Diff: main.cpp

Revision:

50:e4e1f38d1bd5

Parent:

49:b041c815c063

Child:

51:70d45b959d6b

--- a/main.cpp	Wed Sep 13 01:25:07 2017 +0000
+++ b/main.cpp	Wed Sep 13 02:17:38 2017 +0000
@@ -13,6 +13,7 @@
 #include "cyclic.h"
 #include "cyclic_IO.h"
 #include "cylinder.h"
+#include "varEvent.h"
 
 #define pc_baud     460800
 #define sbdbt_tx    p13
@@ -54,8 +55,6 @@
 #define pin_cylinder_reload p15
 #define pin_sbdbt_pairing p12
 #define pin_sbdbt_indicator p11
-//#define pin_servo_reload p29 //
-//#define pin_interrupt_reload p30 //
 
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
@@ -83,13 +82,9 @@
 Encoder enc_cylinder(encoder_A,encoder_B);
 Cyclic cyclic_servo;
 Cyclic_IO cylinder_reload(pin_cylinder_reload);
-
-//追加
 PwmOut servo(pin_servo);
-Timeout timer_servo;
 DigitalOut sbdbt_indigator(pin_sbdbt_indicator);
-//Servo servo_reload(pin_servo_reload);
-//DigitalIn interrupt_reload(pin_interrupt_reload);
+varEvent event;
 
 void setup();
 void output();
@@ -132,9 +127,9 @@
         led2 = interrupt_sholderleft_min;
         led3 = interrupt_sholderright_max;
         led4 = interrupt_sholderright_min;
-        //pc.printf("Pulses is: %lo\tdeg :%f\r\n",enc_cylinder.pulse(),enc_cylinder.deg());
-        //pc.printf("rise state : %d\r\n",cyclic_servo.getState());
-        pc.printf("Sbdbtstate : %d\r\n",sbdbt.get_pairingState());
+        
+        event.input(sbdbt.left);
+        pc.printf("riseState %d  :  fallState %d\r\n",event.getRiseState(),event.getFallState());
     }
 }
 
@@ -158,8 +153,6 @@
     v4.setup(acceleration,output_period);
     enc_cylinder.setup(100);
     enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
-
-    //追加
     servo.period(0.020);
 }
 
@@ -212,7 +205,6 @@
     }
 }
 
-//追記(動作未確認)
 void cylinder_cal()
 {
     cylinder.cyclic(sbdbt.shikaku);     //cylinder ON/OFF
@@ -224,24 +216,9 @@
             cylinder_origin_flag=1;
         }
     }
-    enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //コントローラで数値設定
+    enc_cylinder.cal((float)cylinder_pos[cylinder_pos_num],output_period); //set cylinder_tergetPos
 
     //pc.printf("terget\t%f\tnow_deg\t%f\tnow_pulse\t%d\tpwm\t%f\r\n",cylinder_pos[cylinder_pos_num],enc_cylinder.deg(),enc_cylinder.pulse(),enc_cylinder.duty());
-
-//リロード機構完成後
-    /*
-        if(cylinder.getInState() == 1){
-            if(interrupt_cylinder_min)servo_reload = 1.0;
-        }else{
-            servo_reload = 0.0;
-            reload_magazine_flag = 1;
-        }
-
-        if(reload_magazine_flag == 1){
-            rs422.put(n6_id, 0.8, 0.0);
-            if(interrupt_reload == 1)reload_magazine_flag = 0;
-        }
-    */
 }
 
 void servo_max()