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GifuRobo B term
Dependencies: FastPWM cal_PID mbed omuni
Fork of omuni_speed_pid by
Diff: main.cpp
- Revision:
- 8:956a76b98da0
- Parent:
- 7:5cdd805ca8a3
- Child:
- 9:bf6d20813364
--- a/main.cpp Tue Sep 19 02:39:07 2017 +0000 +++ b/main.cpp Tue Sep 19 03:19:28 2017 +0000 @@ -44,6 +44,7 @@ bool comTimeout_state = true; bool ems = false; +bool recovery = false; bool arm = false; bool spear = false; @@ -114,6 +115,9 @@ comBuf_t comBuf; +void reset(){ + NVIC_SystemReset(); +} int grayDiffer2bit(int gray, int origin){ @@ -198,7 +202,12 @@ int lift_nearest_num = 0; - ems = buf->EMO != 0; + if(buf->EMO != 0){ + ems = true; + } + else if(ems == true){ + reset(); + } speed_x = omuni_speed_max * getJoy7bit(buf->joyLX) / 64.0f; speed_y = omuni_speed_max * getJoy7bit(buf->joyLY) / 64.0f; @@ -322,10 +331,8 @@ else{ soundEnd = true; } - } - void comTimeout_intr(){ if(comTimeout_count >= comTimeout_ms){ @@ -559,6 +566,7 @@ drive_motor(EMO_Addr, 0); while(1); + }