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

Diff: main.cpp

Revision:
5:4f1f0294d6aa
Parent:
4:29bf39bd97a7
Child:
6:ca4fab2957e4
--- a/main.cpp	Thu Sep 21 15:16:32 2017 +0000
+++ b/main.cpp	Thu Sep 21 15:24:44 2017 +0000
@@ -33,18 +33,17 @@
     nh.initNode();
     nh.subscribe(sub);
     while(1) {
-        if((*(action.data)== 'k')&&(k_action==0)) {
+        if((*(action.data)== 'k')&&(k_action==0)&&(o_action==0)) {
+            grab = 1;
+            o_action++;
+            led_on(0,1,0,0);
             snap = 1;
+            wait(5);
             grab = 0;
             k_action++;
             led_on(1,0,0,0);
-            wait(5);       
+        }
 
-            grab = 1;
-            o_action++;
-            led_on(0,1,0,0);
-        }
-        
 
         else if((*(action.data)=='m')&&(m_action==0)) {
             led_on(1,1,0,0);