teamALI / Mbed 2 deprecated HB2018

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Dependencies:   mbed FreeRTOS

Diff: userTask.cpp

Revision:
33:eb260dbfc22a
Parent:
32:7f4145cc3551
Child:
34:234b87f3e6ce
--- a/userTask.cpp	Thu Dec 20 11:38:09 2018 +0000
+++ b/userTask.cpp	Fri Dec 21 12:31:17 2018 +0000
@@ -72,7 +72,7 @@
     bool bDoCtrlMot;
     bool bDoCtrlEng;
     //INT16 tmpRpm, difRpm;
-    //
+    INT16 AxlRpm;
     while(1){
         led1=!led1;
         bDoCtrlAtt = false;
@@ -117,7 +117,6 @@
         hb.getAttitude();     //現在角度読み出し
         hb.controlEngine();   //エンジン回転数読み出し
         hb.getUserCommand();  //操作ボタン状態読み出し
-        
        
         //▼②ステート遷移
         switch(gf_State){
@@ -156,6 +155,9 @@
             case IDLE:
                 //SWのチェック
                 hb.chkSW(IDLE);
+                AxlRpm = hb.getUserMotAxl();
+                hb.setMotVal(R_L,AxlRpm);
+                hb.setMotVal(R_R,AxlRpm);
                 bDoCtrlEng = true;
                 bDoCtrlMot = true;
                 //bDoCtrlAtt = true;