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
diff -r 8d012d469eb4 -r 38dd7564c15f states.cpp --- 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();