yuto kawamura / Mbed 2 deprecated cat18_operate_last

yei

Dependencies:   interface mbed enc_1multi calPID motorout KondoServoLibrary

Fork of cat18_operate by Catch the GIANT Caplico!

Diff: main.cpp

Revision:
28:bcfc84b481bc
Parent:
26:5e292422cc08
Child:
29:ea48140fc85e
diff -r b6a3be8bc742 -r bcfc84b481bc main.cpp
--- a/main.cpp	Mon Sep 03 07:37:28 2018 +0000
+++ b/main.cpp	Tue Sep 04 12:00:39 2018 +0000
@@ -9,12 +9,10 @@
 #include "calplace.h"
 #include "check.h"
 //debug用に追加
-//#include "interface.h"
 #include "coordinate.h"
-//#define FORDEBUG
+#define DEBUG_MODE
 const int kWait_ms = 500;
 int worknum = 0;
-//Interface interface(USBTX, USBRX);
 int main()
 {
     GoSetup();
@@ -35,6 +33,10 @@
         Close();
         //ワークに向かう
         if(Go(work[worknum]) != 0) continue;
+        #ifdef DEBUGMODE
+        while(ManualModeWithPc() == 0){};
+        DEBUG("work %d %f, %f, %f\r\n", worknum, GetNowTipLocateX(), GetNowTipLocateY(), GetNowTipLocateZ());
+        #endif
         //掴む
         wait_ms(kWait_ms);
         Close();