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Dependencies:   mbed FreeRTOS

Diff: hbCommand.cpp

Revision:
36:2cc739c7e4cb
Parent:
33:eb260dbfc22a
Child:
38:24ee50452755
--- a/hbCommand.cpp	Tue Dec 25 08:20:17 2018 +0000
+++ b/hbCommand.cpp	Wed Jan 16 10:51:07 2019 +0000
@@ -128,36 +128,36 @@
         else if (strcmp(g_CmdBuf , "spidimin")==0 ){g_PidPara.IMin = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 積分下限値設定
         else if (strcmp(g_CmdBuf , "spidv")==0 ){g_PidPara.V = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PID2の角速度の係数
  
-        //else if (strcmp(g_CmdBuf , "smot1ofs")==0 ){g_MotPara[0].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１オフセット設定
-        else if (strcmp(g_CmdBuf , "smot1hi")==0 ){g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１上限値設定
-        else if (strcmp(g_CmdBuf , "smot1low")==0 ){g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１下限値設定
-        //else if (strcmp(g_CmdBuf , "smot2ofs")==0 ){g_MotPara[1].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２オフセット設定
-        else if (strcmp(g_CmdBuf , "smot2hi")==0 ){g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２上限値設定
-        else if (strcmp(g_CmdBuf , "smot2low")==0 ){g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２下限値設定
-        //else if (strcmp(g_CmdBuf , "smot3ofs")==0 ){g_MotPara[2].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３オフセット設定
-        else if (strcmp(g_CmdBuf , "smot3hi")==0 ){g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３上限値設定
-        else if (strcmp(g_CmdBuf , "smot3low")==0 ){g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３下限値設定
-        //else if (strcmp(g_CmdBuf , "smot4ofs")==0 ){g_MotPara[3].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４オフセット設定
-        else if (strcmp(g_CmdBuf , "smot4hi")==0 ){g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４上限値設定
-        else if (strcmp(g_CmdBuf , "smot4low")==0 ){g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４下限値設定
+        // else if (strcmp(g_CmdBuf , "smot1ofs")==0 ){g_MotPara[0].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１オフセット設定
+        // else if (strcmp(g_CmdBuf , "smot1hi")==0 ){g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１上限値設定
+        // else if (strcmp(g_CmdBuf , "smot1low")==0 ){g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;}//モーター１下限値設定
+        // else if (strcmp(g_CmdBuf , "smot2ofs")==0 ){g_MotPara[1].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２オフセット設定
+        // else if (strcmp(g_CmdBuf , "smot2hi")==0 ){g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２上限値設定
+        // else if (strcmp(g_CmdBuf , "smot2low")==0 ){g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;}//モーター２下限値設定
+        // else if (strcmp(g_CmdBuf , "smot3ofs")==0 ){g_MotPara[2].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３オフセット設定
+        // else if (strcmp(g_CmdBuf , "smot3hi")==0 ){g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３上限値設定
+        // else if (strcmp(g_CmdBuf , "smot3low")==0 ){g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;}//モーター３下限値設定
+        // else if (strcmp(g_CmdBuf , "smot4ofs")==0 ){g_MotPara[3].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４オフセット設定
+        // else if (strcmp(g_CmdBuf , "smot4hi")==0 ){g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４上限値設定
+        // else if (strcmp(g_CmdBuf , "smot4low")==0 ){g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;}//モーター４下限値設定
         // else if (strcmp(g_CmdBuf , "smotofs")==0 ){
         //     g_MotPara[0].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
         //     g_MotPara[1].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
         //     g_MotPara[2].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
         //     g_MotPara[3].offset = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
         //     }//モーター１~４オフセット設定
-        else if (strcmp(g_CmdBuf , "smothi")==0 ){
-            g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
-            g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
-            g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
-            g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
-            }//モーター１~４上限値設定
-        else if (strcmp(g_CmdBuf , "smotlow")==0 ){
-            g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
-            g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
-            g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
-            g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
-            }//モーター１~４下限値設定
+        // else if (strcmp(g_CmdBuf , "smothi")==0 ){
+        //     g_MotPara[0].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
+        //     g_MotPara[1].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
+        //     g_MotPara[2].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
+        //     g_MotPara[3].limit_hi = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
+        //     }//モーター１~４上限値設定
+        // else if (strcmp(g_CmdBuf , "smotlow")==0 ){
+        //     g_MotPara[0].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[0]=true;
+        //     g_MotPara[1].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[1]=true;
+        //     g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
+        //     g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
+        //     }//モーター１~４下限値設定
         else if (strcmp(g_CmdBuf , "rmo"  )==0 ){gf_DbgPrint.bf.mo1=true;gf_DbgPrint.bf.mo2=true;gf_DbgPrint.bf.mo3=true;gf_DbgPrint.bf.mo4=true;}//リードモーターオフセット
         else if (strcmp(g_CmdBuf , "rmo1" )==0 ){gf_DbgPrint.bf.mo1=true;}//リードモーターオフセット1 
         else if (strcmp(g_CmdBuf , "rmo2" )==0 ){gf_DbgPrint.bf.mo2=true;}//リードモーターオフセット2