Diff: userTask.cpp

Revision:

32:7f4145cc3551

Parent:

31:56c554c560c1

Child:

33:eb260dbfc22a

--- a/userTask.cpp	Wed Dec 19 12:22:22 2018 +0000
+++ b/userTask.cpp	Thu Dec 20 11:38:09 2018 +0000
@@ -92,11 +92,11 @@
         }
         for(int i = 0; i < 4; ++i){
             if(gf_MotParaUpdate[i]){
-                hb.setMotPara((UCHAR)i, g_MotPara[i]);
-                sp.printf("num   : [%d]\r\n",i);
-                //sp.printf("ofs  : [%d]\r\n",g_MotPara[i].offset);
-                sp.printf("low  : [%d]\r\n",g_MotPara[i].limit_low);
-                sp.printf("hi   : [%d]\r\n",g_MotPara[i].limit_hi);
+//                hb.setMotPara((UCHAR)i, g_MotPara[i]);
+//                sp.printf("num   : [%d]\r\n",i);
+//                //sp.printf("ofs  : [%d]\r\n",g_MotPara[i].offset);
+//                sp.printf("low  : [%d]\r\n",g_MotPara[i].limit_low);
+//                sp.printf("hi   : [%d]\r\n",g_MotPara[i].limit_hi);
                 gf_MotParaUpdate[i] = false;
             }
         }
@@ -104,10 +104,10 @@
             //setStateF(MOT_STOP);
             //hb.getCurMotVal();
             for(int i = 0; i < 4; ++i){
-                gf_MtReq[i].bf.req = true;
-                gf_MtReq[i].bf.val = 0;
-                gf_MtReqOfs[i].bf.req = true;
-                gf_MtReqOfs[i].bf.val = 0;
+                gf_MtReq[i].req = true;
+                gf_MtReq[i].val = 0;
+                gf_MtReqOfs[i].req = true;
+                gf_MtReqOfs[i].val = 0;
             }
             gf_StopMot = false;
         }
@@ -158,7 +158,7 @@
                 hb.chkSW(IDLE);
                 bDoCtrlEng = true;
                 bDoCtrlMot = true;
-                bDoCtrlAtt = true;
+                //bDoCtrlAtt = true;
             break;
             case TAKE_OFF:
                 // エンジン回転数のチェック
@@ -204,15 +204,15 @@
                 sp.printf("Check Exit\r\n");
             break;
             case MOT_STOP:
-                if(hb.stopMotor() == true){
-                    hb.initMotVal();
-                    setState(SLEEP);
-                    sp.printf("MOTOR STOPPED!\r\n");
-                }
-                else{
-                    //bDoCtrlMot = true;
-                    sp.printf(".");
-                }
+                // if(hb.stopMotor() == true){
+                //     hb.initMotVal();
+                //     setState(SLEEP);
+                //     sp.printf("MOTOR STOPPED!\r\n");
+                // }
+                // else{
+                //     //bDoCtrlMot = true;
+                //     sp.printf(".");
+                // }
             break;
         }