大季 矢花 / Mbed 2 deprecated MainBoard2019_Master_9_25_last

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Dependencies:   mbed TrapezoidControl QEI

Files at this revision

API Documentation at this revision

Revision 37:7cfa39c41245, committed 2019-09-25

Comitter:
yabahiro
Date:
Wed Sep 25 11:42:58 2019 +0000
Parent:
36:788274604650
Commit message:
aa

Changed in this revision

System/Process/Process.cpp Show annotated file Show diff for this revision Revisions of this file
System/Process/Process.h Show annotated file Show diff for this revision Revisions of this file 
--- a/System/Process/Process.cpp	Wed Sep 25 11:03:03 2019 +0000
+++ b/System/Process/Process.cpp	Wed Sep 25 11:42:58 2019 +0000
@@ -377,8 +377,6 @@
     }
     if(DWSW) {
         zyouge=true;
-    } else {
-        zyouge=false;
     }
     if(AIRSW) {
         if(SW_flag==false) {
@@ -407,7 +405,7 @@
             }
         }
         if(Twsh==2) {
-            motor[MOTOR_0].pwm = 240;
+            motor[MOTOR_0].pwm = 230;
             motor[MOTOR_0].dir = FOR;
             if(UPLS2) {
                 motor[MOTOR_0].pwm = 100;
@@ -415,6 +413,9 @@
                 zyouge=false;
             }
         }
+    } else {
+        motor[MOTOR_0].pwm = 100;
+        motor[MOTOR_0].dir = BRAKE;
     }
 }
 
@@ -726,9 +727,10 @@
         }
 
         if(cros==2) {
-            mode=21;
-            count=0;
-            cros=0;
+
+            // mode=21;
+            // count=0;
+            // cros=0;
         }//ゆっくりモードに入れなかった時の保険
 
         switch(g[2]) {

--- a/System/Process/Process.h	Wed Sep 25 11:03:03 2019 +0000
+++ b/System/Process/Process.h	Wed Sep 25 11:42:58 2019 +0000
@@ -22,6 +22,8 @@
 #define AIRSW    LimitSw::IsPressed(2) //上下機構トリガー
 #define UPLS    LimitSw::IsPressed(8) //上下機構リミット１
 #define UPLS2    LimitSw::IsPressed(0) //上下機構リミット２
+#define LIF    LimitSw::IsPressed(11) //上下機構リミット１
+#define LIB    LimitSw::IsPressed(7) //上下機構リミット２
 
 
 typedef union