Diff: System/Process/Process.cpp

Revision:

35:33c6cdba5630

Parent:

34:2fce61e3ebc4

Child:

36:418ee5567687

--- a/System/Process/Process.cpp	Tue Oct 29 08:35:05 2019 +0000
+++ b/System/Process/Process.cpp	Tue Oct 29 14:54:17 2019 +0000
@@ -1,6 +1,5 @@
 #include "mbed.h"
 #include "Process.h"
-
 #include <stdlib.h>
 #include "../../CommonLibraries/PID/PID.h"
 #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
@@ -67,37 +66,7 @@
     else return abs(pwmVal);
 }
 
-int selectnum[16][4]= {
-//1,2,4,8
-    {0,0,0,0},
-    {1,0,0,0},
-    {0,1,0,0},
-    {1,1,0,0},
-    {0,0,1,0},
-    {1,0,1,0},
-    {0,1,1,0},
-    {1,1,1,0},
-    {0,0,0,1},
-    {1,0,0,1},
-    {0,1,0,1},
-    {1,1,0,1},
-    {0,0,1,1},
-    {1,0,1,1},
-    {0,1,1,1},
-    {1,1,1,1}
-};
-
-DigitalIn EMC(PC_13);
-
-void LedMode(int num)
-{   
-    /* 
-    POTENTIOMETER::dio[0]= selectnum[num][0];;
-    POTENTIOMETER::dio[1]= selectnum[num][1];;
-    POTENTIOMETER::dio[2]= selectnum[num][2];;
-    POTENTIOMETER::dio[3]= selectnum[num][3];;
-    */
-}
+DigitalIn EMC(PC_13); //非常停止確認用
 
 bool start_flag = true;
 bool UP_flag = false;
@@ -250,14 +219,6 @@
     SystemProcessInitialize();
 
     while(1) {
-        /*
-        if(StertSW){
-            LED_DEBUG0=1;
-        }
-        else{
-            LED_DEBUG0=0;
-        }
-        */
         if(EMC==0) {
             fast=40;
             normal=30;
@@ -294,9 +255,9 @@
 
         if(mode==0) {
             if(ZoneSW) {
-                LedMode(1);
+                LED::LED::TapeledMode(1);
             } else {
-                LedMode(2);
+                LED::LED::TapeledMode(2);
             }
         }
         for(int i = 0; i < 8; i++) {
@@ -427,7 +388,7 @@
 #if USE_PROCESS_NUM>1
 static void Process1()
 {
-    LedMode(6);
+    LED::LED::TapeledMode(6);
     start_flag = true;
     mtc=false;
     mtc2 = false;
@@ -496,10 +457,10 @@
     if(controller->Button.B) {
         if(dz4==true) {
             if(dz4i==false) {
-                solenoid.solenoid4 = SOLENOID_ON;
+                solenoid.solenoid1 = SOLENOID_ON;
                 dz4i=true;
             } else {
-                solenoid.solenoid4 = SOLENOID_OFF;
+                solenoid.solenoid1 = SOLENOID_OFF;
                 dz4i=false;
             }
             dz4=false;
@@ -515,7 +476,7 @@
 {
     //Oh So 青ゾーン
     countss++;
-    LedMode(4);
+    LED::LED::TapeledMode(4);
     if(mode==1) {//スタートゾーンから白線検知
         fast=40;
         normal=30;
@@ -1366,7 +1327,7 @@
 static void Process3()
 {
 //Clearly 赤ゾーン
-    LedMode(3);
+    LED::LED::TapeledMode(3);
     countss++;
     if(mode==1) {//スタートゾーンから白線検知
         fast=40;