teamALI / Mbed 2 deprecated HB2018

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed FreeRTOS

globalFlags.cpp@53:b09c062cc31c, 2019-03-04 (annotated)

Committer:
MasashiNomura
Date:
Mon Mar 04 04:03:23 2019 +0000
Revision:
53:b09c062cc31c
Parent:
50:76413e8e073d
Child:
56:f363a6877c6a
2019/03/04 add engine adjust step

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MasashiNomura 45:3b51dd26b579 1 /**
MasashiNomura 45:3b51dd26b579 2 * @file globalFlags.cpp
MasashiNomura 45:3b51dd26b579 3 * @brief コマンド解析<-->ホバーバイク制御タスク間及びホバーバイク制御タスク内で使用する共用フラグを使用する変数宣言と関数定義
MasashiNomura 45:3b51dd26b579 4 * @author Shirota, Nomura
MasashiNomura 45:3b51dd26b579 5 * @date 2018/10/01 ?
MasashiNomura 45:3b51dd26b579 6 */
MasashiNomura 48:71aec693a7dc 7 #include "typedef.h"
takeru0x1103 16:05b9e44889f1 8 #include "globalFlags.h"
takeru0x1103 16:05b9e44889f1 9
MasashiNomura 45:3b51dd26b579 10 DigitalOut led1(LED1); //!< モニタ用LED1用変数
MasashiNomura 45:3b51dd26b579 11 DigitalOut led2(LED2); //!< モニタ用LED2用変数
MasashiNomura 45:3b51dd26b579 12 DigitalOut led3(LED3); //!< モニタ用LED3用変数
MasashiNomura 45:3b51dd26b579 13 DigitalOut led4(LED4); //!< モニタ用LED4用変数
takeru0x1103 8:1ca49cb18290 14
MasashiNomura 45:3b51dd26b579 15 DigitalOut DO_01(p21); //!< 状態表示用LED1(R)用変数
MasashiNomura 45:3b51dd26b579 16 DigitalOut DO_02(p22); //!< 状態表示用LED2(G)用変数
MasashiNomura 45:3b51dd26b579 17 DigitalOut DO_03(p23); //!< 状態表示用LED3(B)用変数
MasashiNomura 40:debe99e228d3 18
MasashiNomura 45:3b51dd26b579 19 AnalogIn AinAxl(p20); //!< モーターアクセル用アナログ入力
MasashiNomura 45:3b51dd26b579 20
takeru0x1103 21:78302ecdb661 21
MasashiNomura 45:3b51dd26b579 22 char g_CmdBuf[G_CMD_BUF_SIZ]; //!< コマンド受け渡しバッファ
MasashiNomura 45:3b51dd26b579 23 bool gf_CmdPrs; //!< コマンドパーサー実行要求フラグ
MasashiNomura 36:2cc739c7e4cb 24
MasashiNomura 45:3b51dd26b579 25 bool gf_Armed; //!< アーミングフラグ
MasashiNomura 45:3b51dd26b579 26 bool gf_Dbg; //!< デバッグタスク起動フラグ
takeru0x1103 19:4b0fe9a5ec38 27
MasashiNomura 45:3b51dd26b579 28 bool gf_StopMot; //!< モーターの強制停止 サーボ全閉
MasashiNomura 45:3b51dd26b579 29 bool gf_FromActiveStat; //!< モーターの強制停止 サーボ全閉が動作時に発生したかどうか
MasashiNomura 25:f3a6e7eec9c3 30
MasashiNomura 43:156199c2f9b6 31 bool gf_BlinkLED;
MasashiNomura 43:156199c2f9b6 32
MasashiNomura 45:3b51dd26b579 33 typPrintFlg gf_Print; //!< デバッグプリントフラグ（１回表示）
MasashiNomura 45:3b51dd26b579 34 typPrintFlg gf_Mon; //!< デバッグモニタフラグ（繰り返し表示）
MasashiNomura 45:3b51dd26b579 35 typCalFlag gf_Cal; //!< キャリブレーションフラグ
MasashiNomura 32:7f4145cc3551 36
MasashiNomura 45:3b51dd26b579 37 typAccel gf_AxReq[2]; //!< エンジンアクセル値更新フラグ
MasashiNomura 45:3b51dd26b579 38 typAccel gf_AxReqH[2]; //!< 浮上時エンジンアクセル値更新フラグ
MasashiNomura 45:3b51dd26b579 39 typAccel gf_AxStepReq[2]; //!< エンジンアクセル用サーボ動作ステップ値更新フラグ
MasashiNomura 53:b09c062cc31c 40 typAccel gf_AxAdjStepReq[2]; //!< エンジンアクセル調整用サーボ動作ステップ値更新フラグ
MasashiNomura 53:b09c062cc31c 41
MasashiNomura 45:3b51dd26b579 42 typAxlRpm gf_MtReq[4]; //!< モーター姿勢制御値更新
MasashiNomura 50:76413e8e073d 43 typAxlRpm gf_MtAttOfs[4]; //!< モーター姿勢制御オフセット値更新
MasashiNomura 45:3b51dd26b579 44 typAxlRpm gf_MtReqOfs[4]; //!< モーターオフセット値更新
MasashiNomura 45:3b51dd26b579 45 typAxlRpm gf_MtReqU[4]; //!< モーターユーザー値更新
MasashiNomura 45:3b51dd26b579 46 typAxlRpm gf_MtReqDct[8]; //!< ダイレクト(FPGA関数直接呼び出し)モーター値更新フラグ
takeru0x1103 19:4b0fe9a5ec38 47
MasashiNomura 45:3b51dd26b579 48 typSWCmd gf_SwCmd; //!< スイッチが押されたことを模擬するフラグ
MasashiNomura 45:3b51dd26b579 49
MasashiNomura 45:3b51dd26b579 50 enmHbState gf_State = SLEEP; //!< 現在のステートを格納する変数
MasashiNomura 45:3b51dd26b579 51 bool gf_StateEnt; //!< 状態遷移後、最初であることを示す
MasashiNomura 45:3b51dd26b579 52
MasashiNomura 45:3b51dd26b579 53 bool gf_PidParaUpdate; //!< PID Pp,P,I,Dの係数アップデートフラグ
MasashiNomura 45:3b51dd26b579 54 typPidPara g_PidPara; //!< PID Pp,P,I,Dの係数の外部設定用
MasashiNomura 45:3b51dd26b579 55
MasashiNomura 25:f3a6e7eec9c3 56
MasashiNomura 22:24c9c2dedca9 57 void initFlags(){
MasashiNomura 22:24c9c2dedca9 58 memset(g_CmdBuf,0x0,sizeof(g_CmdBuf));
MasashiNomura 22:24c9c2dedca9 59 gf_CmdPrs = false;
MasashiNomura 22:24c9c2dedca9 60 gf_Armed = false;
MasashiNomura 22:24c9c2dedca9 61 gf_Dbg = false;
MasashiNomura 25:f3a6e7eec9c3 62 gf_StopMot = false;
MasashiNomura 43:156199c2f9b6 63
MasashiNomura 43:156199c2f9b6 64 gf_BlinkLED = false;
MasashiNomura 25:f3a6e7eec9c3 65
MasashiNomura 41:45c982b1c5b6 66 // gf_Print.flg = 0;
MasashiNomura 41:45c982b1c5b6 67 // gf_Mon.flg = 0;
MasashiNomura 41:45c982b1c5b6 68 gf_Print.d1.flg = 0;
MasashiNomura 41:45c982b1c5b6 69 gf_Print.d2.flg = 0;
MasashiNomura 39:1b76f7df8804 70
MasashiNomura 22:24c9c2dedca9 71 gf_Cal.flg = 0;
MasashiNomura 26:732bc37fbefd 72
MasashiNomura 41:45c982b1c5b6 73 //gf_DbgPrint.flg = 0;
MasashiNomura 26:732bc37fbefd 74
MasashiNomura 43:156199c2f9b6 75 // engine
MasashiNomura 43:156199c2f9b6 76 for(int i = 0; i < 2; ++i){
MasashiNomura 43:156199c2f9b6 77 gf_AxReq[i].dt = 0;
MasashiNomura 43:156199c2f9b6 78 gf_AxReqH[i].dt = 0;
MasashiNomura 43:156199c2f9b6 79 gf_AxStepReq[i].bf.req = false;
MasashiNomura 50:76413e8e073d 80 gf_AxStepReq[i].bf.val = 30;
MasashiNomura 53:b09c062cc31c 81 gf_AxAdjStepReq[i].bf.req = false;
MasashiNomura 53:b09c062cc31c 82 gf_AxAdjStepReq[i].bf.val = 20;
MasashiNomura 43:156199c2f9b6 83 }
MasashiNomura 43:156199c2f9b6 84
MasashiNomura 27:ff63c23bc689 85 for(int i=0; i<4;++i){
MasashiNomura 32:7f4145cc3551 86 gf_MtReq[i].req = false;
MasashiNomura 32:7f4145cc3551 87 gf_MtReq[i].val = 0;
MasashiNomura 32:7f4145cc3551 88 gf_MtReqOfs[i].req = false;
MasashiNomura 32:7f4145cc3551 89 gf_MtReqOfs[i].val = 0;
MasashiNomura 32:7f4145cc3551 90 gf_MtReqU[i].req = false;
MasashiNomura 32:7f4145cc3551 91 gf_MtReqU[i].val = 0;
MasashiNomura 50:76413e8e073d 92 gf_MtAttOfs[i].req = false;
MasashiNomura 50:76413e8e073d 93 gf_MtAttOfs[i].val = 0;
MasashiNomura 27:ff63c23bc689 94 }
MasashiNomura 50:76413e8e073d 95
MasashiNomura 27:ff63c23bc689 96 for(int i = 0; i < 8; ++i){
MasashiNomura 32:7f4145cc3551 97 gf_MtReqDct[i].req = false;
MasashiNomura 32:7f4145cc3551 98 gf_MtReqDct[i].val = 0;
MasashiNomura 27:ff63c23bc689 99 }
MasashiNomura 42:cc8501b824ba 100
MasashiNomura 42:cc8501b824ba 101 gf_SwCmd.dt = 0;
MasashiNomura 42:cc8501b824ba 102
MasashiNomura 22:24c9c2dedca9 103 gf_State = SLEEP;
MasashiNomura 36:2cc739c7e4cb 104 gf_StateEnt = false;
MasashiNomura 27:ff63c23bc689 105 g_PidPara.PP = 2;
MasashiNomura 32:7f4145cc3551 106 g_PidPara.P = 0;
MasashiNomura 25:f3a6e7eec9c3 107 g_PidPara.I = 0;
MasashiNomura 24:c5945aaae777 108 g_PidPara.D = 0;
MasashiNomura 24:c5945aaae777 109 g_PidPara.IMax = 2000;
MasashiNomura 24:c5945aaae777 110 g_PidPara.IMin = -2000;
MasashiNomura 50:76413e8e073d 111 g_PidPara.mode = PID_0_OFF;
MasashiNomura 50:76413e8e073d 112
MasashiNomura 36:2cc739c7e4cb 113 // for(int i = 0; i < 4; ++i){
MasashiNomura 36:2cc739c7e4cb 114 // gf_MotParaUpdate[i] = false;
MasashiNomura 36:2cc739c7e4cb 115 // g_MotPara[i].limit_hi = LIM_MOT_INP_MAX;
MasashiNomura 36:2cc739c7e4cb 116 // g_MotPara[i].limit_low = LIM_MOT_INP_MIN;
MasashiNomura 36:2cc739c7e4cb 117 // }
MasashiNomura 22:24c9c2dedca9 118 }
MasashiNomura 35:3779201b4c73 119
MasashiNomura 41:45c982b1c5b6 120 void setDOCol(eLedCol col)
MasashiNomura 41:45c982b1c5b6 121 {
MasashiNomura 41:45c982b1c5b6 122 switch(col){
MasashiNomura 41:45c982b1c5b6 123 case WHITE:
MasashiNomura 42:cc8501b824ba 124 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 125 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 126 DO_03 = 1;
MasashiNomura 41:45c982b1c5b6 127 break;
MasashiNomura 41:45c982b1c5b6 128 case RED:
MasashiNomura 42:cc8501b824ba 129 DO_01 = 1;
MasashiNomura 41:45c982b1c5b6 130 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 131 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 132 break;
MasashiNomura 41:45c982b1c5b6 133 case GREEN:
MasashiNomura 41:45c982b1c5b6 134 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 135 DO_02 = 1;
MasashiNomura 41:45c982b1c5b6 136 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 137 break;
MasashiNomura 41:45c982b1c5b6 138 case BLUE:
MasashiNomura 41:45c982b1c5b6 139 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 140 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 141 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 142 break;
MasashiNomura 42:cc8501b824ba 143 case YELLOW:
MasashiNomura 42:cc8501b824ba 144 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 145 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 146 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 147 break;
MasashiNomura 42:cc8501b824ba 148 case PURPLE:
MasashiNomura 42:cc8501b824ba 149 DO_01 = 1;
MasashiNomura 42:cc8501b824ba 150 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 151 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 152 break;
MasashiNomura 42:cc8501b824ba 153 case LIGHT_BLUE:
MasashiNomura 42:cc8501b824ba 154 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 155 DO_02 = 1;
MasashiNomura 42:cc8501b824ba 156 DO_03 = 1;
MasashiNomura 42:cc8501b824ba 157 break;
MasashiNomura 42:cc8501b824ba 158 case BLK_WHITE:
MasashiNomura 42:cc8501b824ba 159 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 160 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 161 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 162 break;
MasashiNomura 42:cc8501b824ba 163 case BLK_RED:
MasashiNomura 42:cc8501b824ba 164 DO_01 = !DO_01;
MasashiNomura 42:cc8501b824ba 165 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 166 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 167 break;
MasashiNomura 42:cc8501b824ba 168 case BLK_GREEN:
MasashiNomura 42:cc8501b824ba 169 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 170 DO_02 = !DO_02;
MasashiNomura 42:cc8501b824ba 171 DO_03 = 0;
MasashiNomura 42:cc8501b824ba 172 break;
MasashiNomura 42:cc8501b824ba 173 case BLK_BLUE:
MasashiNomura 42:cc8501b824ba 174 DO_01 = 0;
MasashiNomura 42:cc8501b824ba 175 DO_02 = 0;
MasashiNomura 42:cc8501b824ba 176 DO_03 = !DO_03;
MasashiNomura 42:cc8501b824ba 177 break;
MasashiNomura 42:cc8501b824ba 178 case BLK_YELLOW:
MasashiNomura 41:45c982b1c5b6 179 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 180 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 181 DO_03 = 0;
MasashiNomura 41:45c982b1c5b6 182 break;
MasashiNomura 42:cc8501b824ba 183 case BLK_PURPLE:
MasashiNomura 41:45c982b1c5b6 184 DO_01 = !DO_01;
MasashiNomura 41:45c982b1c5b6 185 DO_02 = 0;
MasashiNomura 41:45c982b1c5b6 186 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 187 break;
MasashiNomura 42:cc8501b824ba 188 case BLK_LIGHT_BLUE:
MasashiNomura 41:45c982b1c5b6 189 DO_01 = 0;
MasashiNomura 41:45c982b1c5b6 190 DO_02 = !DO_02;
MasashiNomura 41:45c982b1c5b6 191 DO_03 = !DO_03;
MasashiNomura 41:45c982b1c5b6 192 break;
MasashiNomura 41:45c982b1c5b6 193 case OFF:
MasashiNomura 41:45c982b1c5b6 194 default:
MasashiNomura 41:45c982b1c5b6 195 DO_01 = 0;//R
MasashiNomura 41:45c982b1c5b6 196 DO_02 = 0;//G
MasashiNomura 41:45c982b1c5b6 197 DO_03 = 0;//B
MasashiNomura 41:45c982b1c5b6 198 break;
MasashiNomura 41:45c982b1c5b6 199 }
MasashiNomura 41:45c982b1c5b6 200 }
MasashiNomura 41:45c982b1c5b6 201
MasashiNomura 41:45c982b1c5b6 202 void setDO4LED(enmHbState stat)
MasashiNomura 41:45c982b1c5b6 203 {
MasashiNomura 41:45c982b1c5b6 204 if(stat == NONE)
MasashiNomura 41:45c982b1c5b6 205 {// 消灯
MasashiNomura 41:45c982b1c5b6 206 setDOCol(OFF);
MasashiNomura 41:45c982b1c5b6 207 }
MasashiNomura 41:45c982b1c5b6 208 else if(stat == SLEEP)
MasashiNomura 41:45c982b1c5b6 209 {//YELLOW
MasashiNomura 41:45c982b1c5b6 210 setDOCol(YELLOW);
MasashiNomura 41:45c982b1c5b6 211 }
MasashiNomura 41:45c982b1c5b6 212 else if(stat == WAKEUP || stat == STANDBY)
MasashiNomura 41:45c982b1c5b6 213 {//BLUE
MasashiNomura 41:45c982b1c5b6 214 setDOCol(BLUE);
MasashiNomura 41:45c982b1c5b6 215 }
MasashiNomura 41:45c982b1c5b6 216 else if(stat == IDLE)
MasashiNomura 41:45c982b1c5b6 217 {//GREEN
MasashiNomura 41:45c982b1c5b6 218 setDOCol(GREEN);
MasashiNomura 41:45c982b1c5b6 219 }
MasashiNomura 48:71aec693a7dc 220 else if(stat == UPPER_IDLE)
MasashiNomura 48:71aec693a7dc 221 {//WHITE
MasashiNomura 48:71aec693a7dc 222 setDOCol(WHITE);
MasashiNomura 48:71aec693a7dc 223 }
MasashiNomura 41:45c982b1c5b6 224 else if(stat == TAKE_OFF || stat == HOVER || stat == DRIVE || stat == GROUND || stat == EMGGND)
MasashiNomura 41:45c982b1c5b6 225 {//PURPLE
MasashiNomura 43:156199c2f9b6 226 if(gf_BlinkLED){
MasashiNomura 43:156199c2f9b6 227 setDOCol(BLK_PURPLE);
MasashiNomura 43:156199c2f9b6 228 gf_BlinkLED = false;
MasashiNomura 43:156199c2f9b6 229 }
MasashiNomura 43:156199c2f9b6 230 else{
MasashiNomura 43:156199c2f9b6 231 setDOCol(PURPLE);
MasashiNomura 43:156199c2f9b6 232 }
MasashiNomura 41:45c982b1c5b6 233 }
MasashiNomura 42:cc8501b824ba 234 else if(stat == CHK_EG_ENT || stat == CHK_EG_MID || stat == CHK_EG_EXIT)
MasashiNomura 41:45c982b1c5b6 235 {//LIGHT BLUE
MasashiNomura 41:45c982b1c5b6 236 setDOCol(LIGHT_BLUE);
MasashiNomura 41:45c982b1c5b6 237 }
MasashiNomura 42:cc8501b824ba 238 else if(stat == CHK_EG_F || stat == CHK_EG_R )
MasashiNomura 42:cc8501b824ba 239 {//BLK_LIGHT BLUE
MasashiNomura 42:cc8501b824ba 240 setDOCol(BLK_LIGHT_BLUE);
MasashiNomura 42:cc8501b824ba 241 }
MasashiNomura 41:45c982b1c5b6 242 else if(stat == CHK_ENT || stat == CHK_MOT || stat == CHK_AXL || stat == CHK_ATT || stat == CHK_EXIT)
MasashiNomura 41:45c982b1c5b6 243 {//WHITE
MasashiNomura 41:45c982b1c5b6 244 setDOCol(WHITE);
MasashiNomura 41:45c982b1c5b6 245 }
MasashiNomura 41:45c982b1c5b6 246 else/* if(stat == MOT_STOP)*/
MasashiNomura 41:45c982b1c5b6 247 {
MasashiNomura 41:45c982b1c5b6 248 setDOCol(RED);
MasashiNomura 41:45c982b1c5b6 249 }
MasashiNomura 41:45c982b1c5b6 250 }
MasashiNomura 41:45c982b1c5b6 251
MasashiNomura 22:24c9c2dedca9 252 void setState(enmHbState stat){
MasashiNomura 22:24c9c2dedca9 253 // ありえない遷移を排除
MasashiNomura 22:24c9c2dedca9 254 if(gf_State == SLEEP){if(stat != WAKEUP) return;}
MasashiNomura 22:24c9c2dedca9 255 if(gf_State == WAKEUP){if(stat != STANDBY) return;}
MasashiNomura 22:24c9c2dedca9 256 if(gf_State == STANDBY){if(stat !=IDLE) return;}
MasashiNomura 23:79e20be4bc5b 257 if(gf_State == IDLE){if(stat != TAKE_OFF && stat != SLEEP) return;}
MasashiNomura 23:79e20be4bc5b 258 if(gf_State == TAKE_OFF){if(stat != HOVER && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 259 if(gf_State == GROUND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 260 if(gf_State == HOVER){if(stat != DRIVE && stat != GROUND) return;}
MasashiNomura 22:24c9c2dedca9 261 if(gf_State == DRIVE){if(stat != HOVER && stat != EMGGND) return;}
MasashiNomura 22:24c9c2dedca9 262 if(gf_State == EMGGND){if(stat != IDLE) return;}
MasashiNomura 22:24c9c2dedca9 263
MasashiNomura 23:79e20be4bc5b 264 sp.printf("state: %d\r\n",stat);
MasashiNomura 22:24c9c2dedca9 265 gf_State = stat;
MasashiNomura 36:2cc739c7e4cb 266 gf_StateEnt = true;
MasashiNomura 22:24c9c2dedca9 267 }
MasashiNomura 23:79e20be4bc5b 268 void setStateF(enmHbState stat){
MasashiNomura 23:79e20be4bc5b 269 sp.printf("state: %d\r\n",stat);
MasashiNomura 23:79e20be4bc5b 270 enmHbState tmp;
MasashiNomura 25:f3a6e7eec9c3 271 if((UINT16)stat > MOT_STOP){
MasashiNomura 23:79e20be4bc5b 272 tmp = SLEEP;
MasashiNomura 23:79e20be4bc5b 273 }
MasashiNomura 23:79e20be4bc5b 274 else
MasashiNomura 23:79e20be4bc5b 275 {
MasashiNomura 23:79e20be4bc5b 276 tmp = stat;
MasashiNomura 23:79e20be4bc5b 277 }
MasashiNomura 23:79e20be4bc5b 278 gf_State = tmp;
MasashiNomura 36:2cc739c7e4cb 279 gf_StateEnt = true;
MasashiNomura 23:79e20be4bc5b 280 }
MasashiNomura 37:d51dacb4c30f 281
MasashiNomura 37:d51dacb4c30f 282 bool isActiveState(){
MasashiNomura 37:d51dacb4c30f 283 if(gf_State >= IDLE && gf_State <= EMGGND){
MasashiNomura 37:d51dacb4c30f 284 return true;
MasashiNomura 37:d51dacb4c30f 285 }
MasashiNomura 37:d51dacb4c30f 286 else {
MasashiNomura 37:d51dacb4c30f 287 return false;
MasashiNomura 37:d51dacb4c30f 288 }
MasashiNomura 37:d51dacb4c30f 289 }
MasashiNomura 37:d51dacb4c30f 290
MasashiNomura 33:eb260dbfc22a 291