大季 矢花 / Mbed 2 deprecated MainBoard2019_Master_9_16

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Dependencies:   mbed TrapezoidControl QEI

System/Process/Process.cpp@16:3f2c2d89372b, 2019-07-01 (annotated)

Committer:
kishibekairohan
Date:
Mon Jul 01 13:00:20 2019 +0000
Revision:
16:3f2c2d89372b
Parent:
15:dfcec98f5aa9
Child:
17:50dc4b449e69
aaa;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kishibekairohan 13:b6e02d6261d7 1
t_yamamoto 0:669ef71cba68 2 #include "mbed.h"
t_yamamoto 0:669ef71cba68 3 #include "Process.h"
7ka884 4:ba9df71868df 4 #include "QEI.h"
t_yamamoto 0:669ef71cba68 5
7ka884 4:ba9df71868df 6 #include "../../CommonLibraries/PID/PID.h"
t_yamamoto 0:669ef71cba68 7 #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
t_yamamoto 0:669ef71cba68 8 #include "../../Communication/Controller/Controller.h"
t_yamamoto 0:669ef71cba68 9 #include "../../Input/ExternalInt/ExternalInt.h"
t_yamamoto 0:669ef71cba68 10 #include "../../Input/Switch/Switch.h"
t_yamamoto 0:669ef71cba68 11 #include "../../Input/Potentiometer/Potentiometer.h"
kishibekairohan 16:3f2c2d89372b 12 #include "../../Input/Encoder/Encoder.h"
t_yamamoto 0:669ef71cba68 13 #include "../../LED/LED.h"
t_yamamoto 0:669ef71cba68 14 #include "../../Safty/Safty.h"
t_yamamoto 0:669ef71cba68 15 #include "../Using.h"
t_yamamoto 0:669ef71cba68 16
t_yamamoto 0:669ef71cba68 17 using namespace SWITCH;
7ka884 4:ba9df71868df 18 using namespace PID_SPACE;
kishibekairohan 16:3f2c2d89372b 19 using namespace ENCODER;
t_yamamoto 0:669ef71cba68 20
t_yamamoto 0:669ef71cba68 21 static CONTROLLER::ControllerData *controller;
t_yamamoto 0:669ef71cba68 22 ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto 0:669ef71cba68 23 ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto 0:669ef71cba68 24
t_yamamoto 0:669ef71cba68 25 static bool lock;
t_yamamoto 0:669ef71cba68 26 static bool processChangeComp;
t_yamamoto 0:669ef71cba68 27 static int current;
t_yamamoto 0:669ef71cba68 28
t_yamamoto 0:669ef71cba68 29 static void AllActuatorReset();
t_yamamoto 0:669ef71cba68 30
t_yamamoto 0:669ef71cba68 31 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 32 static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto 0:669ef71cba68 33 #endif
t_yamamoto 0:669ef71cba68 34
t_yamamoto 0:669ef71cba68 35 #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 36
t_yamamoto 0:669ef71cba68 37 /*Replace here with the definition code of your variables.*/
t_yamamoto 0:669ef71cba68 38
kishibekairohan 2:c015739085d3 39 Serial pc(USBTX, USBRX);
kishibekairohan 2:c015739085d3 40
kishibekairohan 16:3f2c2d89372b 41 //**************Encoder***************
kishibekairohan 16:3f2c2d89372b 42 const int PerRev = 256;
kishibekairohan 16:3f2c2d89372b 43 QEI ECD_0(ECD_A_0,ECD_B_0,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 44 QEI ECD_1(ECD_A_1,ECD_B_1,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 45 QEI ECD_2(ECD_A_2,ECD_B_2,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 46 QEI ECD_3(ECD_A_3,ECD_B_3,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan 16:3f2c2d89372b 47 //**************Encoder***************
kishibekairohan 7:e88c5d47a3be 48
kishibekairohan 16:3f2c2d89372b 49 //**************Buzzer****************
kishibekairohan 11:028a150943b5 50 //DigitalOut buzzer(BUZZER_PIN);
kishibekairohan 9:f93fc79a49ea 51 void BuzzerTimer_func();
kishibekairohan 9:f93fc79a49ea 52 Ticker BuzzerTimer;
kishibekairohan 16:3f2c2d89372b 53 bool EMGflag = false;
kishibekairohan 16:3f2c2d89372b 54 PwmOut buzzer(BUZZER_PIN);
kishibekairohan 16:3f2c2d89372b 55 //buzzer.period(1.0/800);
kishibekairohan 16:3f2c2d89372b 56 //**************Buzzer****************
kishibekairohan 11:028a150943b5 57
kishibekairohan 11:028a150943b5 58 //************TapeLed*****************
kishibekairohan 11:028a150943b5 59 void TapeLedEms_func();
kishibekairohan 11:028a150943b5 60 TapeLedData tapeLED;
kishibekairohan 11:028a150943b5 61 TapeLedData sendLedData;
kishibekairohan 11:028a150943b5 62 TapeLED_Mode ledMode = Normal;
kishibekairohan 11:028a150943b5 63 Ticker tapeLedTimer;
kishibekairohan 11:028a150943b5 64 //************TapaLed*****************
kishibekairohan 16:3f2c2d89372b 65
t_yamamoto 0:669ef71cba68 66 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 67
t_yamamoto 0:669ef71cba68 68 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 69 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 70 static void Process0(void);
t_yamamoto 0:669ef71cba68 71 #endif
t_yamamoto 0:669ef71cba68 72 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 73 static void Process1(void);
t_yamamoto 0:669ef71cba68 74 #endif
t_yamamoto 0:669ef71cba68 75 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 76 static void Process2(void);
t_yamamoto 0:669ef71cba68 77 #endif
t_yamamoto 0:669ef71cba68 78 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 79 static void Process3(void);
t_yamamoto 0:669ef71cba68 80 #endif
t_yamamoto 0:669ef71cba68 81 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 82 static void Process4(void);
t_yamamoto 0:669ef71cba68 83 #endif
t_yamamoto 0:669ef71cba68 84 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 85 static void Process5(void);
t_yamamoto 0:669ef71cba68 86 #endif
t_yamamoto 0:669ef71cba68 87 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 88 static void Process6(void);
t_yamamoto 0:669ef71cba68 89 #endif
t_yamamoto 0:669ef71cba68 90 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 91 static void Process7(void);
t_yamamoto 0:669ef71cba68 92 #endif
t_yamamoto 0:669ef71cba68 93 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 94 static void Process8(void);
t_yamamoto 0:669ef71cba68 95 #endif
t_yamamoto 0:669ef71cba68 96 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 97 static void Process9(void);
t_yamamoto 0:669ef71cba68 98 #endif
t_yamamoto 0:669ef71cba68 99 #endif
t_yamamoto 0:669ef71cba68 100
t_yamamoto 0:669ef71cba68 101 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 102 {
t_yamamoto 0:669ef71cba68 103 #pragma region USER-DEFINED_VARIABLE_INIT
kishibekairohan 16:3f2c2d89372b 104 /*Replace here with the initialization code of your variables.*/
t_yamamoto 0:669ef71cba68 105 #pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto 0:669ef71cba68 106
t_yamamoto 0:669ef71cba68 107 lock = true;
t_yamamoto 0:669ef71cba68 108 processChangeComp = true;
t_yamamoto 0:669ef71cba68 109 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 110
t_yamamoto 0:669ef71cba68 111 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 112 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 113 Process[0] = Process0;
t_yamamoto 0:669ef71cba68 114 #endif
t_yamamoto 0:669ef71cba68 115 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 116 Process[1] = Process1;
t_yamamoto 0:669ef71cba68 117 #endif
t_yamamoto 0:669ef71cba68 118 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 119 Process[2] = Process2;
t_yamamoto 0:669ef71cba68 120 #endif
t_yamamoto 0:669ef71cba68 121 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 122 Process[3] = Process3;
t_yamamoto 0:669ef71cba68 123 #endif
t_yamamoto 0:669ef71cba68 124 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 125 Process[4] = Process4;
t_yamamoto 0:669ef71cba68 126 #endif
t_yamamoto 0:669ef71cba68 127 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 128 Process[5] = Process5;
t_yamamoto 0:669ef71cba68 129 #endif
t_yamamoto 0:669ef71cba68 130 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 131 Process[6] = Process6;
t_yamamoto 0:669ef71cba68 132 #endif
t_yamamoto 0:669ef71cba68 133 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 134 Process[7] = Process7;
t_yamamoto 0:669ef71cba68 135 #endif
t_yamamoto 0:669ef71cba68 136 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 137 Process[8] = Process8;
t_yamamoto 0:669ef71cba68 138 #endif
t_yamamoto 0:669ef71cba68 139 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 140 Process[9] = Process9;
t_yamamoto 0:669ef71cba68 141 #endif
t_yamamoto 0:669ef71cba68 142 #endif
t_yamamoto 0:669ef71cba68 143 }
t_yamamoto 0:669ef71cba68 144
t_yamamoto 0:669ef71cba68 145 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 146 {
t_yamamoto 0:669ef71cba68 147 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 148 if(controller->Button.HOME) lock = false;
t_yamamoto 0:669ef71cba68 149
t_yamamoto 0:669ef71cba68 150 if(controller->Button.START && processChangeComp)
t_yamamoto 0:669ef71cba68 151 {
t_yamamoto 0:669ef71cba68 152 current++;
t_yamamoto 0:669ef71cba68 153 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
t_yamamoto 0:669ef71cba68 154 processChangeComp = false;
t_yamamoto 0:669ef71cba68 155 }
t_yamamoto 0:669ef71cba68 156 else if(controller->Button.SELECT && processChangeComp)
t_yamamoto 0:669ef71cba68 157 {
t_yamamoto 0:669ef71cba68 158 current--;
t_yamamoto 0:669ef71cba68 159 if (current < 0) current = 0;
t_yamamoto 0:669ef71cba68 160 processChangeComp = false;
t_yamamoto 0:669ef71cba68 161 }
t_yamamoto 0:669ef71cba68 162 else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
t_yamamoto 0:669ef71cba68 163 #endif
t_yamamoto 0:669ef71cba68 164
t_yamamoto 0:669ef71cba68 165 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 166 ACTUATORHUB::MOTOR::Motor::Update(motor);
t_yamamoto 0:669ef71cba68 167 #endif
t_yamamoto 0:669ef71cba68 168
t_yamamoto 0:669ef71cba68 169 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 170 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
t_yamamoto 0:669ef71cba68 171 #endif
t_yamamoto 0:669ef71cba68 172
t_yamamoto 0:669ef71cba68 173 #ifdef USE_RS485
t_yamamoto 0:669ef71cba68 174 ACTUATORHUB::ActuatorHub::Update();
t_yamamoto 0:669ef71cba68 175 #endif
t_yamamoto 0:669ef71cba68 176
t_yamamoto 0:669ef71cba68 177 }
t_yamamoto 0:669ef71cba68 178
kishibekairohan 2:c015739085d3 179
kishibekairohan 2:c015739085d3 180
t_yamamoto 0:669ef71cba68 181 void SystemProcess()
t_yamamoto 0:669ef71cba68 182 {
t_yamamoto 0:669ef71cba68 183 SystemProcessInitialize();
t_yamamoto 0:669ef71cba68 184
t_yamamoto 0:669ef71cba68 185 while(1)
kishibekairohan 15:dfcec98f5aa9 186 {
kishibekairohan 16:3f2c2d89372b 187 //LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan 16:3f2c2d89372b 188 //LED_DEBUG1 = !LED_DEBUG1;
kishibekairohan 16:3f2c2d89372b 189 //printf("%d\r\n",ECD_0.getPulses());
kishibekairohan 15:dfcec98f5aa9 190
t_yamamoto 0:669ef71cba68 191 #ifdef USE_MU
t_yamamoto 0:669ef71cba68 192 controller = CONTROLLER::Controller::GetData();
t_yamamoto 0:669ef71cba68 193 #endif
t_yamamoto 0:669ef71cba68 194
t_yamamoto 0:669ef71cba68 195 #ifdef USE_ERRORCHECK
t_yamamoto 0:669ef71cba68 196 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost)
t_yamamoto 0:669ef71cba68 197 {
t_yamamoto 0:669ef71cba68 198 CONTROLLER::Controller::DataReset();
t_yamamoto 0:669ef71cba68 199 AllActuatorReset();
t_yamamoto 0:669ef71cba68 200 lock = true;
kishibekairohan 16:3f2c2d89372b 201 buzzer = 1;
kishibekairohan 15:dfcec98f5aa9 202 BuzzerTimer.attach(BuzzerTimer_func, 0.5);
t_yamamoto 0:669ef71cba68 203 }
t_yamamoto 0:669ef71cba68 204 else
t_yamamoto 0:669ef71cba68 205 #endif
t_yamamoto 0:669ef71cba68 206 {
t_yamamoto 0:669ef71cba68 207
t_yamamoto 0:669ef71cba68 208 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 209 if(!lock)
t_yamamoto 0:669ef71cba68 210 {
t_yamamoto 0:669ef71cba68 211 Process[current]();
t_yamamoto 0:669ef71cba68 212 }
t_yamamoto 0:669ef71cba68 213 else
t_yamamoto 0:669ef71cba68 214 #endif
t_yamamoto 0:669ef71cba68 215 {
t_yamamoto 0:669ef71cba68 216 //ロック時の処理
t_yamamoto 0:669ef71cba68 217 }
t_yamamoto 0:669ef71cba68 218 }
t_yamamoto 0:669ef71cba68 219
kishibekairohan 16:3f2c2d89372b 220 //Emergency!
kishibekairohan 16:3f2c2d89372b 221 if(EMG_0 || EMG_1){
kishibekairohan 16:3f2c2d89372b 222 buzzer = 1;
kishibekairohan 9:f93fc79a49ea 223 BuzzerTimer.attach(BuzzerTimer_func, 1.2);
kishibekairohan 11:028a150943b5 224 current = 0;
kishibekairohan 9:f93fc79a49ea 225 }
kishibekairohan 9:f93fc79a49ea 226
kishibekairohan 16:3f2c2d89372b 227 //Safety
kishibekairohan 16:3f2c2d89372b 228 if(!EMG_0 && !EMG_1){
kishibekairohan 9:f93fc79a49ea 229 buzzer = 0;
kishibekairohan 9:f93fc79a49ea 230 BuzzerTimer.detach();
kishibekairohan 9:f93fc79a49ea 231 }
kishibekairohan 9:f93fc79a49ea 232
t_yamamoto 0:669ef71cba68 233 SystemProcessUpdate();
t_yamamoto 0:669ef71cba68 234 }
t_yamamoto 0:669ef71cba68 235 }
t_yamamoto 0:669ef71cba68 236
kishibekairohan 2:c015739085d3 237
kishibekairohan 2:c015739085d3 238
kishibekairohan 2:c015739085d3 239
t_yamamoto 0:669ef71cba68 240 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 241 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 242 #if USE_PROCESS_NUM>0
kishibekairohan 12:c09b3e08a316 243 static void Process0()
kishibekairohan 10:1295d39fec3a 244 {
kishibekairohan 16:3f2c2d89372b 245
t_yamamoto 0:669ef71cba68 246 }
t_yamamoto 0:669ef71cba68 247 #endif
t_yamamoto 0:669ef71cba68 248
t_yamamoto 0:669ef71cba68 249 #if USE_PROCESS_NUM>1
kishibekairohan 16:3f2c2d89372b 250 static void Process1()
t_yamamoto 0:669ef71cba68 251 {
7ka884 4:ba9df71868df 252
t_yamamoto 0:669ef71cba68 253 }
t_yamamoto 0:669ef71cba68 254 #endif
t_yamamoto 0:669ef71cba68 255
t_yamamoto 0:669ef71cba68 256 #if USE_PROCESS_NUM>2
kishibekairohan 16:3f2c2d89372b 257 static void Process2()
kishibekairohan 13:b6e02d6261d7 258 {
kishibekairohan 13:b6e02d6261d7 259
kishibekairohan 13:b6e02d6261d7 260 }
kishibekairohan 13:b6e02d6261d7 261 #endif
kishibekairohan 13:b6e02d6261d7 262
kishibekairohan 13:b6e02d6261d7 263 #if USE_PROCESS_NUM>3
kishibekairohan 16:3f2c2d89372b 264 static void Process3()
kishibekairohan 13:b6e02d6261d7 265 {
kishibekairohan 15:dfcec98f5aa9 266
kishibekairohan 13:b6e02d6261d7 267 }
kishibekairohan 13:b6e02d6261d7 268 #endif
kishibekairohan 13:b6e02d6261d7 269
kishibekairohan 13:b6e02d6261d7 270 #if USE_PROCESS_NUM>4
kishibekairohan 13:b6e02d6261d7 271 static void Process4()
kishibekairohan 12:c09b3e08a316 272 {
kishibekairohan 15:dfcec98f5aa9 273
kishibekairohan 13:b6e02d6261d7 274 }
kishibekairohan 13:b6e02d6261d7 275 #endif
kishibekairohan 13:b6e02d6261d7 276
kishibekairohan 13:b6e02d6261d7 277 #if USE_PROCESS_NUM>5
kishibekairohan 16:3f2c2d89372b 278 static void Process5()
kishibekairohan 16:3f2c2d89372b 279 {
kishibekairohan 13:b6e02d6261d7 280
kishibekairohan 13:b6e02d6261d7 281 }
kishibekairohan 13:b6e02d6261d7 282 #endif
kishibekairohan 13:b6e02d6261d7 283
kishibekairohan 13:b6e02d6261d7 284 #if USE_PROCESS_NUM>6
kishibekairohan 13:b6e02d6261d7 285 static void Process6()
kishibekairohan 13:b6e02d6261d7 286 {
kishibekairohan 13:b6e02d6261d7 287
kishibekairohan 13:b6e02d6261d7 288 }
kishibekairohan 13:b6e02d6261d7 289 #endif
kishibekairohan 13:b6e02d6261d7 290
kishibekairohan 13:b6e02d6261d7 291 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 292 static void Process7()
kishibekairohan 13:b6e02d6261d7 293 {
kishibekairohan 12:c09b3e08a316 294
kishibekairohan 12:c09b3e08a316 295 }
kishibekairohan 12:c09b3e08a316 296 #endif
kishibekairohan 12:c09b3e08a316 297
kishibekairohan 16:3f2c2d89372b 298 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 299 static void Process8()
kishibekairohan 12:c09b3e08a316 300 {
kishibekairohan 12:c09b3e08a316 301
kishibekairohan 12:c09b3e08a316 302 }
kishibekairohan 12:c09b3e08a316 303 #endif
kishibekairohan 12:c09b3e08a316 304
kishibekairohan 13:b6e02d6261d7 305 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 306 static void Process9()
kishibekairohan 12:c09b3e08a316 307 {
kishibekairohan 2:c015739085d3 308
t_yamamoto 0:669ef71cba68 309 }
t_yamamoto 0:669ef71cba68 310 #endif
t_yamamoto 0:669ef71cba68 311 #endif
t_yamamoto 0:669ef71cba68 312 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 313
t_yamamoto 0:669ef71cba68 314 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 315 {
t_yamamoto 0:669ef71cba68 316
t_yamamoto 0:669ef71cba68 317 #ifdef USE_SOLENOID
t_yamamoto 0:669ef71cba68 318 solenoid.all = ALL_SOLENOID_OFF;
t_yamamoto 0:669ef71cba68 319 #endif
t_yamamoto 0:669ef71cba68 320
t_yamamoto 0:669ef71cba68 321 #ifdef USE_MOTOR
t_yamamoto 0:669ef71cba68 322 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++)
t_yamamoto 0:669ef71cba68 323 {
t_yamamoto 0:669ef71cba68 324 motor[i].dir = FREE;
t_yamamoto 0:669ef71cba68 325 motor[i].pwm = 0;
t_yamamoto 0:669ef71cba68 326 }
t_yamamoto 0:669ef71cba68 327 #endif
t_yamamoto 0:669ef71cba68 328 }
t_yamamoto 0:669ef71cba68 329
kishibekairohan 16:3f2c2d89372b 330 void BuzzerTimer_func(){
kishibekairohan 16:3f2c2d89372b 331 buzzer = !buzzer;
kishibekairohan 11:028a150943b5 332 }
kishibekairohan 11:028a150943b5 333
kishibekairohan 11:028a150943b5 334 void TapeLedEms_func() {
kishibekairohan 16:3f2c2d89372b 335 sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan 9:f93fc79a49ea 336 }
kishibekairohan 16:3f2c2d89372b 337
kishibekairohan 16:3f2c2d89372b 338 #pragma region USER-DEFINED-FUNCTIONS
kishibekairohan 16:3f2c2d89372b 339
kishibekairohan 16:3f2c2d89372b 340
t_yamamoto 0:669ef71cba68 341 #pragma endregion