albatross / Mbed 2 deprecated ControlMain2017_2

今までのジョイスティックの入力を段階分けしていた方式から、アナログ値をできる限りそのまま使用する方式に変更しました。

Dependencies:   mbed-rtos mbed

Fork of ControlMain2017 by albatross

main.cpp@31:3a6be197e98f, 2017-03-23 (annotated)

Committer:
YusukeWakuta
Date:
Thu Mar 23 08:50:19 2017 +0000
Revision:
31:3a6be197e98f
Parent:
30:eb7b7af1070a
Child:
32:60af346703d3
RL?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YusukeWakuta 13:79eb74eb86c4 1 //中央
YusukeWakuta 0:b1290ca6c4a2 2
YusukeWakuta 0:b1290ca6c4a2 3 #include "mbed.h"
tsumagari 10:b7159feb11fd 4 #define WAIT_LOOP_TIME 0.001
tsumagari 9:c32999b4d2f9 5 #define YOKUTAN_DATAS_NUM 7
YusukeWakuta 31:3a6be197e98f 6 #define INPUT_DATAS_NUM 7
YusukeWakuta 0:b1290ca6c4a2 7 #define SEND_DATAS_CAN_ID 100
tsumagari 8:dbc8c87dac78 8 #define SEND_DATAS_TIME 0.5
tsumagari 8:dbc8c87dac78 9 #define THRESHOLD_OH_VALUE 0.14
YusukeWakuta 15:c5ade23e5de4 10 #define SAMPLE_INTERVAL 0.05
YusukeWakuta 0:b1290ca6c4a2 11
YusukeWakuta 29:8bff47ab602d 12 #define PHASE_NUM 13 //奇数にしてください
YusukeWakuta 24:72f9cb6e9440 13 #define SUM_UP_NUM 10.0
YusukeWakuta 29:8bff47ab602d 14 #define PITCHPERROLL 1.5
YusukeWakuta 19:6387e3f02b37 15 /*
YusukeWakuta 19:6387e3f02b37 16 roll入力とピッチ入力だとピッチの方が1.5倍効くように
YusukeWakuta 19:6387e3f02b37 17 */
YusukeWakuta 18:31722545ecf1 18
tsumagari 9:c32999b4d2f9 19 //-----------------------------------(resetInterrupt def)
tsumagari 9:c32999b4d2f9 20 extern "C" void mbed_reset();
YusukeWakuta 13:79eb74eb86c4 21 InterruptIn resetPin(p22);
tsumagari 9:c32999b4d2f9 22 Timer resetTimeCount;
YusukeWakuta 15:c5ade23e5de4 23 void resetInterrupt()
YusukeWakuta 15:c5ade23e5de4 24 {
YusukeWakuta 15:c5ade23e5de4 25 while(resetPin) {
tsumagari 9:c32999b4d2f9 26 resetTimeCount.start();
tsumagari 9:c32999b4d2f9 27 if(resetTimeCount.read()>3) mbed_reset();
tsumagari 9:c32999b4d2f9 28 }
tsumagari 9:c32999b4d2f9 29 resetTimeCount.reset();
tsumagari 9:c32999b4d2f9 30 }
tsumagari 9:c32999b4d2f9 31 //-------------------------------------------------------
tsumagari 9:c32999b4d2f9 32
taurin 6:7484315ba88a 33 CAN can_R(p30,p29);
taurin 6:7484315ba88a 34 CAN can_L(p9,p10);
YusukeWakuta 14:ffe9460922cb 35 Serial toKeikiSerial(p28,p27);
tsumagari 7:59ddbe239835 36 Serial pc(USBTX,USBRX);
tsumagari 10:b7159feb11fd 37 AnalogIn rollPin(p15);
YusukeWakuta 31:3a6be197e98f 38 AnalogIn pitchPin(p18);
YusukeWakuta 13:79eb74eb86c4 39 DigitalIn drug_R(p14);
YusukeWakuta 31:3a6be197e98f 40 DigitalIn drug_L(p17);
YusukeWakuta 25:12408563540d 41 DigitalOut led1(LED1);
YusukeWakuta 25:12408563540d 42 DigitalOut led2(LED2);
YusukeWakuta 15:c5ade23e5de4 43 DigitalOut led4(LED4);
YusukeWakuta 15:c5ade23e5de4 44 DigitalOut led3(LED3);
tsumagari 9:c32999b4d2f9 45 //Ticker sendDatasTicker;
YusukeWakuta 0:b1290ca6c4a2 46
taurin 4:4a13dd263a7b 47 char yokutanDatas_R[YOKUTAN_DATAS_NUM];
taurin 4:4a13dd263a7b 48 char yokutanDatas_L[YOKUTAN_DATAS_NUM];
tsumagari 10:b7159feb11fd 49 char inputDatas_R[INPUT_DATAS_NUM];
tsumagari 10:b7159feb11fd 50 char inputDatas_L[INPUT_DATAS_NUM];
YusukeWakuta 24:72f9cb6e9440 51
YusukeWakuta 25:12408563540d 52 float rollNeutral = 0.739;
YusukeWakuta 25:12408563540d 53 float rollUpperDiff = 0;
YusukeWakuta 25:12408563540d 54 float rollLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 55
YusukeWakuta 25:12408563540d 56 float pitchNeutral = 0.468 ;//1って書いた方
YusukeWakuta 25:12408563540d 57 float pitchUpperDiff = 0;
YusukeWakuta 25:12408563540d 58 float pitchLowerDiff = 0;
YusukeWakuta 24:72f9cb6e9440 59 float neutralDiff;
YusukeWakuta 0:b1290ca6c4a2 60
YusukeWakuta 3:0e66ce2ab2fb 61 CANMessage recmsg_R;
YusukeWakuta 3:0e66ce2ab2fb 62 CANMessage recmsg_L;
YusukeWakuta 0:b1290ca6c4a2 63
YusukeWakuta 25:12408563540d 64 enum InputType {
YusukeWakuta 26:745735b0479d 65 enumRoll,
YusukeWakuta 26:745735b0479d 66 enumPitch
YusukeWakuta 25:12408563540d 67 };
YusukeWakuta 25:12408563540d 68
YusukeWakuta 24:72f9cb6e9440 69 void setNeutral()
YusukeWakuta 24:72f9cb6e9440 70 {
YusukeWakuta 24:72f9cb6e9440 71 float rollSum;
YusukeWakuta 24:72f9cb6e9440 72 float pitchSum;
YusukeWakuta 25:12408563540d 73
YusukeWakuta 24:72f9cb6e9440 74 for(int i = 0; i < SUM_UP_NUM; i++) {
YusukeWakuta 24:72f9cb6e9440 75 rollSum += rollPin.read();
YusukeWakuta 24:72f9cb6e9440 76 pitchSum += pitchPin.read();
YusukeWakuta 24:72f9cb6e9440 77 }
YusukeWakuta 25:12408563540d 78 rollNeutral = rollSum / SUM_UP_NUM;
YusukeWakuta 25:12408563540d 79 pitchNeutral = pitchSum / SUM_UP_NUM;
YusukeWakuta 26:745735b0479d 80
YusukeWakuta 26:745735b0479d 81 neutralDiff = pitchNeutral - rollNeutral; //ピッチの初期値の方がい小さいと仮定
YusukeWakuta 26:745735b0479d 82 rollNeutral += neutralDiff;
YusukeWakuta 30:eb7b7af1070a 83 rollUpperDiff = 0;
YusukeWakuta 25:12408563540d 84 }
YusukeWakuta 25:12408563540d 85
YusukeWakuta 25:12408563540d 86 void setMaxAndMin(InputType it,float value)
YusukeWakuta 25:12408563540d 87 {
YusukeWakuta 26:745735b0479d 88 if(it == enumPitch) {
YusukeWakuta 25:12408563540d 89 if(value >pitchNeutral + pitchUpperDiff)
YusukeWakuta 25:12408563540d 90 pitchUpperDiff = value - pitchNeutral;
YusukeWakuta 26:745735b0479d 91 else if(value < rollNeutral + pitchLowerDiff)
YusukeWakuta 26:745735b0479d 92 pitchLowerDiff = value - pitchNeutral;
YusukeWakuta 26:745735b0479d 93 return;
YusukeWakuta 26:745735b0479d 94 } else if(it == enumRoll) {
YusukeWakuta 25:12408563540d 95 if(value >rollNeutral + rollUpperDiff)
YusukeWakuta 25:12408563540d 96 rollUpperDiff = value - rollNeutral;
YusukeWakuta 26:745735b0479d 97 else if(value < rollNeutral + rollLowerDiff)
YusukeWakuta 26:745735b0479d 98 rollLowerDiff = value -rollNeutral ;
YusukeWakuta 26:745735b0479d 99 return;
YusukeWakuta 25:12408563540d 100 }
YusukeWakuta 24:72f9cb6e9440 101 }
YusukeWakuta 24:72f9cb6e9440 102
YusukeWakuta 20:d4951f491642 103 //ジョイスティックの中間値から上と下の幅を合わせます。値を取得するたびに呼び出してください。範囲は広い方に合わせる物とします
YusukeWakuta 26:745735b0479d 104 float MatchUpperAndLower(InputType it, float max,float min,float neutral,float value)
YusukeWakuta 18:31722545ecf1 105 {
YusukeWakuta 20:d4951f491642 106 float Upper = max- neutral;
YusukeWakuta 20:d4951f491642 107 float Lower = neutral - min;
YusukeWakuta 25:12408563540d 108
YusukeWakuta 26:745735b0479d 109 if(it == enumRoll) {
YusukeWakuta 25:12408563540d 110 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 111 if(value < neutral) {
YusukeWakuta 25:12408563540d 112 value = neutral - ((neutral - value) * (Upper / Lower));
YusukeWakuta 31:3a6be197e98f 113 rollLowerDiff = -rollUpperDiff;
YusukeWakuta 25:12408563540d 114 }
YusukeWakuta 25:12408563540d 115 } else {
YusukeWakuta 25:12408563540d 116 if(value > neutral) {
YusukeWakuta 25:12408563540d 117 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 31:3a6be197e98f 118 rollUpperDiff = -rollLowerDiff;
YusukeWakuta 25:12408563540d 119 }
YusukeWakuta 20:d4951f491642 120 }
YusukeWakuta 25:12408563540d 121 return value;
YusukeWakuta 26:745735b0479d 122 } else if(it == enumPitch) {
YusukeWakuta 25:12408563540d 123 if(Upper > Lower) {
YusukeWakuta 25:12408563540d 124 if(value < neutral) {
YusukeWakuta 25:12408563540d 125 value = neutral - ((neutral - value) * (Upper / Lower));
YusukeWakuta 31:3a6be197e98f 126 pitchLowerDiff = -pitchUpperDiff;
YusukeWakuta 25:12408563540d 127 }
YusukeWakuta 25:12408563540d 128 } else {
YusukeWakuta 25:12408563540d 129 if(value > neutral) {
YusukeWakuta 25:12408563540d 130 value = neutral + ((value - neutral) * (Lower / Upper));
YusukeWakuta 31:3a6be197e98f 131 pitchUpperDiff= -pitchLowerDiff;
YusukeWakuta 25:12408563540d 132 }
YusukeWakuta 20:d4951f491642 133 }
YusukeWakuta 25:12408563540d 134 return value;
YusukeWakuta 27:1af92a603532 135 } else return value;
YusukeWakuta 18:31722545ecf1 136 }
YusukeWakuta 18:31722545ecf1 137
YusukeWakuta 21:9b1f5123f4a8 138 //範囲外に値がない場合にエラーが発生するので範囲内に収める
YusukeWakuta 21:9b1f5123f4a8 139 float Format2Range(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 140 {
YusukeWakuta 18:31722545ecf1 141 float result;
YusukeWakuta 21:9b1f5123f4a8 142
YusukeWakuta 18:31722545ecf1 143 if(value > max)
YusukeWakuta 18:31722545ecf1 144 result= max;
YusukeWakuta 18:31722545ecf1 145 else if(value < min)
YusukeWakuta 18:31722545ecf1 146 result = min;
YusukeWakuta 18:31722545ecf1 147 else
YusukeWakuta 18:31722545ecf1 148 result = value;
YusukeWakuta 18:31722545ecf1 149 return result;
YusukeWakuta 18:31722545ecf1 150 }
YusukeWakuta 18:31722545ecf1 151
YusukeWakuta 21:9b1f5123f4a8 152 //値をint型の段階に分ける
YusukeWakuta 18:31722545ecf1 153 int PhaseFloat(float value,float max,float min)
YusukeWakuta 18:31722545ecf1 154 {
YusukeWakuta 18:31722545ecf1 155 float PhaseWidth = (max - min) / PHASE_NUM;
YusukeWakuta 18:31722545ecf1 156 if(value< max&& value > min) {
YusukeWakuta 18:31722545ecf1 157 for(int i = 1; i <= PHASE_NUM; i++) {
YusukeWakuta 18:31722545ecf1 158 if(value < min + PhaseWidth * i&& value > min + PhaseWidth * (i - 1) )
YusukeWakuta 18:31722545ecf1 159 return i;
YusukeWakuta 18:31722545ecf1 160 }
YusukeWakuta 18:31722545ecf1 161 } else if(value <= min)
YusukeWakuta 27:1af92a603532 162 return 1;
YusukeWakuta 18:31722545ecf1 163 else if(value>=max)
YusukeWakuta 18:31722545ecf1 164 return PHASE_NUM;
YusukeWakuta 18:31722545ecf1 165 }
YusukeWakuta 18:31722545ecf1 166
YusukeWakuta 30:eb7b7af1070a 167 float SetRollPitchRacio(float pitch,float roll)
YusukeWakuta 30:eb7b7af1070a 168 {
YusukeWakuta 30:eb7b7af1070a 169 return (roll + pitch * PITCHPERROLL) / (1.0 + PITCHPERROLL);
YusukeWakuta 29:8bff47ab602d 170 }
YusukeWakuta 29:8bff47ab602d 171
YusukeWakuta 15:c5ade23e5de4 172 void InputControlValues()
YusukeWakuta 15:c5ade23e5de4 173 {
YusukeWakuta 26:745735b0479d 174 setMaxAndMin(enumRoll, rollPin.read());
YusukeWakuta 26:745735b0479d 175 setMaxAndMin(enumPitch, pitchPin.read());
YusukeWakuta 26:745735b0479d 176
YusukeWakuta 30:eb7b7af1070a 177 // pc.printf("rollN:%f rollMax:%f rollMin:%f pitchN:%f pitchMax:%f pitchUpper:%f pitchMin:%f pitchLo:%f raw:%f\r\n",rollNeutral,rollNeutral+rollUpperDiff,rollNeutral+rollLowerDiff,pitchNeutral,pitchNeutral+pitchUpperDiff,pitchUpperDiff,pitchNeutral+pitchLowerDiff,pitchLowerDiff,pitchPin.read());
YusukeWakuta 26:745735b0479d 178 float MatchedRoll = MatchUpperAndLower(enumRoll, rollNeutral + rollUpperDiff,rollLowerDiff + rollLowerDiff,rollNeutral,rollPin.read() + neutralDiff);
YusukeWakuta 26:745735b0479d 179 float MatchedPitch = MatchUpperAndLower(enumPitch, pitchNeutral + pitchUpperDiff,pitchNeutral + pitchLowerDiff,pitchNeutral,pitchPin.read());
YusukeWakuta 24:72f9cb6e9440 180
YusukeWakuta 29:8bff47ab602d 181 float FormatedRoll_R = Format2Range(SetRollPitchRacio(MatchedPitch,MatchedRoll ),SetRollPitchRacio(pitchNeutral + pitchUpperDiff,rollNeutral + rollUpperDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff,rollNeutral + rollLowerDiff));
YusukeWakuta 29:8bff47ab602d 182 *(int *)inputDatas_R =PhaseFloat(FormatedRoll_R,SetRollPitchRacio(pitchNeutral + pitchUpperDiff,rollNeutral + rollUpperDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff,rollNeutral + rollLowerDiff));
YusukeWakuta 24:72f9cb6e9440 183
YusukeWakuta 29:8bff47ab602d 184 float FormatedRoll_L = Format2Range(SetRollPitchRacio(MatchedPitch, - MatchedRoll),SetRollPitchRacio(pitchNeutral + pitchUpperDiff,-rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral +pitchLowerDiff, - rollNeutral - rollUpperDiff));
YusukeWakuta 27:1af92a603532 185 //pc.printf("matched:%f max:%f min:%f\n\r",(MatchedPitch - MatchedRoll) / 2.0,(pitchNeutral +pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0,(pitchNeutral + pitchUpperDiff-rollNeutral - rollLowerDiff) / 2.0);
YusukeWakuta 29:8bff47ab602d 186 *(int *)inputDatas_L = PhaseFloat(FormatedRoll_L,SetRollPitchRacio(pitchNeutral + pitchUpperDiff ,- rollNeutral - rollLowerDiff),SetRollPitchRacio(pitchNeutral + pitchLowerDiff ,- rollNeutral - rollUpperDiff));
YusukeWakuta 27:1af92a603532 187 //pc.printf("Format:%f max:%f min:%f\n\r",FormatedRoll_L,(pitchNeutral + pitchUpperDiff - rollNeutral - rollLowerDiff) / 2.0,(pitchNeutral + pitchLowerDiff - rollNeutral - rollUpperDiff) / 2.0);
YusukeWakuta 28:056287cb001c 188 if(*(int *)inputDatas_R < 1)
YusukeWakuta 28:056287cb001c 189 *(int *)inputDatas_R = 1;
YusukeWakuta 28:056287cb001c 190 else if(*(int *)inputDatas_R > PHASE_NUM)
YusukeWakuta 28:056287cb001c 191 *(int *)inputDatas_R = PHASE_NUM;
YusukeWakuta 28:056287cb001c 192 if(*(int *)inputDatas_L < 1)
YusukeWakuta 28:056287cb001c 193 *(int *)inputDatas_L = 1 ;
YusukeWakuta 28:056287cb001c 194 else if(*(int *)inputDatas_L > PHASE_NUM)
YusukeWakuta 28:056287cb001c 195 *(int *)inputDatas_L =PHASE_NUM;
YusukeWakuta 16:336e8b102555 196
YusukeWakuta 31:3a6be197e98f 197 // pc.printf("DR :%d DL:%d input_R:%d input_L:%d\n\r",drug_R.read(),drug_L.read(),*(int *)inputDatas_R,*(int *)inputDatas_L);
YusukeWakuta 31:3a6be197e98f 198 inputDatas_R[sizeof(int)+ 2] = (char)drug_R;
YusukeWakuta 15:c5ade23e5de4 199 led4 =! led4;
YusukeWakuta 26:745735b0479d 200 // pc.printf("%c",*(char *)inputDatas_R[4]);
YusukeWakuta 15:c5ade23e5de4 201 //pc.printf("%c",(char)drug_R);
YusukeWakuta 31:3a6be197e98f 202 inputDatas_L[sizeof(int)+2] = (char)drug_L;
YusukeWakuta 31:3a6be197e98f 203 // pc.printf("eruron:%f drug:%f\n\r,",);
YusukeWakuta 31:3a6be197e98f 204 pc.printf(" DL:%d input_R:%d\n\r",inputDatas_L[sizeof(int)+2],*(int *)inputDatas_L);
YusukeWakuta 15:c5ade23e5de4 205 // pc.printf("");
YusukeWakuta 0:b1290ca6c4a2 206 }
YusukeWakuta 0:b1290ca6c4a2 207
YusukeWakuta 15:c5ade23e5de4 208 void SendDatas()
YusukeWakuta 15:c5ade23e5de4 209 {
tsumagari 10:b7159feb11fd 210 can_R.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_R, INPUT_DATAS_NUM));
tsumagari 10:b7159feb11fd 211 can_L.write(CANMessage(SEND_DATAS_CAN_ID, inputDatas_L, INPUT_DATAS_NUM));
tsumagari 8:dbc8c87dac78 212 toKeikiSerial.putc(';');
YusukeWakuta 15:c5ade23e5de4 213 for(int i = 0; i < YOKUTAN_DATAS_NUM; i++) {
YusukeWakuta 31:3a6be197e98f 214
YusukeWakuta 0:b1290ca6c4a2 215 toKeikiSerial.putc(yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 216 toKeikiSerial.putc(yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 217 }
YusukeWakuta 15:c5ade23e5de4 218 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 4:4a13dd263a7b 219 toKeikiSerial.putc(inputDatas_R[i]);
taurin 4:4a13dd263a7b 220 toKeikiSerial.putc(inputDatas_L[i]);
taurin 4:4a13dd263a7b 221 }
YusukeWakuta 0:b1290ca6c4a2 222 }
tsumagari 8:dbc8c87dac78 223
YusukeWakuta 15:c5ade23e5de4 224 void init()
YusukeWakuta 15:c5ade23e5de4 225 {
tsumagari 9:c32999b4d2f9 226 //--------------------------------------(resetInterrupt init)
tsumagari 9:c32999b4d2f9 227 resetPin.rise(resetInterrupt);
tsumagari 9:c32999b4d2f9 228 resetPin.mode(PullDown);
tsumagari 9:c32999b4d2f9 229 //-----------------------------------------------------------
tsumagari 9:c32999b4d2f9 230 // sendDatasTicker.attach(SendDatas,SEND_DATAS_TIME);
YusukeWakuta 15:c5ade23e5de4 231 for(int i = 0; i < INPUT_DATAS_NUM; i++) {
taurin 2:9dc7d5f1e910 232 inputDatas_R[i] = 0;
taurin 2:9dc7d5f1e910 233 inputDatas_L[i] = 0;
taurin 2:9dc7d5f1e910 234 }
YusukeWakuta 0:b1290ca6c4a2 235 }
YusukeWakuta 0:b1290ca6c4a2 236
YusukeWakuta 15:c5ade23e5de4 237 void receiveDatas()
YusukeWakuta 15:c5ade23e5de4 238 {
YusukeWakuta 15:c5ade23e5de4 239 if(can_R.read(recmsg_R)) {
YusukeWakuta 15:c5ade23e5de4 240 for(int i = 0; i < recmsg_R.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 241 yokutanDatas_R[i] = recmsg_R.data[i];
YusukeWakuta 15:c5ade23e5de4 242 // pc.printf("%c",yokutanDatas_R[i]);
YusukeWakuta 0:b1290ca6c4a2 243 }
YusukeWakuta 25:12408563540d 244 led1 = !led1;
YusukeWakuta 0:b1290ca6c4a2 245 }
YusukeWakuta 15:c5ade23e5de4 246 if(can_L.read(recmsg_L)) {
YusukeWakuta 15:c5ade23e5de4 247 for(int i = 0; i < recmsg_L.len; i++) {
YusukeWakuta 0:b1290ca6c4a2 248 yokutanDatas_L[i] = recmsg_L.data[i];
YusukeWakuta 15:c5ade23e5de4 249 led3 = !led3;
YusukeWakuta 15:c5ade23e5de4 250 // pc.printf("%c",yokutanDatas_L[i]);
YusukeWakuta 0:b1290ca6c4a2 251 }
YusukeWakuta 25:12408563540d 252 led2 = !led2;
YusukeWakuta 0:b1290ca6c4a2 253 }
YusukeWakuta 0:b1290ca6c4a2 254 }
YusukeWakuta 0:b1290ca6c4a2 255
YusukeWakuta 15:c5ade23e5de4 256 int main()
YusukeWakuta 15:c5ade23e5de4 257 {
YusukeWakuta 0:b1290ca6c4a2 258 init();
YusukeWakuta 24:72f9cb6e9440 259 setNeutral();
YusukeWakuta 15:c5ade23e5de4 260 while(1) {
tsumagari 8:dbc8c87dac78 261 InputControlValues();
tsumagari 10:b7159feb11fd 262 wait_us(5);
YusukeWakuta 0:b1290ca6c4a2 263 receiveDatas();
tsumagari 9:c32999b4d2f9 264 SendDatas();
YusukeWakuta 0:b1290ca6c4a2 265 wait(WAIT_LOOP_TIME);
YusukeWakuta 0:b1290ca6c4a2 266 }
YusukeWakuta 0:b1290ca6c4a2 267 }