Diff: userTask.cpp

Revision:

27:ff63c23bc689

Parent:

26:732bc37fbefd

Child:

28:fdb3b144e342

--- a/userTask.cpp	Thu Dec 13 12:15:35 2018 +0000
+++ b/userTask.cpp	Fri Dec 14 12:32:27 2018 +0000
@@ -115,11 +115,17 @@
                     gf_Dbg = false;
                     taskStart(2);
                 }
-                else if(gf_Armed){
-                    gf_Armed = false;
-//                    hb.initChkMotor();
-                    setState(WAKEUP);
+                for(int i = 0; i < 8; ++i){
+                    if(gf_MtReqDct[i].bf.req){
+                        hb.setMotFPGA(i, gf_MtReqDct[i].bf.val);
+                        gf_MtReqDct[i].bf.req = false;
+                    }
                 }
+                //else if(gf_Armed){
+                //    gf_Armed = false;
+//              //      hb.initChkMotor();
+                //    setState(WAKEUP);
+                //}
             break;
             case WAKEUP:
                 //各種モーター
@@ -182,8 +188,8 @@
                     // 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;
                     }
                 }