Diff: main.cpp

Revision:

30:af136b83b202

Parent:

29:ea48140fc85e

Child:

31:f7eb7c9fc8db

--- a/main.cpp	Tue Sep 04 12:53:50 2018 +0000
+++ b/main.cpp	Tue Sep 04 23:03:50 2018 +0000
@@ -8,18 +8,20 @@
 #include "controller.h"
 #include "calplace.h"
 #include "check.h"
+#include "discoveryboard.h"
 //debug用に追加
 #include "coordinate.h"
-#define DEBUG_MODE
-const int kWait_ms = 500;
+//#define DEBUG_MODE
+const int kWait_ms = 250;
 int worknum = 0;
 int main()
 {
+
     GoSetup();
     GoToFirstPosition();
     SetupPosition();
     if(PositionSetupIsInBan() == 1) return 1;//失敗したら強制終了
-    
+
     //スタート指示受付
     DEBUG("stand by\r\n");
     if(WasLoad() == 0) {
@@ -33,11 +35,12 @@
         Close();
         //ワークに向かう
         if(Go(work[worknum]) != 0) continue;
-        #ifdef DEBUGMODE
+
+#ifdef DEBUG_MODE
         DEBUG("ManualModeWithPc start\r\n");
-        while(ManualModeWithPc() == 0){};
+        while(ManualModeWithPc() == 1) {};
         DEBUG("ManualModeWithPc return work %d %f, %f, %f\r\n", worknum, GetNowTipLocateX(), GetNowTipLocateY(), GetNowTipLocateZ());
-        #endif
+#endif
         //掴む
         wait_ms(kWait_ms);
         Close();
@@ -53,7 +56,6 @@
         if(Go(shootingbox[boxspace]) != 0) continue;
         //放す
         Open();
-        wait_ms(kWait_ms);
         //上に持ち上げる
         Above(BOX);
         wait_ms(kWait_ms);