Diff: main.cpp

Revision:

3:db5a2f683282

Parent:

2:32aba462e4df

Child:

4:bde6d41517d3

diff -r 32aba462e4df -r db5a2f683282 main.cpp
--- a/main.cpp	Wed Jan 11 10:01:47 2017 +0000
+++ b/main.cpp	Wed Jan 11 10:31:43 2017 +0000
@@ -88,15 +88,6 @@
         return result;
     }
 
-    int16_t index = 0x1D;
-    int16_t value = 0x01;
-  //  int16_t Angle = 0x0011;
-
-    result = gXBus.setCommand(kXBusOrder_1_Angle_180,&value);
-   // result = gXBus.setCommand(kX);
-
- //   result = gXBus.setCommand(kXBusOrder_2_ParamWrite,&index);
-
     return kXBusError_NoError;
 }
 
@@ -106,6 +97,8 @@
 //=============================================================
 int main()
 {
+    XBusError result;
+
     if (init() != kXBusError_NoError) {
         return -1;
         Led = 1;
@@ -117,5 +110,25 @@
     gTimer.attach_us(&XbusIntervalHandler, 1000000 / kMotionInterval);
 
     while(1) {
+        //動作角度を180度幅に拡張
+        int16_t value = 0x01;
+        int16_t angleParam = 0x0011;
+        result = gXBus.setCommand(kXBusOrder_1_Angle_180,&value);
+        result = gXBus.setCommand(kXBusOrder_2_ParamWrite,&angleParam);
+
+        //電源が入るとすぐに指示位置に移動
+        int16_t quick = 0x00;
+        int16_t quickParam = 0x0012;
+        result = gXBus.setCommand(kXBusOrder_1_SlowStart,&quick);
+        result = gXBus.setCommand(kXBusOrder_2_ParamWrite,&quickParam);
+
+        //信号が途切れたらその位置に固定
+        int16_t steer = 0x01;
+        int16_t steerParam = 0x0013;
+        result = gXBus.setCommand(kXBusOrder_1_StopMode,&steer);
+        result = gXBus.setCommand(kXBusOrder_2_ParamWrite,&steerParam);
+
+        wait(0.1);
+
     }
 }