Diff: userTask.cpp

Revision:

29:eb3d72dd94aa

Parent:

28:fdb3b144e342

Child:

30:13ada1a24c59

--- a/userTask.cpp	Sat Dec 15 14:20:04 2018 +0000
+++ b/userTask.cpp	Mon Dec 17 13:25:00 2018 +0000
@@ -98,16 +98,24 @@
             }
         }
         if(gf_StopMot){
-            setStateF(MOT_STOP);
-            hb.getCurMotVal();
+            //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_StopMot = false;
         }
 
+
         //▼①状態読み出し系
         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){
             case SLEEP:
@@ -168,26 +176,34 @@
                 //    hb.calAtt();
                 //    setState(TAKE_OFF);
                 //}
+                //if(hb.chkSWUserOpeRE(HbUserOpe::F_L)){
                 if(hb.chkSWUserOpe(HbUserOpe::F_L)){
                     // Front Left 
-                    hb.addMotOfs(HbUserOpe::F_L);
+                    //hb.addMotOfs(HbUserOpe::F_L);
+                    gf_MtReqOP[0].req=true; gf_MtReqOP[0].add_end=false; gf_MtReqOP[0].counter = 0; gf_MtReqOP[0].num = 20;
+                    gf_MtReqOP[0].addVal = 0;
                 }
+                //if(hb.chkSWUserOpeRE(HbUserOpe::F_R)){
                 if(hb.chkSWUserOpe(HbUserOpe::F_R)){
                     // Front Right 
-                    hb.addMotOfs(HbUserOpe::F_R);
+                    //hb.addMotOfs(HbUserOpe::F_R);
+                    gf_MtReqOP[1].req=true; gf_MtReqOP[1].add_end=false; gf_MtReqOP[1].counter = 0; gf_MtReqOP[1].num = 20;
+                    gf_MtReqOP[1].addVal = 0;
                 }
                 if(hb.chkSWUserOpe(HbUserOpe::R_L)){
                     // Rear Left 
-                    hb.addMotOfs(HbUserOpe::R_L);
+                    //hb.addMotOfs(HbUserOpe::R_L);
                 }
                 if(hb.chkSWUserOpe(HbUserOpe::R_R)){
                     // Rear Right
-                    hb.addMotOfs(HbUserOpe::R_R);
+                    //hb.addMotOfs(HbUserOpe::R_R);
                 }
                 if(hb.chkSWUserOpeRE(HbUserOpe::EMG_STOP)){
                     // EMG STOP だが、テスト用のため、モーターのオフセットを0にして回転を止める
                     //sp.printf("RisingEdge!\r\n");
                     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;
                     }