Diff: main.cpp

Revision:

18:d6be6154f9aa

Parent:

14:e6d16095ffa8

Child:

19:340fc4370258

--- a/main.cpp	Sat Sep 21 01:06:15 2019 +0000
+++ b/main.cpp	Thu Sep 26 09:56:47 2019 +0000
@@ -397,6 +397,12 @@
                         break;
                 }
             } else {
+
+                kago=0;
+                pull=0;
+                grab=0;
+                spull=0;
+
                 if(sbdbt.R1) {
                     //腕おろす
                     i2c.Out_Set(Out_Data,0,1);
@@ -479,7 +485,7 @@
                 else if(short_f) {
                     //爪開く
                     i2c.Out_Set(Out_Data,1,1);
-                    
+
                     if(short_lim==1) {
                         short_f=0;
                         back_f=0;
@@ -525,11 +531,6 @@
                     //かご停止
                     MD_SET_DRIVE(MD_Data,6,MD_BRAKE);
                     MD_SET_PWM  (MD_Data,6,0);
-
-                    kago=0;
-                    pull=0;
-                    grab=0;
-                    spull=0;
                 }
             }
         }
@@ -645,8 +646,7 @@
 //            pc.printf("%d %d",keep_tim[0].read_ms(),keep_f[0]);
 //        pc.printf("LX:%d, LY:%d, RX:%d, RY:%d",sbdbt.LX, sbdbt.LY, sbdbt.RX, sbdbt.RY);
 //for(int i=0; i<7; i++)
-        pc.printf("%d ",sbdbt.PS);
-        pc.printf("%d ",disturb);
+        pc.printf("%d %d ",grab, grab_f);
         pc.printf("\n\r");
     }     // while(1)
 }       // int main()