Diff: main.cpp

Revision:

20:13934809e117

Parent:

19:48c3af917932

Child:

23:f45eb02433a5

--- a/main.cpp	Fri Aug 17 08:47:23 2018 +0000
+++ b/main.cpp	Mon Aug 27 03:47:21 2018 +0000
@@ -4,44 +4,36 @@
 #include "go.h"
 #include "servo.h"
 #include "interrupt.h"
-#include "workposition.h"
+#include "workinfo.h"
 #include "controller.h"
+#include "calplace.h"
 //debug用に追加
-#include "interface.h"
+//#include "interface.h"
 #include "coordinate.h"
-
+//#define FORDEBUG
 const int kWait_ms = 500;
-
-//#define FORDEBUG
+int worknum = 0;
 ///setup関連を集めた
 void Setups();
 void Tests();
-Interface interface(USBTX, USBRX);
+//Interface interface(USBTX, USBRX);
 int main()
 {
-    DEBUG("setup start\r\n");
     Setups();
-
     //スタート指示受付
-    DEBUG("stand by");
+    DEBUG("stand by\r\n");
     while(CanStart() == 0) {};
-    DEBUG("main start");
+    DEBUG("main start\r\n");
     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");
         if(Go(work[worknum]) != 0) continue;
-        DEBUG("close\r\n");
         //掴む
         Close();
-        DEBUG("above\r\n");
         wait_ms(kWait_ms);
         //上に持ち上げる
         Above(work[worknum].areaname);
@@ -49,20 +41,15 @@
         //取り上げたことを保存
         work[worknum].is_exist = 0;
         //シュート位置計算
-        DEBUG("cal put place\r\n");
         int boxspace = CalPutPlace(work[worknum].color);
         //ボックスに行く(失敗(-1)したらcontinue)
-        DEBUG("go to box %d\r\n",boxspace);
         if(Go(shootingbox[boxspace]) != 0) continue;
-        DEBUG("open\r\n");
         //放す
         Open();
         wait_ms(kWait_ms);
-        DEBUG("above\r\n");
         //上に持ち上げる
         Above(BOX);
         wait_ms(kWait_ms);
-        DEBUG("finish\r\n");
         //置いたことを保存
         shootingbox[boxspace].is_exist = 1;
         shootingbox[boxspace].color = work[worknum].color;
@@ -81,4 +68,4 @@
     if (count > 100000) {
         count =0;
     }
-}
\ No newline at end of file
+}