大季 矢花
/
MB2019_main_ver3-11-3
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Diff: System/Process/Process.cpp
- Revision:
- 17:50dc4b449e69
- Parent:
- 16:3f2c2d89372b
- Child:
- 18:c694bae76e51
diff -r 3f2c2d89372b -r 50dc4b449e69 System/Process/Process.cpp
--- a/System/Process/Process.cpp Mon Jul 01 13:00:20 2019 +0000
+++ b/System/Process/Process.cpp Sat Jul 06 07:58:17 2019 +0000
@@ -52,7 +52,6 @@
Ticker BuzzerTimer;
bool EMGflag = false;
PwmOut buzzer(BUZZER_PIN);
-//buzzer.period(1.0/800);
//**************Buzzer****************
//************TapeLed*****************
@@ -187,6 +186,7 @@
//LED_DEBUG0 = !LED_DEBUG0;
//LED_DEBUG1 = !LED_DEBUG1;
//printf("%d\r\n",ECD_0.getPulses());
+ buzzer.period(1.0/800);
#ifdef USE_MU
controller = CONTROLLER::Controller::GetData();
@@ -198,8 +198,11 @@
CONTROLLER::Controller::DataReset();
AllActuatorReset();
lock = true;
- buzzer = 1;
- BuzzerTimer.attach(BuzzerTimer_func, 0.5);
+ //buzzer = 1;
+ //BuzzerTimer.attach(BuzzerTimer_func, 0.5);
+ //buzzer = 1;
+ //BuzzerTimer.attach(&BuzzerTimer_func, 1.2);
+ //BuzzerTimer.attach(BuzzerTimer_func, 1);
}
else
#endif
@@ -218,18 +221,17 @@
}
//Emergency!
- if(EMG_0 || EMG_1){
- buzzer = 1;
- BuzzerTimer.attach(BuzzerTimer_func, 1.2);
- current = 0;
+ if(!EMG_0 && !EMG_1 && !EMGflag){
+ buzzer = 0;
+ BuzzerTimer.attach(BuzzerTimer_func, 1);
+ EMGflag = true;
+ LED_DEBUG0 = 1;
}
-
- //Safety
- if(!EMG_0 && !EMG_1){
- buzzer = 0;
+ if(EMG_0 && EMG_1 && EMGflag){
+ buzzer = 1;
BuzzerTimer.detach();
+ EMGflag = false;
}
-
SystemProcessUpdate();
}
}
@@ -329,6 +331,7 @@
void BuzzerTimer_func(){
buzzer = !buzzer;
+ //LED_DEBUG0 = !LED_DEBUG0;
}
void TapeLedEms_func() {