Diff: main.cpp

Revision:

18:05f5a3323bda

Parent:

16:b2358fd35999

Child:

19:48c3af917932

--- a/main.cpp	Thu Aug 16 04:29:07 2018 +0000
+++ b/main.cpp	Fri Aug 17 00:10:25 2018 +0000
@@ -9,6 +9,10 @@
 //debug用に追加
 #include "interface.h"
 #include "coordinate.h"
+
+const int kWait_ms = 500;
+
+//#define FORDEBUG
 ///setup関連を集めた
 void Setups();
 void Tests();
@@ -23,7 +27,12 @@
     DEBUG("main start");
     InterruptSetup();
     int worknum = 0;
+
+#ifdef FORDEBUG
+    for(int i = kCommonStart; i < kCommonStart + kCommonAreaNum - 2; i++) work[i].is_exist = 0;
+#endif
     while( (worknum = CalPickPlace()) != 23 ) {
+        Close();
         //ワークに向かう
         DEBUG("worknum %d, color %d, area %d, position %f, %f, %f\r\n", worknum, work[worknum].color, work[worknum].areaname, work[worknum].position[0],work[worknum].position[1],work[worknum].position[2]);
         DEBUG("go to work\r\n");
@@ -32,9 +41,10 @@
         //掴む
         Close();
         DEBUG("above\r\n");
-        wait(1);
+        wait_ms(kWait_ms);
         //上に持ち上げる
-        Above();
+        Above(work[worknum].areaname);
+        wait_ms(kWait_ms);
         //取り上げたことを保存
         work[worknum].is_exist = 0;
         //シュート位置計算
@@ -46,11 +56,11 @@
         DEBUG("open\r\n");
         //放す
         Open();
-        wait(0.5);
+        wait_ms(kWait_ms);
         DEBUG("above\r\n");
         //上に持ち上げる
-        Above();
-        wait(0.1);
+        Above(BOX);
+        wait_ms(kWait_ms);
         DEBUG("finish\r\n");
         //置いたことを保存
         shootingbox[boxspace].is_exist = 1;
@@ -61,14 +71,14 @@
 {
     GoSetup();
     SetupPosition();
-   StartCheck();
+    StartCheck();
 }
 void Tests()
 {
     static int count = 0;
     count ++;
     if (count > 100000) {
-        
+
         count =0;
     }
 }
\ No newline at end of file