WRS2019
Dependencies: mbed BufferedSerial PID2 JY901 ros_lib_kinetic TextLCD i2cmaster Make_Sequencer_3
Diff: main.cpp
- Revision:
- 3:4ac32aff309c
- Parent:
- 2:83fa142c5bcc
- Child:
- 4:25ab7216447f
diff -r 83fa142c5bcc -r 4ac32aff309c main.cpp --- a/main.cpp Tue Dec 17 07:23:55 2019 +0000 +++ b/main.cpp Tue Dec 17 12:42:15 2019 +0000 @@ -131,6 +131,12 @@ int array[SIZE] = {}; FILE *fp = fopen( "/local/guide1.txt", "r"); MakeSequencer code(fp); + printf("size:%d\r\n", code.getGcodeSize()); + for(int i = 0; i < code.getGcodeSize(); i++) + { + code.getGcode(i,sizeof(array)/sizeof(int),array); + printf("%d, %d, %d\r\n", array[0], array[1], i); + } int row = 1; float v[4] = {}; @@ -195,11 +201,28 @@ // Gコードを次の行に row++; - if(row > code.getGcodeSize()) + if(row >= code.getGcodeSize()) { row = 0; + coastAllMotor(); + PC.printf("All task Clear\r\n"); + PC.printf("\r\nI'm ready to start. Press Key 'a'.\r\n"); + char input_character = 0; + while(input_character != 'a') + { + if(PC.readable() > 0) + { + input_character = PC.getc(); + } + } } + jy901.reset(); + v[0] = 0; + v[1] = 0; + v[2] = 0; + v[3] = 0; + // 目標位置把握 code.getGcode(row, ArraySize(array), array); x_desire = array[0]; @@ -247,7 +270,7 @@ //PC.attach(serialRead); jy901.calibrateAll(5000); //controlFromWASD(); - PC.printf("\r\nI'm ready to start. Press Enter\r\n"); + PC.printf("\r\nI'm ready to start. Press Key 'a'.\r\n"); //bool startable = false; char input_character = 0; while(input_character != 'a')