Diff: interrupt/interrupt.cpp

Revision:

18:05f5a3323bda

Parent:

13:126c3f7f9b89

Child:

19:48c3af917932

--- a/interrupt/interrupt.cpp	Thu Aug 16 04:29:07 2018 +0000
+++ b/interrupt/interrupt.cpp	Fri Aug 17 00:10:25 2018 +0000
@@ -6,6 +6,7 @@
 #include "pinnames.h"
 #include "cat18_can_info.h"
 #include "debug.h"
+#include "workposition.h"
 #define RIGHT//右用ならRIGHT,左用ならLEFT
 
 Ticker ticker;
@@ -46,6 +47,7 @@
 }
 int GetCounterpartIsInCommon()
 {
+    if(shootingbox[9].is_exist == 0) counterpart_is_in_common = 1;
     return counterpart_is_in_common;
 }
 
@@ -77,7 +79,8 @@
 #endif
         {
             double now_position_mm[3] = {GetNowTipLocateX(),GetNowTipLocateY(),GetNowTipLocateZ()};
-            can_pub_data[0] = IsInBanArea(0,now_position_mm);
+            if(CheckBanArea(0, now_position_mm[0], now_position_mm) == 0) can_pub_data[0] = 1;
+            else can_pub_data[0] = 0;
             CANMessage msg(state,can_pub_data,kCanlength_rightleft);
             can.write(msg);
             break;