Diff: go/go.h

Revision:

20:13934809e117

Parent:

19:48c3af917932

Child:

23:f45eb02433a5

--- a/go/go.h	Fri Aug 17 08:47:23 2018 +0000
+++ b/go/go.h	Mon Aug 27 03:47:21 2018 +0000
@@ -4,29 +4,28 @@
 @brief 目標位置まで行くプログラム.
 */
 #include "state.h"
-extern int isInterrupt;
 extern const double kPIDTicker_s;
-extern const double kServoCalTicker_s;
-extern const double kServoMoveTicker_s;
-extern int servo_move_ticket;
-extern int servo_cal_ticket;
+extern const double kCalTargetTicker_s ;
+extern int cal_target_ticket;
 extern int motor_move_ticket;
+
+///@brief プログラム初期設定
 void GoSetup();
+//tickerで呼ぶ
 inline void PIDInterrupt()
 {
     motor_move_ticket = 1;
 };
-inline void ServoCalInterrupt()
+inline void CalTargetInterrupt()
 {
-    servo_cal_ticket = 1;
+    cal_target_ticket = 1;
 };
-void ServoMoveInterrupt();
-
+//ワーク位置
 int Go(WorkState &workstate);
+//少し上昇
 void Above(AreaName areaname);
-/// @return ワーク直前で止まる値を返す
-void GetPrePosition(WorkState &state, double (&result)[3]);
 //ゆっくり0点に戻るときに使う
 void GoToZeroSlowly();
+//最初の動作チェック
 void StartCheck();
 #endif
\ No newline at end of file