File content as of revision 23:f45eb02433a5:

#include <mbed.h>
#include "debug.h"//DEBUG("",変数);でデバッグ。
#include "state.h"
#include "go.h"
#include "servo.h"
#include "interrupt.h"
#include "workinfo.h"
#include "controller.h"
#include "calplace.h"
#include "check.h"
//debug用に追加
//#include "interface.h"
#include "coordinate.h"
//#define FORDEBUG
const int kWait_ms = 500;
int worknum = 0;
///setup関連を集めた.成功:0, エラー:-1
int Setups();
void Tests();
//Interface interface(USBTX, USBRX);
int main()
{
    if(Setups() == -1) return 1;
    //スタート指示受付
    DEBUG("stand by\r\n");
    if(WasLoad() == 0) {
        wait(1);
        while(CanStart() == 0) {};
    }
    DEBUG("main start\r\n");
    InterruptSetup();
    ControllerSetup();
    while( (worknum = CalPickPlace()) != 23 ) {
        Close();
        //ワークに向かう
        if(Go(work[worknum]) != 0) continue;
        //掴む
        Close();
        wait_ms(kWait_ms);
        //上に持ち上げる
        Above(work[worknum].areaname);
        wait_ms(kWait_ms);
        //取り上げたことを保存
        work[worknum].is_exist = 0;
        //シュート位置計算
        int boxspace = CalPutPlace(work[worknum].color);
        //ボックスに行く(失敗(-1)したらcontinue)
        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);
        //置いたことを保存
        shootingbox[boxspace].is_exist = 1;
        shootingbox[boxspace].color = work[worknum].color;
    }
}
int Setups()
{
    int is_error = 0;
    GoSetup();
    SetupPosition();
    if(PositionSetupIsInBan() == 1) is_error = -1;
    StartCheck();
    return is_error;
    
}
void Tests()
{
    static int count = 0;
    count ++;
    if (count > 100000) {
        count =0;
    }
}