Takushima Yukimasa
/
R19_ManuTakukAHWGeo
a
Diff: main.cpp
- Revision:
- 18:d6be6154f9aa
- Parent:
- 14:e6d16095ffa8
- Child:
- 19:340fc4370258
diff -r e6d16095ffa8 -r d6be6154f9aa main.cpp --- 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()