teamALI / Mbed 2 deprecated HB2018

Dependencies:   mbed FreeRTOS

Revision:
31:56c554c560c1
Parent:
30:13ada1a24c59
Child:
32:7f4145cc3551
--- a/hbCommand.cpp	Tue Dec 18 11:57:37 2018 +0000
+++ b/hbCommand.cpp	Wed Dec 19 12:22:22 2018 +0000
@@ -53,6 +53,8 @@
         //設定系
         else if (strcmp(g_CmdBuf , "se1"   )==0 ){gf_AxReq[0].bf.req=true; gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "se2"   )==0 ){gf_AxReq[1].bf.req=true; gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
+        else if (strcmp(g_CmdBuf , "sep1"   )==0 ){gf_AxReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
+        else if (strcmp(g_CmdBuf , "sep2"   )==0 ){gf_AxReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm1"   )==0 ){gf_MtReq[0].bf.req=true; gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm2"   )==0 ){gf_MtReq[1].bf.req=true; gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm3"   )==0 ){gf_MtReq[2].bf.req=true; gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
@@ -132,6 +134,7 @@
         else if (strcmp(g_CmdBuf , "spidd")==0 ){g_PidPara.D = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 D設定
         else if (strcmp(g_CmdBuf , "spidimax")==0 ){g_PidPara.IMax = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 積分上限値設定
         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
@@ -243,6 +246,7 @@
         else if (strcmp(g_CmdBuf , "spidd")==0 ){g_PidPara.D = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 D設定
         else if (strcmp(g_CmdBuf , "spidimax")==0 ){g_PidPara.IMax = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 積分上限値設定
         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 , "op1" )==0 ){gf_MtReqOP[0].req=true; gf_MtReqOP[0].add_end=false; gf_MtReqOP[0].counter = 0; gf_MtReqOP[0].num = atoi(&g_CmdBuf[arg2pos]);}//モーター1一時的噴射
         // else if (strcmp(g_CmdBuf , "op2" )==0 ){gf_MtReqOP[1].req=true; gf_MtReqOP[1].add_end=false; gf_MtReqOP[1].counter = 0; gf_MtReqOP[1].num = atoi(&g_CmdBuf[arg2pos]);}//モーター2一時的噴射