Diff: userTask.cpp

Revision:

46:5074781a28dd

Parent:

41:45c982b1c5b6

Child:

47:d3fa874f336e

--- a/userTask.cpp	Wed Feb 13 11:55:39 2019 +0000
+++ b/userTask.cpp	Tue Feb 19 11:52:49 2019 +0000
@@ -1,8 +1,9 @@
-//RTOS関連------------------
+/////////////////////////////////////
+/// RTOS関連------------------
 #include "FreeRTOS.h"
 #include "task.h"
-//#include "queue.h"
-//------------------RTOS関連
+/// ------------------RTOS関連
+/////////////////////////////////////
 
 #include "globalFlags.h"
 #include "HbManager.h"
@@ -78,7 +79,7 @@
     INT16 AxlRpm;
     INT16 TrtlVal;
     float AxlRow;
-    float TrtlRow;
+    //float TrtlRow;
     while(1){
         // DISPLAY LED
         led1=!led1;
@@ -225,6 +226,8 @@
                 AxlRpm = hb.getUserMotAxl();
                 hb.setMotVal(R_L,AxlRpm);
                 hb.setMotVal(R_R,AxlRpm);
+                // hb.setMotValOfs(R_L,AxlRpm);
+                // hb.setMotValOfs(R_R,AxlRpm);
                 bDoCtrlEng = true;
                 bDoCtrlMot = true;
                 //bDoCtrlAtt = true;
@@ -244,6 +247,8 @@
                 AxlRpm = hb.getUserMotAxl();
                 hb.setMotVal(R_L,AxlRpm);
                 hb.setMotVal(R_R,AxlRpm);
+                // hb.setMotValOfs(R_L,AxlRpm);
+                // hb.setMotValOfs(R_R,AxlRpm);
                 bDoCtrlEng = true;
                 bDoCtrlMot = true;
                 bDoCtrlAtt = true;
@@ -447,7 +452,8 @@
         //hb.controlMotor();//モーター指令出し
         if(bDoCtrlAtt)hb.controlAttitude(); //姿勢制御
         if(bDoCtrlMot)hb.controlMotor();//モーター指令出し
-        if(bDoCtrlEng)hb.controlEngine();//エンジン指令出し
+        //if(bDoCtrlEng)hb.controlEngine();//エンジン指令出し
+        if(bDoCtrlEng)hb.controlEngine(gf_State);//エンジン指令出し
 
         if(gf_Print.d1.bf.stat){
             sp.printf("stat : [%X] ",gf_State);