Revision 0:669ef71cba68, committed 2018-09-08

Comitter:

t_yamamoto

Date:

Sat Sep 08 06:05:22 2018 +0000

Child:

1:b1219d8ca117

Commit message:

???????

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CommonLibraries/RingBuffer/RingBuffer.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,103 @@
+/*
+* RingBuffer.cpp
+*
+* Created: 2016/08/10 12:14:47
+*  Author: masuk
+*/
+
+#include "mbed.h"
+#include "RingBuffer.h"
+
+namespace RINGBUFFER
+{
+
+	RingBuffer::RingBuffer(char *bufPtr, int size)
+	{
+		Buffer.data = bufPtr;
+		Buffer.size = size;
+		Buffer.top = 0;
+		Buffer.bottom = 0;
+		Buffer.fullup = false;
+	}
+
+	void RingBuffer::PutData(char data, bool ASCIItoNum /* = false */)
+	{
+		__disable_irq();
+		if(!Buffer.fullup)
+		{
+			if(ASCIItoNum) Buffer.data[Buffer.top] = data+48;
+			else		   Buffer.data[Buffer.top] = data;
+			Buffer.length++;
+			Buffer.top++;
+			Buffer.top %= Buffer.size;
+			Buffer.fullup = false;
+			if(Buffer.length>=Buffer.size) Buffer.fullup = true;
+		}
+		__enable_irq();
+	}
+
+	void RingBuffer::PutData(char *data, int length)
+	{
+		__disable_irq();
+		for(int i=0; i<length; i++)
+		{
+			if(!Buffer.fullup)
+			{
+				Buffer.data[Buffer.top] = data[i];
+				Buffer.length++;
+				Buffer.top++;
+				Buffer.top %= Buffer.size;
+				Buffer.fullup = false;
+				if(Buffer.length>=Buffer.size) Buffer.fullup = true;
+			}
+		}
+		__enable_irq();
+	}
+
+	void RingBuffer::PutData(const char *str)
+	{
+		__disable_irq();
+		for( ; *str!='\0'; str++)
+		{
+			if(!Buffer.fullup)
+			{
+				Buffer.data[Buffer.top] = *str;
+				Buffer.length++;
+				Buffer.top++;
+				Buffer.top %= Buffer.size;
+				if(Buffer.length>=Buffer.size) Buffer.fullup = true;
+				else						   Buffer.fullup = false;
+			}
+		}
+		__enable_irq();
+	}
+
+	char RingBuffer::GetData()
+	{
+		__disable_irq();
+		char data;
+		if(Buffer.length > 0)
+		{
+			data = Buffer.data[Buffer.bottom];
+			Buffer.length--;
+			Buffer.bottom++;
+			Buffer.bottom %= Buffer.size;
+			if(Buffer.length<Buffer.size) Buffer.fullup = false;
+		}
+		else data = '\0';
+		__enable_irq();
+		return data;
+	}
+
+	bool RingBuffer::IsFullup()
+	{
+		return Buffer.fullup;
+	}
+
+	bool RingBuffer::InAnyData()
+	{
+		if(Buffer.length > 0) return true;
+		else return false;
+	}
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CommonLibraries/RingBuffer/RingBuffer.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,49 @@
+/*
+ * RingBuffer.h
+ *
+ * Created: 2016/08/10 12:15:08
+ *  Author: masuk
+ */ 
+
+
+#ifndef RINGBUFFER_H_
+#define RINGBUFFER_H_
+
+#include <stdint.h>
+
+namespace RINGBUFFER
+{
+	//循環型バッファ　使用するバッファの配列と大きさを指定してください
+	class RingBuffer
+	{
+		struct
+		{
+			char *data;
+			int size;
+			uint8_t top;
+			uint8_t bottom;
+			uint8_t length;
+			bool fullup;
+		}Buffer;
+		
+		public:
+		RingBuffer(char *bufPtr, int size);
+		
+		//バッファにデータを追加
+		void PutData(char data, bool ASCIItoNum = false);
+		void PutData(char *data, int length);
+		void PutData(const char *str);
+		
+		//バッファからデータを1byte読み出し
+		char GetData();	
+		
+		//バッファが飽和しているか確認
+		bool IsFullup();
+		//バッファにデータが存在するか確認
+		bool InAnyData();
+	};
+}
+
+
+
+#endif /* RINGBUFFER_H_ */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/Controller/Controller.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,100 @@
+#include "Controller.h"
+
+#include "Mu/Mu.h"
+#include "../../../LED/LED.h"
+
+using namespace MU;
+
+namespace CONTROLLER {
+    Ticker MuTimer;
+
+    void UartUpdate();
+    void LostCheck();
+
+    namespace {
+        ControllerData ctrData;
+        ControllerData keepCtrData;
+        const uint8_t defaultData[4] = CTR_DEFAULT_DATA;
+        const char check[] = "DR=";
+        volatile char packet[24];
+
+        bool controllerLost = false;
+
+        uint8_t timerCount = 0;
+    }
+
+    void Controller::Initialize() {
+        MuUart.attach(UartUpdate, Serial::RxIrq);
+        MuTimer.attach(LostCheck, 0.025);
+        DataReset();
+    }
+
+    ControllerData* Controller::GetData() {
+        __disable_irq();
+        for(uint8_t i=0; i<CTR_DATA_LENGTH; i++) keepCtrData.buf[i] = ctrData.buf[i];
+        __enable_irq();
+        return &keepCtrData;
+    }
+
+    void Controller::DataReset() {
+        // __disable_irq();
+        for(uint8_t i=0; i<CTR_DATA_LENGTH; i++) ctrData.buf[i] = defaultData[i];
+        // __enable_irq();
+    }
+
+    bool Controller::CheckControllerLost() {
+        return controllerLost;
+    }
+
+    void UartUpdate() {
+        static bool phase = false;
+        static uint8_t count = 0;
+        static uint8_t ledCount = 0;
+
+        char data = MuUart.getc();
+
+        if(phase) {
+            packet[count] = data;
+            if(count < 2) {
+                if(data != check[count]) {
+                    phase = false;
+                    // controllerLost = true;
+                    LED_MU = LED_OFF;
+                }
+            }
+            else if(count == 9) {
+                if(data != '\r') {
+                    phase = false;
+                    count = 0;
+                } else {
+                    ctrData.buf[0] = packet[5];
+                    ctrData.buf[1] = packet[6];
+                    ctrData.buf[2] = packet[7];
+                    ctrData.buf[3] = packet[8];
+                    phase = false;
+                    timerCount = 0;
+                    controllerLost = false;
+                    LED_MU = LED_ON;
+                }
+            }
+            count++;
+        }
+        else {
+            if(data == '*') {
+                count = 0;
+                phase = true;
+            }
+        }
+    }
+
+    void LostCheck() {
+        timerCount++;
+        if(timerCount == 2) LED_MU = LED_OFF;
+        if(timerCount >= 20) {
+            controllerLost = true;
+            Controller::DataReset();
+            timerCount = 0;
+            LED_MU = LED_OFF;
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/Controller/Controller.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,56 @@
+#ifndef CONTROLLER_H_
+#define CONTROLLER_H_
+
+#include <stdint.h>
+
+namespace CONTROLLER {
+    #define MU_TX PC_6
+    #define MU_RX PC_7
+    
+    #define CTR_DATA_LENGTH 4
+    #define CTR_DEFAULT_DATA {0x00, 0x00, 0x77, 0x77}
+
+	typedef union 
+	{
+		struct {
+			struct {
+				unsigned int X:1;
+				unsigned int A:1;
+				unsigned int B:1;
+				unsigned int Y:1;
+				unsigned int UP:1;
+				unsigned int RIGHT:1;
+				unsigned int DOWN:1;
+				unsigned int LEFT:1;
+				unsigned int SELECT:1;
+				unsigned int HOME:1;
+				unsigned int START:1;
+				unsigned int ZL:1;
+				unsigned int ZR:1;
+				unsigned int L:1;
+				unsigned int R:1;
+				unsigned int :1;
+			} __attribute__ ((packed)) Button;
+			struct {
+				unsigned int Y:4;
+				unsigned int X:4;
+			} __attribute__ ((packed)) AnalogL;
+			struct {
+				unsigned int Y:4;
+				unsigned int X:4;
+			} __attribute__ ((packed)) AnalogR;
+		} __attribute__ ((packed)) ;
+		uint8_t buf[CTR_DATA_LENGTH];		
+	}ControllerData;
+    
+    class Controller
+    {
+        public:
+            static void Initialize(void);
+            static ControllerData* GetData(void);
+            static void DataReset(void);
+            static bool CheckControllerLost(void);
+    };
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/Controller/Mu/Mu.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,33 @@
+#include "Mu.h"
+
+namespace MU {
+    Serial MuUart(MU_TX, MU_RX);
+
+    namespace {
+		char Group[][4]		= {"01", "02", "03", "04"};
+		char Channel[][4]	= {"08", "14", "1F", "2E"};
+		char DI[][4]		= {"10", "20", "40", "80"};
+		char EI[][4]		= {"01", "02", "04", "08"};
+    }
+
+	void Mu::SendCommand(char *command, char *value, uint8_t valueLength) {
+        MuUart.putc('@');
+        MuUart.putc(command[0]);
+        MuUart.putc(command[1]);
+        while(valueLength--) {
+            MuUart.putc(*value);
+            value++;
+        }
+        MuUart.putc('\r');
+        MuUart.putc('\n');
+    }
+
+    void Mu::Initialize(uint8_t select) {
+        MuUart.baud(19200);
+
+		Mu::SendCommand("GI",Group[select],2);
+		Mu::SendCommand("CH",Channel[select],2);
+		Mu::SendCommand("DI",DI[select],2);
+		Mu::SendCommand("EI",EI[select],2);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/Controller/Mu/Mu.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,20 @@
+#ifndef MU_H_
+#define MU_H_
+
+#include <stdint.h>
+#include "mbed.h"
+
+namespace MU {
+    #define MU_TX PC_6
+    #define MU_RX PC_7
+
+    class Mu {
+        public:
+        static void Initialize(uint8_t select);
+        static void SendCommand(char *command, char *data, uint8_t dataLength);
+    };
+
+    extern Serial MuUart;
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/RS485/ActuatorHub/ActuatorHub.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,186 @@
+#include "ActuatorHub.h"
+#include "mbed.h"
+
+#include "../../../CommonLibraries/RingBuffer/RingBuffer.h"
+#include "../../../System/Using.h"
+
+static char RS485Send[RS485_BUFFER_SIZE];
+static char BluetoothSend[BLUETOOTH_BUFFER_SIZE];
+
+RINGBUFFER::RingBuffer RS485SendBuffer = RINGBUFFER::RingBuffer(RS485Send, RS485_BUFFER_SIZE);
+RINGBUFFER::RingBuffer BluetoothSendBuffer = RINGBUFFER::RingBuffer(BluetoothSend, BLUETOOTH_BUFFER_SIZE);
+
+namespace ACTUATORHUB {
+    namespace MOTOR {
+        AllMotorData sendMotorData[(MOUNTING_MOTOR_NUM+12) / 13];
+
+        namespace {
+            MotorStatus motor[MOUNTING_MOTOR_NUM];
+        }
+
+        void Motor::Initialize() {
+            #if MOUNTING_MOTOR_NUM > 0
+            sendMotorData[0].direction0to3.all = 0;
+            sendMotorData[0].direction4to7.all = 0;
+            sendMotorData[0].direction8to9.all = 0;
+            #endif
+            #if MOUNTING_MOTOR_NUM > 13
+            sendMotorData[1].direction0to3.all = 0;
+            sendMotorData[1].direction4to7.all = 0;
+            sendMotorData[1].direction8to9.all = 0;
+            #endif
+            #if MOUNTING_MOTOR_NUM > 26
+            sendMotorData[2].direction0to3.all = 0;
+            sendMotorData[2].direction4to7.all = 0;
+            sendMotorData[2].direction8to9.all = 0;
+            #endif
+
+            uint8_t* pwmPo = &sendMotorData[0].pwm0;
+            for(uint8_t i=0; i<MOUNTING_MOTOR_NUM; i++) {
+                *pwmPo = 0;
+                pwmPo++;
+            }
+
+            SetDefault();
+        }
+
+        void Motor::Update(MotorStatus *status) {
+            for(uint8_t i=0; i<MOUNTING_MOTOR_NUM; i++) motor[i] = status[i];
+
+			#if MOUNTING_MOTOR_NUM > 0
+            sendMotorData[0].direction0to3.data0 = motor[0].dir;
+			sendMotorData[0].direction0to3.data1 = motor[1].dir;
+			sendMotorData[0].direction0to3.data2 = motor[2].dir;
+			sendMotorData[0].direction0to3.data3 = motor[3].dir;
+			sendMotorData[0].direction4to7.data0 = motor[4].dir;
+			sendMotorData[0].direction4to7.data1 = motor[5].dir;
+			sendMotorData[0].direction4to7.data2 = motor[6].dir;
+			sendMotorData[0].direction4to7.data3 = motor[7].dir;
+			sendMotorData[0].direction8to9.data0 = motor[8].dir;
+			sendMotorData[0].direction8to9.data1 = motor[9].dir;
+            #endif
+            #if MOUNTING_MOTOR_NUM > 13
+			sendMotorData[1].direction0to3.data0 = motor[13].dir;
+			sendMotorData[1].direction0to3.data1 = motor[14].dir;
+			sendMotorData[1].direction0to3.data2 = motor[15].dir;
+			sendMotorData[1].direction0to3.data3 = motor[16].dir;
+			sendMotorData[1].direction4to7.data0 = motor[17].dir;
+			sendMotorData[1].direction4to7.data1 = motor[18].dir;
+			sendMotorData[1].direction4to7.data2 = motor[19].dir;
+			sendMotorData[1].direction4to7.data3 = motor[20].dir;
+			sendMotorData[1].direction8to9.data0 = motor[21].dir;
+			sendMotorData[1].direction8to9.data1 = motor[22].dir;
+            #endif
+            #if MOUNTING_MOTOR_NUM > 26
+			sendMotorData[2].direction0to3.data0 = motor[26].dir;
+			sendMotorData[2].direction0to3.data1 = motor[27].dir;
+			sendMotorData[2].direction0to3.data2 = motor[28].dir;
+			sendMotorData[2].direction0to3.data3 = motor[29].dir;
+			sendMotorData[2].direction4to7.data0 = motor[30].dir;
+			sendMotorData[2].direction4to7.data1 = motor[31].dir;
+			sendMotorData[2].direction4to7.data2 = motor[32].dir;
+			sendMotorData[2].direction4to7.data3 = motor[33].dir;
+			sendMotorData[2].direction8to9.data0 = motor[34].dir;
+			sendMotorData[2].direction8to9.data1 = motor[35].dir;
+            #endif
+            
+			uint8_t* pwmPo = &sendMotorData[0].pwm0;
+			for (uint8_t i = 0;i < MOUNTING_MOTOR_NUM;i++)
+			{
+				*pwmPo = motor[i].pwm;
+				pwmPo++;
+			}
+        }
+
+        void Motor::SetDefault() {
+            for(uint8_t i=0; i<MOUNTING_MOTOR_NUM; i++) {
+                motor[i].dir = FREE;
+                motor[i].pwm = 0;
+            }
+        }
+    }
+
+    namespace SOLENOID {
+        SolenoidStatus sendSolenoidData;
+
+        void Solenoid::Initialize() {
+            sendSolenoidData.all = ALL_SOLENOID_OFF;
+        }
+
+        void Solenoid::Update(SolenoidStatus status) {
+            sendSolenoidData.all = status.all;
+        }
+    }
+
+    void ActuatorHub::Update() {
+        if(!RS485SendBuffer.InAnyData()) {
+            // __disable_irq();
+
+            #ifdef USE_MOTOR
+            #if MOUNTING_MOTOR_NUM > 0
+            RS485SendBuffer.PutData('*');
+            RS485SendBuffer.PutData(MOTOR_ADDR);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[0].direction0to3.all);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[0].direction4to7.all);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[0].direction8to9.all);
+            uint8_t* pwmPo = &MOTOR::sendMotorData[0].pwm0;
+            for(uint8_t i=0; i<13; i++) {
+                RS485SendBuffer.PutData(*pwmPo);
+                pwmPo++;
+            }
+            RS485SendBuffer.PutData('\r');
+            #endif
+
+            #if MOUNTING_MOTOR_NUM > 13
+            RS485SendBuffer.PutData('*');
+            RS485SendBuffer.PutData(MOTOR2_ADDR);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[1].direction0to3.all);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[1].direction4to7.all);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[1].direction8to9.all);
+            pwmPo = &MOTOR::sendMotorData[1].pwm0;
+            for(uint8_t i=0; i<13; i++) {
+                RS485SendBuffer.PutData(*pwmPo);
+                pwmPo++;
+            }
+            RS485SendBuffer.PutData('\r');
+            #endif
+
+            #if MOUNTING_MOTOR_NUM > 26
+            RS485SendBuffer.PutData('*');
+            RS485SendBuffer.PutData(MOTOR3_ADDR);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[2].direction0to3.all);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[2].direction4to7.all);
+            RS485SendBuffer.PutData(MOTOR::sendMotorData[2].direction8to9.all);
+            pwmPo = &MOTOR::sendMotorData[2].pwm0;
+            for(uint8_t i=0; i<(MOUNTING_MOTOR_NUM-26); i++) {
+                RS485SendBuffer.PutData(*pwmPo);
+                pwmPo++;
+            }
+            RS485SendBuffer.PutData('\r');
+            #endif
+            #endif
+
+            #ifdef USE_SOLENOID
+            RS485SendBuffer.PutData('*');
+            RS485SendBuffer.PutData(SOLENOID_ADDR);
+            RS485SendBuffer.PutData((SOLENOID::sendSolenoidData.all & 0xff00) >> 8);
+            RS485SendBuffer.PutData(SOLENOID::sendSolenoidData.all & 0x00ff);
+            RS485SendBuffer.PutData('\r');
+            #endif
+
+            #ifdef USE_BLUETOOTH
+            if(BluetoothSendBuffer.InAnyData()) {
+                RS485SendBuffer.PutData('*');
+                RS485SendBuffer.PutData(BLUETOOTH_ADDR);
+                while(BluetoothSendBuffer.InAnyData()) {
+                    RS485SendBuffer.PutData(BluetoothSendBuffer.GetData());
+                }
+                RS485SendBuffer.PutData(disconnect);
+            }
+            #endif
+
+            // __enable_irq();
+        }
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/RS485/ActuatorHub/ActuatorHub.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,104 @@
+#ifndef ACTUATORHUB_H_
+#define ACTUATORHUB_H_
+
+#include "../../../CommonLibraries/RingBuffer/RingBuffer.h"
+
+extern RINGBUFFER::RingBuffer RS485SendBuffer;
+extern RINGBUFFER::RingBuffer BluetoothSendBuffer;
+
+namespace ACTUATORHUB {
+    #define MOTOR_ADDR      'M'
+    #define MOTOR2_ADDR     'N'
+    #define MOTOR3_ADDR     'O'
+    #define SOLENOID_ADDR   'S'
+    #define BLUETOOTH_ADDR  'B'
+
+    namespace MOTOR {
+        #define FREE    0
+        #define BACK    1
+        #define FOR     2
+        #define BRAKE   3
+
+        typedef struct {
+            uint8_t dir;
+            uint8_t pwm;
+        }MotorStatus;
+
+        typedef union {
+            struct {
+                int data3 : 2;
+                int data2 : 2;
+                int data1 : 2;
+                int data0 : 2;
+            };
+            uint8_t all;
+        }MotorDirectionData;
+
+        typedef struct {
+            MotorDirectionData direction0to3;
+            MotorDirectionData direction4to7;
+            MotorDirectionData direction8to9;
+
+            uint8_t pwm0;
+            uint8_t pwm1;
+            uint8_t pwm2;
+            uint8_t pwm3;
+            uint8_t pwm4;
+            uint8_t pwm5;
+            uint8_t pwm6;
+            uint8_t pwm7;
+            uint8_t pwm8;
+            uint8_t pwm9;
+            uint8_t pwm10;
+            uint8_t pwm11;
+            uint8_t pwm12;
+        }AllMotorData;
+
+        class Motor {
+            public:
+            static void Initialize();
+            static void Update(MotorStatus *status);
+            static void SetDefault();
+        };
+    }
+
+    namespace SOLENOID {
+        #define SOLENOID_ON     1
+        #define SOLENOID_OFF    0
+
+        #define ALL_SOLENOID_ON     0xffff
+        #define ALL_SOLENOID_OFF    0
+
+        typedef union {
+            struct {
+                int : 4;
+                int solenoid11 : 1;
+                int solenoid10 : 1;
+                int solenoid9 : 1;
+                int solenoid8 : 1;
+                int solenoid7 : 1;
+                int solenoid6 : 1;
+                int solenoid5 : 1;
+                int solenoid4 : 1;
+                int solenoid3 : 1;
+                int solenoid2 : 1;
+                int solenoid1 : 1;
+                int solenoid0 : 1;
+            };
+            uint16_t all;
+        }SolenoidStatus;
+
+        class Solenoid {
+            public:
+            static void Initialize();
+            static void Update(SolenoidStatus status);
+        };
+    }
+
+    class ActuatorHub {
+        public:
+        static void Update();
+    };
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/RS485/RS485.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,32 @@
+#include "RS485.h"
+#include "mbed.h"
+#include "ActuatorHub/ActuatorHub.h"
+#include "../../LED/LED.h"
+#include "../../System/Using.h"
+
+namespace RS485 {
+    DigitalOut selectBit(SELECTBIT_PIN);
+    Serial RS485Uart(RS485UART_TX, RS485UART_RX);
+
+    void Transmit();
+
+    void RS485::Initialize() {
+        selectBit = 1;  //送信固定
+        RS485Uart.baud(38400);
+        RS485Uart.attach(Transmit, Serial::TxIrq);
+    }
+
+    void Transmit() {
+        static uint8_t count = 0;
+        __disable_irq();
+        RS485Uart.putc(RS485SendBuffer.GetData());
+        if(count >= 200) {
+            #ifdef USE_MOTOR
+            LED_DEBUG2 = !LED_DEBUG2;
+            #endif
+
+            count = 0;
+        } else count++;
+        __enable_irq();
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communication/RS485/RS485.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,16 @@
+#ifndef RS485_H_
+#define RS485_H_
+
+namespace RS485 {
+    #define SELECTBIT_PIN PB_7
+
+    #define RS485UART_TX PA_9
+    #define RS485UART_RX PA_10
+    
+    class RS485 {
+        public:
+        static void Initialize();
+    };
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Input/ExternalInt/ExternalInt.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,58 @@
+#include "ExternalInt.h"
+#include "mbed.h"
+
+#include "../../System/Process/InterruptProcess.h"
+
+InterruptIn BoardInt[] = {
+    InterruptIn(INT0_PIN),
+    InterruptIn(INT1_PIN),
+    InterruptIn(INT2_PIN),
+    InterruptIn(INT3_PIN),
+    InterruptIn(INT4_PIN),
+    InterruptIn(INT5_PIN),
+    InterruptIn(INT6_PIN),
+    InterruptIn(INT7_PIN),
+    InterruptIn(INT8_PIN),
+    InterruptIn(INT9_PIN),
+    InterruptIn(INT10_PIN),
+    InterruptIn(INT11_PIN),
+    InterruptIn(INT12_PIN),
+    InterruptIn(INT13_PIN),
+    InterruptIn(INT14_PIN),
+};
+
+namespace EXTERNALINT {
+    void Int::Initialize() {
+        BoardInt[0].mode(PullUp);
+        BoardInt[1].mode(PullUp);
+        BoardInt[2].mode(PullUp);
+        BoardInt[3].mode(PullUp);
+        BoardInt[4].mode(PullUp);
+        BoardInt[5].mode(PullUp);
+        BoardInt[6].mode(PullUp);
+        BoardInt[7].mode(PullUp);
+        BoardInt[8].mode(PullUp);
+        BoardInt[9].mode(PullUp);
+        BoardInt[10].mode(PullUp);
+        BoardInt[11].mode(PullUp);
+        BoardInt[12].mode(PullUp);
+        BoardInt[13].mode(PullUp);
+        BoardInt[14].mode(PullUp);
+
+        BoardInt[0].fall(int0);
+        BoardInt[1].fall(int1);
+        BoardInt[2].fall(int2);
+        BoardInt[3].fall(int3);
+        BoardInt[4].fall(int4);
+        BoardInt[5].fall(int5);
+        BoardInt[6].fall(int6);
+        BoardInt[7].fall(int7);
+        BoardInt[8].fall(int8);
+        BoardInt[9].fall(int9);
+        BoardInt[10].fall(int10);
+        BoardInt[11].fall(int11);
+        BoardInt[12].fall(int12);
+        BoardInt[13].fall(int13);
+        BoardInt[14].fall(int14);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Input/ExternalInt/ExternalInt.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,27 @@
+#ifndef EXTERNALINT_H_
+#define EXTERNALINT_H_
+
+namespace EXTERNALINT {
+    #define INT0_PIN    PC_5
+    #define INT1_PIN    PA_12
+    #define INT2_PIN    PA_11
+    #define INT3_PIN    PB_12
+    #define INT4_PIN    PB_2
+    #define INT5_PIN    PB_1
+    #define INT6_PIN    PB_15
+    #define INT7_PIN    PB_14
+    #define INT8_PIN    PB_13
+    #define INT9_PIN    PC_4
+    #define INT10_PIN   PB_3
+    #define INT11_PIN   PB_5
+    #define INT12_PIN   PB_4
+    #define INT13_PIN   PB_10
+    #define INT14_PIN   PA_8
+
+    class Int {
+        public:
+        static void Initialize();
+    };
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Input/Potentiometer/Potentiometer.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,11 @@
+#include "Potentiometer.h"
+#include "mbed.h"
+
+namespace POTENTIOMETER {
+    AnalogIn adc[] = {
+        AnalogIn(ADC0_PIN),
+        AnalogIn(ADC1_PIN),
+        AnalogIn(ADC2_PIN),
+        AnalogIn(ADC3_PIN),
+    };
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Input/Potentiometer/Potentiometer.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,15 @@
+#ifndef POTENTIOMETER_H_
+#define POTENTIOMETER_H_
+
+#include "mbed.h"
+
+namespace POTENTIOMETER {
+    #define ADC0_PIN PC_2
+    #define ADC1_PIN PC_3
+    #define ADC2_PIN PC_0
+    #define ADC3_PIN PC_1
+
+    extern AnalogIn adc[];
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Input/Switch/Switch.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,59 @@
+#include "Switch.h"
+
+#include <stdint.h>
+#include "mbed.h"
+
+namespace SWITCH {
+    DigitalIn dipSw[] = {
+        DigitalIn(DIP0_PIN),
+        DigitalIn(DIP1_PIN),
+        DigitalIn(DIP2_PIN),
+        DigitalIn(DIP3_PIN),
+    };
+
+    DigitalIn limitSw(LS_PIN);
+    DigitalOut selectPin[] = {
+        DigitalOut(SELECT0_PIN),
+        DigitalOut(SELECT1_PIN),
+        DigitalOut(SELECT2_PIN),
+        DigitalOut(SELECT3_PIN),
+    };
+
+    void DipSw::Initialize() {
+        for(uint8_t i=0; i < sizeof(dipSw)/sizeof(dipSw[0]); i++) {
+            dipSw[i].mode(PullUp);
+        }
+    }
+
+    uint8_t DipSw::GetStatus() {
+        if(DIP0 == SW_ON)       return 0;
+        else if(DIP1 == SW_ON)  return 1;
+        else if(DIP2 == SW_ON)  return 2;
+        else if(DIP3 == SW_ON)  return 3;
+
+        return 0;
+    }
+
+    void LimitSw::Initialize() {
+        for(uint8_t i=0; i<4; i++) selectPin[i] = 0;
+        limitSw.mode(PullUp);
+    }
+
+    bool LimitSw::IsPressed(int index) {
+        // if(index > 0x0f) return false;
+
+        printf("%d\n", index);
+
+        MP_Channel ch;
+        ch.all = index;
+
+        selectPin[0] = ch.s0;
+        selectPin[1] = ch.s1;
+        selectPin[2] = ch.s2;
+        selectPin[3] = ch.s3;
+
+        while(1);
+
+        return limitSw ? false : true;
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Input/Switch/Switch.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,51 @@
+#ifndef SWITCH_H_
+#define SWITCH_H_
+
+#include "mbed.h"
+#include <stdint.h>
+
+namespace SWITCH {
+    #define SW_ON   0
+    #define SW_OFF  1
+
+    #define DIP0_PIN    PB_0
+    #define DIP1_PIN    PA_4
+    #define DIP2_PIN    PA_1
+    #define DIP3_PIN    PA_0
+
+    #define LS_PIN      PB_6
+    #define SELECT0_PIN PC_8
+    #define SELECT1_PIN PC_9
+    #define SELECT2_PIN PB_9
+    #define SELECT3_PIN PB_8
+
+    #define DIP0    dipSw[0]
+    #define DIP1    dipSw[1]
+    #define DIP2    dipSw[2]
+    #define DIP3    dipSw[3]
+
+    class DipSw {
+        public:
+        static void Initialize();
+        static uint8_t GetStatus();
+    };
+    
+    class LimitSw {
+        public:
+        static void Initialize();
+        static bool IsPressed(int index);
+    };
+
+    typedef union {
+        struct {
+            int s0 : 1;
+            int s1 : 1;
+            int s2 : 1;
+            int s3 : 1;
+            int : 4;
+        };
+        uint8_t all;
+    } MP_Channel;
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED/LED.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,20 @@
+#include "LED.h"
+
+#include "../System/Using.h"
+#include "mbed.h"
+#include <stdint.h>
+
+namespace LED {
+    DigitalOut boardLED[USE_LED_NUM] = {
+        DigitalOut(LED_DEBUG0_PIN),
+        DigitalOut(LED_DEBUG1_PIN),
+        DigitalOut(LED_DEBUG2_PIN),
+        DigitalOut(LED_MU_PIN),
+    };
+
+    void LED::Initialize() {
+        for(uint8_t i=0; i < USE_LED_NUM; i++) {
+            boardLED[i] = LED_OFF;
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LED/LED.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,29 @@
+#ifndef LED_H_
+#define LED_H_
+
+#include "mbed.h"
+#include <stdint.h>
+
+namespace LED {
+    extern DigitalOut boardLED[];
+
+    #define LED_ON  0
+    #define LED_OFF 1
+
+    #define LED_DEBUG0_PIN  PC_11
+    #define LED_DEBUG1_PIN  PC_10
+    #define LED_DEBUG2_PIN  PC_12
+    #define LED_MU_PIN      PC_13
+
+    #define LED_DEBUG0  LED::boardLED[0]
+    #define LED_DEBUG1  LED::boardLED[1]
+    #define LED_DEBUG2  LED::boardLED[2]
+    #define LED_MU      LED::boardLED[3]
+    
+    class LED {
+        public:
+        static void Initialize();
+    };
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Safty/Safty.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,18 @@
+#include "Safty.h"
+
+#include "../Communication/Controller/Controller.h"
+#include "../Input/Switch/Switch.h"
+
+using namespace SWITCH;
+
+
+namespace SAFTY {
+    ErrorStatus ErrorCheck::Check() {
+        ErrorStatus error = 0;
+        CONTROLLER::Controller::CheckControllerLost() ? error |= Error::ControllerLost : error &=~ Error::ControllerLost;
+        // #ifdef USE_DRIVECHECK
+        (DRIVECHECK_LIMITSW == SW_OFF) ? error |= Error::DrivePowerLost : error &=~ Error::DrivePowerLost;
+        // #endif
+        return error;
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Safty/Safty.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,27 @@
+#ifndef SAFTY_H_
+#define SAFTY_H_
+
+#include <stdint.h>
+#include "Input/Switch/Switch.h"
+
+namespace SAFTY {
+    #define DRIVECHECK_LIMITSW SWITCH::LimitSw::IsPressed(11)
+
+	typedef struct
+	{
+		enum Elem
+		{
+			None = 0x00,
+			DrivePowerLost = 0x01,
+			ControllerLost = 0x02,
+		};
+	}Error;
+    typedef uint8_t ErrorStatus;
+
+    class ErrorCheck {
+        public:
+        static ErrorStatus Check();
+    };
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Initialize/Initialize.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,45 @@
+#include "Initialize.h"
+#include "../Using.h"
+
+#include "../../Input/Switch/Switch.h"
+#include "../../Communication/Controller/Mu/Mu.h"
+#include "../../Communication/Controller/Controller.h"
+#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
+#include "../../Communication/RS485/RS485.h"
+#include "../../Input/ExternalInt/ExternalInt.h"
+#include "../../Input/Switch/Switch.h"
+#include "../../LED/LED.h"
+
+void SystemInitialize() {
+    #ifdef USE_SWITCH
+    SWITCH::DipSw::Initialize();
+    SWITCH::LimitSw::Initialize();
+    #endif
+
+    #ifdef USE_MU
+    MU::Mu::Initialize(SWITCH::DipSw::GetStatus());
+    CONTROLLER::Controller::Initialize();
+    #endif
+
+    #ifdef USE_INT
+    EXTERNALINT::Int::Initialize();
+    #endif
+
+    #ifdef USE_LED
+    LED::LED::Initialize();
+    #endif
+
+    #ifdef USE_RS485
+    RS485::RS485::Initialize();
+    #endif
+
+    #ifdef USE_MOTOR
+    ACTUATORHUB::MOTOR::Motor::Initialize();
+    #endif
+
+    #ifdef USE_SOLENOID
+    ACTUATORHUB::SOLENOID::Solenoid::Initialize();
+    #endif
+
+    __enable_irq();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Initialize/Initialize.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,6 @@
+#ifndef INITIALIZE_H_
+#define INITIALIZE_H_
+
+void SystemInitialize();
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Process/InterruptProcess.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,82 @@
+#include "InterruptProcess.h"
+
+#include "../../LED/LED.h"
+#include "Process.h"
+
+#pragma region INT_PROCESS
+void int0()//
+{
+
+}
+
+void int1()//
+{
+
+}
+
+void int2()
+{
+
+}
+
+void int3()
+{
+    
+}
+
+void int4()
+{
+    
+}
+
+void int5()
+{
+    
+}
+
+void int6()
+{
+    
+}
+
+void int7()
+{
+    
+}
+
+void int8()
+{
+    
+}
+
+void int9()//
+{
+    
+}
+
+void int10()
+{
+    
+}
+
+void int11()
+{
+    
+}
+
+void int12()
+{
+    
+}
+
+void int13()
+{
+    
+}
+
+void int14()
+{
+    
+}
+
+#pragma endregion INT_PROCESS

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Process/InterruptProcess.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,20 @@
+#ifndef INTERRUPTPROCESS_H_
+#define INTERRUPTPROCESS_H_
+
+void int0();
+void int1();
+void int2();
+void int3();
+void int4();
+void int5();
+void int6();
+void int7();
+void int8();
+void int9();
+void int10();
+void int11();
+void int12();
+void int13();
+void int14();
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Process/Process.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,277 @@
+#include "mbed.h"
+#include "Process.h"
+
+#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
+#include "../../Communication/Controller/Controller.h"
+#include "../../Input/ExternalInt/ExternalInt.h"
+#include "../../Input/Switch/Switch.h"
+#include "../../Input/Potentiometer/Potentiometer.h"
+#include "../../LED/LED.h"
+#include "../../Safty/Safty.h"
+#include "../Using.h"
+
+using namespace SWITCH;
+
+static CONTROLLER::ControllerData *controller;
+ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
+ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
+
+static bool lock;
+static bool processChangeComp;
+static int current;
+
+static void AllActuatorReset();
+
+#ifdef USE_SUBPROCESS
+static void (*Process[USE_PROCESS_NUM])(void);
+#endif
+
+#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
+
+/*Replace here with the definition code of your variables.*/
+
+#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
+
+#ifdef USE_SUBPROCESS
+#if USE_PROCESS_NUM>0
+static void Process0(void);
+#endif
+#if USE_PROCESS_NUM>1
+static void Process1(void);
+#endif
+#if USE_PROCESS_NUM>2
+static void Process2(void);
+#endif
+#if USE_PROCESS_NUM>3
+static void Process3(void);
+#endif
+#if USE_PROCESS_NUM>4
+static void Process4(void);
+#endif
+#if USE_PROCESS_NUM>5
+static void Process5(void);
+#endif
+#if USE_PROCESS_NUM>6
+static void Process6(void);
+#endif
+#if USE_PROCESS_NUM>7
+static void Process7(void);
+#endif
+#if USE_PROCESS_NUM>8
+static void Process8(void);
+#endif
+#if USE_PROCESS_NUM>9
+static void Process9(void);
+#endif
+#endif
+
+void SystemProcessInitialize()
+{
+	#pragma region USER-DEFINED_VARIABLE_INIT
+	
+	/*Replace here with the initialization code of your variables.*/
+
+	#pragma endregion USER-DEFINED_VARIABLE_INIT
+
+	lock = true;
+	processChangeComp = true;
+	current = DEFAULT_PROCESS;
+
+	#ifdef USE_SUBPROCESS
+	#if USE_PROCESS_NUM>0
+	Process[0] = Process0;
+	#endif
+	#if USE_PROCESS_NUM>1
+	Process[1] = Process1;
+	#endif
+	#if USE_PROCESS_NUM>2
+	Process[2] = Process2;
+	#endif
+	#if USE_PROCESS_NUM>3
+	Process[3] = Process3;
+	#endif
+	#if USE_PROCESS_NUM>4
+	Process[4] = Process4;
+	#endif
+	#if USE_PROCESS_NUM>5
+	Process[5] = Process5;
+	#endif
+	#if USE_PROCESS_NUM>6
+	Process[6] = Process6;
+	#endif
+	#if USE_PROCESS_NUM>7
+	Process[7] = Process7;
+	#endif
+	#if USE_PROCESS_NUM>8
+	Process[8] = Process8;
+	#endif
+	#if USE_PROCESS_NUM>9
+	Process[9] = Process9;
+	#endif
+	#endif
+}
+
+static void SystemProcessUpdate()
+{
+	#ifdef USE_SUBPROCESS
+	if(controller->Button.HOME) lock = false;
+	
+	if(controller->Button.START && processChangeComp)
+	{
+		current++;
+		if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
+		processChangeComp = false;
+	}
+	else if(controller->Button.SELECT && processChangeComp)
+	{
+		current--;
+		if (current < 0) current = 0;
+		processChangeComp = false;
+	}
+	else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
+	#endif
+	
+	#ifdef USE_MOTOR
+	ACTUATORHUB::MOTOR::Motor::Update(motor);
+	#endif
+	
+	#ifdef USE_SOLENOID
+	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
+	#endif
+
+	#ifdef USE_RS485
+	ACTUATORHUB::ActuatorHub::Update();
+	#endif
+	
+}
+
+void SystemProcess()
+{
+	SystemProcessInitialize();
+
+	while(1)
+	{
+		#ifdef USE_MU
+		controller = CONTROLLER::Controller::GetData();
+		#endif
+
+		#ifdef USE_ERRORCHECK
+		if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
+		{
+			CONTROLLER::Controller::DataReset();
+			AllActuatorReset();
+			lock = true;
+		}
+		else
+		#endif
+		{
+
+			#ifdef USE_SUBPROCESS
+			if(!lock)
+			{
+				Process[current]();
+			}
+			else
+			#endif
+			{
+				//ロック時の処理
+			}
+		}
+		
+		SystemProcessUpdate();
+	}
+}
+
+#pragma region PROCESS
+#ifdef USE_SUBPROCESS
+#if USE_PROCESS_NUM>0
+static void Process0()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>1
+static void Process1()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>2
+static void Process2()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>3
+static void Process3()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>4
+static void Process4()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>5
+static void Process5()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>6
+static void Process6()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>7
+static void Process7()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>8
+static void Process8()
+{
+
+}
+#endif
+
+#if USE_PROCESS_NUM>9
+static void Process9()
+{
+
+}
+#endif
+#endif
+#pragma endregion PROCESS
+
+static void AllActuatorReset()
+{
+
+	#ifdef USE_SOLENOID
+	solenoid.all = ALL_SOLENOID_OFF;
+	#endif
+
+	#ifdef USE_MOTOR
+	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
+	{
+		motor[i].dir = FREE;
+		motor[i].pwm = 0;
+	}
+	#endif
+}
+
+#pragma region USER-DEFINED-FUNCTIONS
+
+#pragma endregion

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Process/Process.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,69 @@
+#ifndef PROCESS_H_
+#define PROCESS_H_
+
+#include "mbed.h"
+
+void SystemProcess();
+
+#define ROLLER_LF motor[ROLLER_LF_NUM]
+#define ROLLER_LL motor[ROLLER_LL_NUM]
+#define ROLLER_LB motor[ROLLER_LB_NUM]
+#define ROLLER_LR motor[ROLLER_LR_NUM]
+#define ROLLER_CF motor[ROLLER_CF_NUM]
+#define ROLLER_CL motor[ROLLER_CL_NUM]
+#define ROLLER_CB motor[ROLLER_CB_NUM]
+#define ROLLER_CR motor[ROLLER_CR_NUM]
+#define ROLLER_RF motor[ROLLER_RF_NUM]
+#define ROLLER_RL motor[ROLLER_RL_NUM]
+#define ROLLER_RB motor[ROLLER_RB_NUM]
+#define ROLLER_RR motor[ROLLER_RR_NUM]
+
+#define ROLLER_LF_NUM 8
+#define ROLLER_LL_NUM 9
+#define ROLLER_LB_NUM 13
+#define ROLLER_LR_NUM 14
+#define ROLLER_CF_NUM 15
+#define ROLLER_CL_NUM 16
+#define ROLLER_CB_NUM 17
+#define ROLLER_CR_NUM 18
+#define ROLLER_RF_NUM 19
+#define ROLLER_RL_NUM 20
+#define ROLLER_RB_NUM 21
+#define ROLLER_RR_NUM 22
+
+#define FRONT_R tire[0]
+#define FRONT_L tire[1]
+#define REAR_L tire[2]
+#define REAR_R tire[3]
+
+#define TIRE_FR motor[0]
+#define TIRE_FL motor[1]
+#define TIRE_RL motor[2]
+#define TIRE_RR motor[3]
+#define STR_FR motor[4]
+#define STR_FL motor[5]
+#define STR_RL motor[6]
+#define STR_RR motor[7]
+
+#define SENSOR_FR POTENTIOMETER::adc[1].read_u16()
+#define SENSOR_FL (POTENTIOMETER::adc[2].read_u16() / 65535.0 * 1024.0)
+#define SENSOR_RL POTENTIOMETER::adc[3]
+#define SENSOR_RR POTENTIOMETER::adc[4]
+
+#define PLUS90_FR 605
+// #define PLUS90_FL 31100
+#define PLUS90_FL 480
+#define PLUS90_RL 505
+#define PLUS90_RR 550
+
+#define ZERO_FR 880
+// #define ZERO_FL 48800
+#define ZERO_FL 760
+#define ZERO_RL 775
+#define ZERO_RR 800
+
+extern Timer rollerTimer[4];
+extern float rollerSpeed[4];
+
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Using.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,63 @@
+#ifndef USING_H_
+#define USING_H_
+
+//Communication
+#define USE_MU
+
+#define USE_BLUETOOTH
+#ifdef USE_BLUETOOTH
+#	define BLUETOOTH_BUFFER_SIZE 64
+const char disconnect = 0x03;
+#else
+#	define BLUETOOTH_BUFFER_SIZE 0
+#endif
+
+#define USE_MOTOR
+#ifdef USE_MOTOR
+#	define MOUNTING_MOTOR_NUM 13
+#else
+#	define MOUNTING_MOTOR_NUM 0
+#endif
+
+#define USE_RS485
+#ifdef USE_RS485
+#	define RS485_BUFFER_SIZE 26 + BLUETOOTH_BUFFER_SIZE + MOUNTING_MOTOR_NUM-13
+#else
+#	define RS485_BUFFER_SIZE 0
+#endif
+
+#define USE_SOLENOID
+
+//Communication
+
+//Output
+#define USE_LED
+#define USE_LED_NUM 4
+//Output
+
+//Input
+
+#define USE_SWITCH
+
+#define USE_POTENTIOMETER
+#ifdef USE_POTENTIOMETER
+#	define USE_POTENTIOMETER_NUM 4
+#else
+#	define USE_POTENTIOMETER_NUM 0
+#endif
+
+#define USE_INT
+
+//Input
+
+#define USE_ERRORCHECK
+#define USE_DRIVECHECK
+
+#define USE_SUBPROCESS
+#ifdef USE_SUBPROCESS
+#	define USE_PROCESS_NUM 10	//0 ~ 10
+#	define DEFAULT_PROCESS 0
+#endif
+
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,9 @@
+#include "System/Initialize/Initialize.h"
+#include "System/Process/Process.h"
+
+#include <float.h>
+
+int main(void) {
+    SystemInitialize();
+    SystemProcess();
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file