92272f 349 pub_fin.data=1;
Arare 12:6832bc92272f 350 pub_finc.publish(&pub_fin);
Arare 12:6832bc92272f 351 wait(0.01);
Arare 12:6832bc92272f 352 }
Arare 10:a05e9a8980db 353 }
Arare 10:a05e9a8980db 354
Arare 10:a05e9a8980db 355 if(((act==4)||(act==6))&&(count==0)) {
Arare 12:6832bc92272f 356 int f_i=0;
Arare 17:df95c0fb7b87 357 throw_cock(0.243); //TZ2
Arare 6:ca4fab2957e4 358
Arare 10:a05e9a8980db 359 ready_action=0;
Arare 10:a05e9a8980db 360 count=1;
Arare 10:a05e9a8980db 361 pub_act.data=act;
Arare 10:a05e9a8980db 362 pub_action.publish(&pub_act);
Arare 12:6832bc92272f 363 for(f_i=0;f_i<20;f_i++){
Arare 12:6832bc92272f 364 pub_fin.data=1;
Arare 12:6832bc92272f 365 pub_finc.publish(&pub_fin);
Arare 12:6832bc92272f 366 wait(0.01);
Arare 12:6832bc92272f 367 }
Arare 10:a05e9a8980db 368 }
Arare 6:ca4fab2957e4 369
283 16:85746e242e49 370 if(((act==7)||(act==8)||(act==9))&&(count==0)) {
Arare 12:6832bc92272f 371 int f_i=0;
Arare 17:df95c0fb7b87 372 throw_cock(0.228); //TZ3
Arare 10:a05e9a8980db 373
Arare 10:a05e9a8980db 374 ready_action=0;
Arare 10:a05e9a8980db 375 count=1;
Arare 10:a05e9a8980db 376 pub_act.data=act;
Arare 10:a05e9a8980db 377 pub_action.publish(&pub_act);
Arare 12:6832bc92272f 378 for(f_i=0;f_i<20;f_i++){
Arare 12:6832bc92272f 379 pub_fin.data=1;
Arare 12:6832bc92272f 380 pub_finc.publish(&pub_fin);
Arare 12:6832bc92272f 381 wait(0.01);
Arare 12:6832bc92272f 382 }
Arare 10:a05e9a8980db 383 }
Arare 10:a05e9a8980db 384
Arare 10:a05e9a8980db 385 //一連の動作が終了したかを判断する。
Arare 10:a05e9a8980db 386 if(count>0) {
Arare 10:a05e9a8980db 387 have_cock=0;
Arare 10:a05e9a8980db 388 have_action=0;
Arare 10:a05e9a8980db 389 }
agari 3:2184f6f5c8e3 390 }
Arare 10:a05e9a8980db 391 }