hirromu takaki / states

手動bのほぼ全部

Dependents:   kobayashi_rei 2019BSyudo Bsyudo 2019Bsyudo

Diff: states.cpp

Revision:
1:38dd7564c15f
Parent:
0:8d012d469eb4
Child:
2:860eb70d3656
--- a/states.cpp	Mon Jul 08 08:45:10 2019 +0000
+++ b/states.cpp	Wed Jul 10 07:38:28 2019 +0000
@@ -5,7 +5,8 @@
     pad(padTX,padRX,ADDRESS),
     gyro(GYROTX,GYRORX),
     serial(MDTX,MDRX,MDBAUD),
-    omni(&serial)
+    omni(&serial),
+    emStop(STOP)
 {
     anglePID.setMode(AUTO_MODE);
     anglePID.setInputLimits(-360, 360);
@@ -60,7 +61,9 @@
     if(pad.receiveState() == 0){
         /*omni.stop()は止める*/
         omni.stop();
+        emStop = false;
     }else{
+        emStop = true;
         tellAngle();
         tellPad();
 //        tellState();