Diff: main.cpp

Revision:

32:21229c96144a

Parent:

31:f7eb7c9fc8db

Child:

33:3902febe8c45

--- a/main.cpp	Tue Sep 04 23:09:52 2018 +0000
+++ b/main.cpp	Wed Sep 05 00:52:43 2018 +0000
@@ -24,10 +24,7 @@
 
     //スタート指示受付
     DEBUG("stand by\r\n");
-    if(WasLoad() == 0) {
-        wait(1);
-        while(CanStart() == 0) {};
-    }
+    while(CanStart() == 0) {};
     DEBUG("main start\r\n");
     InterruptSetup();
     ControllerSetup();
@@ -35,12 +32,6 @@
         Close();
         //ワークに向かう
         if(Go(work[worknum]) != 0) continue;
-
-#ifdef DEBUG_MODE
-        DEBUG("ManualModeWithPc start\r\n");
-        while(ManualModeWithPc() == 1) {};
-        DEBUG("ManualModeWithPc return work %d %f, %f, %f\r\n", worknum, GetNowTipLocateX(), GetNowTipLocateY(), GetNowTipLocateZ());
-#endif
         //掴む
         wait_ms(kWait_ms);
         Close();
@@ -56,6 +47,7 @@
         //3のときだけ特別に速度下げる
         if(worknum == 3) kServoVelocity_mm = 100;
         if(Go(shootingbox[boxspace]) != 0) continue;
+        ManualPutPlace(shootingbox[boxspace]);
         kServoVelocity_mm = 300;
         //放す
         Open();