Diff: hbCommand.cpp

Revision:

42:cc8501b824ba

Parent:

41:45c982b1c5b6

Child:

43:156199c2f9b6

--- a/hbCommand.cpp	Mon Jan 21 11:57:35 2019 +0000
+++ b/hbCommand.cpp	Wed Jan 23 11:58:53 2019 +0000
@@ -34,6 +34,9 @@
         else if (strcmp(g_CmdBuf , "re"  )==0 ){gf_Print.d1.bf.e1=true; gf_Print.d1.bf.e2=true;}
         else if (strcmp(g_CmdBuf , "re1" )==0 ){gf_Print.d1.bf.e1=true;}
         else if (strcmp(g_CmdBuf , "re2" )==0 ){gf_Print.d1.bf.e2=true;}
+        else if (strcmp(g_CmdBuf , "rep"  )==0 ){gf_Print.d2.bf.ep1=true; gf_Print.d2.bf.ep2=true;}//エンジン用サーボにセットされた値
+        else if (strcmp(g_CmdBuf , "rep1" )==0 ){gf_Print.d2.bf.ep1=true;}//前エンジン用サーボにセットされた値
+        else if (strcmp(g_CmdBuf , "rep2" )==0 ){gf_Print.d2.bf.ep2=true;}//後エンジン用サーボにセットされた値
         else if (strcmp(g_CmdBuf , "rm"  )==0 ){gf_Print.d1.bf.m1=true;gf_Print.d1.bf.m2=true;gf_Print.d1.bf.m3=true;gf_Print.d1.bf.m4=true;}//リードモーター  
         else if (strcmp(g_CmdBuf , "rm1" )==0 ){gf_Print.d1.bf.m1=true;}//リードモーター1 
         else if (strcmp(g_CmdBuf , "rm2" )==0 ){gf_Print.d1.bf.m2=true;}//リードモーター2 
@@ -55,6 +58,8 @@
         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 , "seh1"   )==0 ){gf_AxReqH[0].bf.req=true; gf_AxReqH[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
+        else if (strcmp(g_CmdBuf , "seh2"   )==0 ){gf_AxReqH[1].bf.req=true; gf_AxReqH[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm1"   )==0 ){gf_MtReq[0].req=true; gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm2"   )==0 ){gf_MtReq[1].req=true; gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm3"   )==0 ){gf_MtReq[2].req=true; gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
@@ -120,6 +125,17 @@
         else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.d1.bf.stat=true;}//ステート表示
         else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
 
+        else if (strcmp(g_CmdBuf , "sw0")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=0;}//SW 0bit目をON
+        else if (strcmp(g_CmdBuf , "sw1")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=1;}//SW 1bit目をON
+        else if (strcmp(g_CmdBuf , "sw2")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=2;}//SW 2bit目をON
+        else if (strcmp(g_CmdBuf , "sw3")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=3;}//SW 3bit目をON
+        else if (strcmp(g_CmdBuf , "sw4")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=4;}//SW 4bit目をON
+        else if (strcmp(g_CmdBuf , "sw5")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=5;}//SW 5bit目をON
+        else if (strcmp(g_CmdBuf , "sw6")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=6;}//SW 6bit目をON
+        else if (strcmp(g_CmdBuf , "sw7")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=7;}//SW 7bit目をON
+        else if (strcmp(g_CmdBuf , "sw8")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=8;}//SW 8bit目をON
+        else if (strcmp(g_CmdBuf , "sw9")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=9;}//SW 9bit目をON
+
         else if (strcmp(g_CmdBuf , "stopmot")==0 ){gf_StopMot = true;}//モーター強制停止
         
         else if (strcmp(g_CmdBuf , "spidpp")==0 ){g_PidPara.PP = atof(&g_CmdBuf[arg2pos]);gf_PidParaUpdate=true;}//PIDの係数 Pp設定
@@ -129,37 +145,7 @@
         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
-        // 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 , "rmo"  )==0 ){gf_Print.d2.bf.mo1=true;gf_Print.d2.bf.mo2=true;gf_Print.d2.bf.mo3=true;gf_Print.d2.bf.mo4=true;}//リードモーターオフセット
         else if (strcmp(g_CmdBuf , "rmo1" )==0 ){gf_Print.d2.bf.mo1=true;}//リードモーターオフセット1 
         else if (strcmp(g_CmdBuf , "rmo2" )==0 ){gf_Print.d2.bf.mo2=true;}//リードモーターオフセット2 
@@ -179,6 +165,17 @@
         else if (strcmp(g_CmdBuf , "stat")==0 ){gf_Print.d1.bf.stat=true;}//ステート表示
         else if (strcmp(g_CmdBuf , "sstatf")==0 ){setStateF((enmHbState)atoi(&g_CmdBuf[arg2pos]));}//ステート強制遷移
 
+        else if (strcmp(g_CmdBuf , "sw0")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=0;}//SW 0bit目をON
+        else if (strcmp(g_CmdBuf , "sw1")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=1;}//SW 1bit目をON
+        else if (strcmp(g_CmdBuf , "sw2")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=2;}//SW 2bit目をON
+        else if (strcmp(g_CmdBuf , "sw3")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=3;}//SW 3bit目をON
+        else if (strcmp(g_CmdBuf , "sw4")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=4;}//SW 4bit目をON
+        else if (strcmp(g_CmdBuf , "sw5")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=5;}//SW 5bit目をON
+        else if (strcmp(g_CmdBuf , "sw6")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=6;}//SW 6bit目をON
+        else if (strcmp(g_CmdBuf , "sw7")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=7;}//SW 7bit目をON
+        else if (strcmp(g_CmdBuf , "sw8")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=8;}//SW 8bit目をON
+        else if (strcmp(g_CmdBuf , "sw9")==0 ){gf_SwCmd.bf.req=true;gf_SwCmd.bf.val=9;}//SW 9bit目をON
+
         else if (strcmp(g_CmdBuf , "sm1"   )==0 ){gf_MtReq[0].req=true; gf_MtReq[0].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm2"   )==0 ){gf_MtReq[1].req=true; gf_MtReq[1].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
         else if (strcmp(g_CmdBuf , "sm3"   )==0 ){gf_MtReq[2].req=true; gf_MtReq[2].val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}