Diff: interrupt/interrupt.cpp

Revision:

20:13934809e117

Parent:

19:48c3af917932

Child:

23:f45eb02433a5

--- a/interrupt/interrupt.cpp	Fri Aug 17 08:47:23 2018 +0000
+++ b/interrupt/interrupt.cpp	Mon Aug 27 03:47:21 2018 +0000
@@ -1,61 +1,61 @@
 #include "interrupt.h"
 #include "mbed.h"
+#include "debug.h"
 #include "go.h"
 #include "check.h"
 #include "coordinate.h"
 #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
-
+#include "workinfo.h"
+#include "define_right_or_left.h"
+#include "calplace.h"
+//#define CAN_ON //CAN通信するならdefine
 Ticker ticker;
 CAN can(pin_can_rd,pin_can_td);
 int counterpart_is_in_common;
 char can_pub_data[kCanlength_rightleft];
-
+//tickerタイミング計算関係
 const double kTicker_s = 0.001;
 const int kCanCount = kCanTicker_s / kTicker_s;
 const int kPIDCount = kPIDTicker_s / kTicker_s;
-const int kServoCalCount = kServoCalTicker_s / kTicker_s;
-const int kServoMoveCount = kServoMoveTicker_s / kTicker_s;
-const int kCountReset=kPIDCount*kServoCalCount*kCanCount*kServoMoveCount;
+const int kCalTargetCount = kCalTargetTicker_s  / kTicker_s;
+const int kCountReset=kPIDCount*kCalTargetCount*kCanCount;
 
+//tickerで呼び出す
 void TimerInterrupt();
+//CAN通信
 void CanRead();
 void CanSend();
 
 void InterruptSetup()
 {
+    DEBUG("InterruptSetup() start\r\n");
     can.frequency(kCanFrequency);
     ticker.attach(TimerInterrupt,kTicker_s);
+    DEBUG("InterruptSetup() finish\r\n");
 }
 void TimerInterrupt()
 {
     static int count = 0;
     if(count % kPIDCount == 0) PIDInterrupt();
-    if(count % kServoCalCount==0){
-        ServoCalInterrupt();
+    if(count % kCalTargetCount==0) {
+        CalTargetInterrupt();
     }
-    //if(count % kServoMoveCount==0){
-    //    ServoMoveInterrupt();
-    //}
-    /*
-    if(count % kCanCount==0){
+#ifdef CAN_ON
+    if(count % kCanCount==0) {
         CanRead();
         CanSend();
     }
-    */
+#endif
     if(count == kCountReset) count=0;
     count++;
 }
 int GetCounterpartIsInCommon()
 {
-    if(shootingbox[9].is_exist == 0) counterpart_is_in_common = 1;
-    else counterpart_is_in_common = 0;
+    //一つもワークを置いていなければ入っていはいけない＝１
+    if(shootingbox[kFirstPutPlace].is_exist == 0) return 1;
     return counterpart_is_in_common;
 }
-
 void CanRead()
 {
     CANMessage msg;
@@ -70,7 +70,6 @@
 #endif
             counterpart_is_in_common = msg.data[0];
             break;
-
     }
 }
 void CanSend()