Revision 13:678870d8f851, committed 2019-05-15

Comitter:

yuto17320508

Date:

Wed May 15 10:19:13 2019 +0000

Parent:

12:e6fd3a3201f0

Commit message:

l

Changed in this revision

diff -r e6fd3a3201f0 -r 678870d8f851 main.cpp
--- a/main.cpp	Wed May 15 06:49:13 2019 +0000
+++ b/main.cpp	Wed May 15 10:19:13 2019 +0000
@@ -72,30 +72,30 @@
     bus_out = 1;
     printf("start\n\r");
     int mode = -1;
-    air_hand = 1;
+    air_hand = 0;
 
     while(1) {
         float duty = 0.0;
         can_receive(mode,duty);
+        bus_out = 0;//未収束
         printf("mode:%d duty:%.3f\n\r", mode, duty);
         motor_ro.setDutyLimit(duty);
         motor_ri.setDutyLimit(duty);
-        if(hand_mode == G_OPEN) {
-            air_hand = 1;
+        //printf("target is %d\n\r",target_ro);
+        if(mode == FORWARD) forward();
+        else if(mode == STOP) stop();
+        else if(mode == BACK) back();
+        if(hand_mode == G_CLOSE) {
+            air_hand = 0;
         }
-        else if(hand_mode == G_CLOSE) {
-            air_hand = 0;
+        else if(hand_mode == G_OPEN) {
+            air_hand = 1;
 
         } else if(hand_mode == GOAL) {
             for(int i=0; i<10; ++i)
                 servo.set_degree(0,(7200 - 3500) * 270.0/(11500 - 3500));
         }
-        bus_out = 0;
-        //printf("target is %d\n\r",target_ro);
-        if(mode == FORWARD) forward();
-        else if(mode == STOP) stop();
-        else if(mode == BACK) back();
-        bus_out = 1;
+        bus_out = 1;//収束
     }
 
 }
@@ -136,7 +136,7 @@
     motor_ro_b.period_us(100);
     motor_ri_f.period_us(100);
     motor_ri_b.period_us(100);
-    air_hand = 1;//ゲレゲを離す手の形にしておく
+    air_hand = 0;//ゲレゲを離す手の形にしておく
     switch_ro.mode(PullUp);
     switch_ri.mode(PullUp);
     servo.init();