![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
スレッド生成消去追加
Dependencies: RemoteIR TextLCD
Diff: main.cpp
- Revision:
- 4:3f80c0180e2f
- Parent:
- 3:2ae6218973be
- Child:
- 5:3fffb364744b
--- a/main.cpp Wed Jul 29 01:24:51 2020 +0000 +++ b/main.cpp Wed Jul 29 03:10:44 2020 +0000 @@ -103,20 +103,21 @@ void trace(void const *argument); void watchsurrounding(); int watch(); -void bChange(void const *argument); +void bChange(/*void const *argument*/); void display(); void lcdBacklight(void const *argument); -Thread thread1(decodeIR, NULL, osPriorityAboveNormal); -Thread thread2(motor, NULL, osPriorityNormal); -Thread thread3(avoidance, NULL, osPriorityLow); -Thread thread4(trace, NULL, osPriorityLow); -Thread thread5(bChange, NULL, osPriorityIdle); +Thread thread1(decodeIR, NULL, osPriorityRealtime);//+3 +Thread thread2(motor, NULL, osPriorityHigh);//+2 +Thread thread3(avoidance, NULL, osPriorityHigh);//+2 +Thread thread4(trace, NULL, osPriorityHigh);//+2 +//Thread thread5(bChange, NULL, osPriorityBelowNormal);//-1 RtosTimer bTimer(lcdBacklight, osTimerPeriodic); -void decodeIR(void const *argument){ - while(1){ + void decodeIR(void const *argument){ + while(1){ // 受信待ち + pc.printf("decodeIR\r\n"); if (ir.getState() == ReceiverIR::Received) { // コード受信 bitcount = ir.getData(&format, buf, sizeof(buf) * 8); @@ -135,6 +136,9 @@ case 0x40bf27d8://クイック pc.printf("mode = SPEED\r\n"); mode = SPEED; + changeSpeed(); + display(); + mode = beforeMode; break; case 0x40be34cb://レグザリンク pc.printf("mode = INE_TRACE\r\n"); @@ -181,8 +185,20 @@ } } } - ThisThread::sleep_for(10); - } + if(viewTimer.read_ms()>=3000){ + //pc.printf("a"); + viewTimer.stop(); + //defaultView(); + viewTimer.reset(); + display(); + //flaga=0; + } + //pc.printf(" main2\r\n"); + //if(viewTimer.read_ms()==0){ + // display(); + //} + ThisThread::sleep_for(90); + } } void motor(void const *argument){ while(true){ @@ -223,7 +239,7 @@ break; } pc.printf(" motor\r\n"); - ThisThread::sleep_for(50); + ThisThread::sleep_for(30); } } void changeSpeed(){ @@ -276,9 +292,9 @@ break; } pc.printf(" line trace\r\n"); - ThisThread::sleep_for(50); + ThisThread::sleep_for(30); }else{ - ThisThread::sleep_for(50); + ThisThread::sleep_for(1); } } } @@ -369,7 +385,7 @@ watchsurrounding(); pc.printf(" avoidance\r\n"); }else{ - ThisThread::sleep_for(50); + ThisThread::sleep_for(1); } } } @@ -508,7 +524,7 @@ flag_b = !flag_b; } -void bChange(void const *argument){ +void bChange(/*void const *argument*/){ /*while(1){ pc.printf(" bChange1\r\n"); lcd.setBacklight(TextLCD::LightOn); @@ -528,11 +544,13 @@ lcd.setBacklight(TextLCD::LightOn); while(1){ pc.printf(" bChange1\r\n"); - b = (int)((battery.read()* MAX_V - MIN_V)/0.067 + 0.5)*10; - if(b < 0){//すべての機能停止 - lcd.setBacklight(TextLCD::LightOff); + b = (int)(((battery.read() * 3.3 - MIN_V)/0.67)*10+0.5)*10; + pc.printf("%f",battery.read()); + if(b < 0){//すべての機能停止(今はなし) + /*lcd.setBacklight(TextLCD::LightOff); bTimer.stop(); - exit(1); + exit(1);*/ + b = 0; }else if(b > 100){ b = 100; } @@ -554,19 +572,21 @@ } } } - + ThisThread::sleep_for(500); } int main() { mode = READY; beforeMode = READY; run = STOP; flag_sp = NORMAL; + display(); //defaultView(); while(1){ pc.printf(" main1\r\n"); - switch(mode){ - /*case ADVANCE: + // 受信待ち + /*switch(mode){ + case ADVANCE: run = ADVANCE; break; case RIGHT: @@ -583,15 +603,15 @@ break; case READY: run = STOP; - break;*/ + break; case SPEED: changeSpeed(); display(); mode = beforeMode; break; - } + }*/ - if(viewTimer.read_ms()>=3000){ +/* if(viewTimer.read_ms()>=3000){ pc.printf("a"); viewTimer.stop(); //defaultView(); @@ -601,8 +621,9 @@ pc.printf(" main2\r\n"); if(viewTimer.read_ms()==0){ display(); - } + }*/ + bChange(); pc.printf(" main3\r\n"); - ThisThread::sleep_for(10); + ThisThread::sleep_for(1); } } \ No newline at end of file