Diff: main.cpp

Revision:

9:56d571c1cb9f

Parent:

8:3eb58ae94a93

Child:

10:808032cf71b0

--- a/main.cpp	Thu Jan 23 05:39:20 2014 +0000
+++ b/main.cpp	Fri Jan 24 02:24:50 2014 +0000
@@ -15,6 +15,7 @@
 int zen2=0;
 int go2=0;
 int dou1=0;
+int dou2=0;
 
 void HANTEI(void const *argument) {
  while(true){
@@ -24,45 +25,51 @@
         case'g':
             zen1=1;
             c=0;
-            pc.printf("go\n");
+            pc.printf("go\r\n");
             break;
             
         case'n':
             zen1=0;
             go1=0;
             c=0;
-            pc.printf("stop\n");
+            pc.printf("stop\r\n");
             break;
             
         case'z':
             go1=1;
             c=0;
-            pc.printf("zen\n");
+            pc.printf("zen\r\n");
             break;
             
        case'c':
             zen2=1;
             c=0;
-            pc.printf("go\n");
+            pc.printf("go\r\n");
             break;
             
         case'p':
             zen2=0;
             go2=0;
             c=0;
-            pc.printf("stop\n");
+            pc.printf("stop\r\n");
             break;
             
         case'x':
             go2=1;
             c=0;
-            pc.printf("zen\n");
+            pc.printf("zen\r\n");
             break;
             
         case'd':
             dou1=1;
             c=0;
-            pc.printf("dou\n");
+            pc.printf("dou\r\n");
+            break;
+        
+        case'l':
+            dou2=1;
+            c=0;
+            pc.printf("dou_2gouki\r\n");
             break;       
         }
     }
@@ -101,7 +108,8 @@
 }
  
  void DOU1(void const *argument) {
-  Dou1.period(0.00001); 
+  Dou1.period(0.00001);
+  Dou1.pulsewidth(0.000005f);
   int i=1;
   int d=1;
  while(true){
@@ -115,10 +123,10 @@
             break;
             
             case 2:
-            Dou1.pulsewidth(0.000006f);
+            Dou1.pulsewidth(0.000005f);
             i=i--;
             wait(0.02);
-            if(i>2){
+            if(i<2){
                 d=1;
                 dou1=0;
                 }
@@ -127,15 +135,44 @@
         }
     }
 }
- 
+
+void DOU2(void const *argument) {
+  Dou2.period(0.00001);
+  Dou2.pulsewidth(0.000005f);
+  int j=1;
+  int l=1;
+ while(true){
+     if(dou2==1){
+        switch(l){
+            case 1:
+            Dou2.pulsewidth(0.000004f);
+            j=j++;
+            wait(0.02);
+            if(j>50)l=2;
+            break;
+            
+            case 2:
+            Dou2.pulsewidth(0.000005f);
+            j=j--;
+            wait(0.02);
+            if(j<2){
+                l=1;
+                dou2=0;
+                }
+            break;
+            }
+        }
+    }
+} 
  
 int main() {
     Thread t1(HANTEI);
     Thread t2(ZENGO1);
     Thread t3(ZENGO2);
     Thread t4(DOU1);
+    Thread t5(DOU2);
 
-    pc.printf("start\n");
+    pc.printf("start\r\n");
     
 while(1);
 }
\ No newline at end of file