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ライブラリ化を行った後
Dependencies: QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo
Fork of 17robo_Practice1 by
Diff: main.cpp
- Revision:
- 51:70d45b959d6b
- Parent:
- 50:e4e1f38d1bd5
- Child:
- 52:f5ae47e683fa
--- a/main.cpp Wed Sep 13 02:17:38 2017 +0000 +++ b/main.cpp Wed Sep 13 02:58:53 2017 +0000 @@ -85,6 +85,7 @@ PwmOut servo(pin_servo); DigitalOut sbdbt_indigator(pin_sbdbt_indicator); varEvent event; +varEvent cylinder_event; void setup(); void output(); @@ -107,18 +108,6 @@ int cylinder_pos_num = 0; float cylinder_pos[3] = {0.0,90.0,325.0}; -//riseEventそのうちClassにしたい -short state; -int riseEvent(int input) -{ - state = ((state<<1)|input)&3; - if(state == 1) { - return 1; - } else { - return 0; - } -} - int main() { setup(); @@ -129,7 +118,7 @@ led4 = interrupt_sholderright_min; event.input(sbdbt.left); - pc.printf("riseState %d : fallState %d\r\n",event.getRiseState(),event.getFallState()); + pc.printf("riseState %d : fallState %d\r\n",event.getRise(),event.getFall()); } } @@ -208,8 +197,9 @@ void cylinder_cal() { cylinder.cyclic(sbdbt.shikaku); //cylinder ON/OFF - - if(riseEvent(sbdbt.right)) { //cylinder degset + + cylinder_event.input(sbdbt.right); + if(cylinder_event.getRise()) { //cylinder degset cylinder_pos_num++; if(cylinder_pos_num >= 3) { //cylinder_pos_num = 0;