mode_selectDuty.c

[詳解]

/* ------------------------------------------------------------ *
File mode_selectDuty.c

duty　maxで走らせるモード

操作:
     右SW: モータのdutyを変更
     左SW: 長押しでモード選択へ繊維

* ------------------------------------------------------------ */
#include "mode_selectDuty.h"
#include "type.h"
#include "AICHIPFunction.h"
#include "UserInterface.h"
#include "SystemTickTimer.h"
#include "debug.h"


void mode_selectDuty(void)
{
    int8_t motor_duty = 0;   //duty 0から100%まで1%刻み
    int8_t sign = 1;

    myPrintfUART("############ duty select mode ################\n");
    myPrintfUART("++++++++++++++++++++++++++++++++\n");
    myPrintfUART("  Right  SW: change motor duty .\n");
    myPrintfUART("  Left   SW: mode select .\n");
    myPrintfUART("++++++++++++++++++++++++++++++++\n");

    while(1)
    {
        if(getRightSWcount() > 1000 ) wait1msec(100);
        else wait1msec(1);

        //右SWでモータの状態を切り替え
        if( getRightSWcount() >0)
        {
            motor_duty ++;
            if(motor_duty == 101) sign *= -1;
            motor_duty = motor_duty %101;

            myPrintfUART("\t motor duty: %d % \n",motor_duty);
            //モーターのdutyを変える
            setDutyMotor( (float)(sign * motor_duty)*0.01);
            flashGreenLED(motor_duty,100 - motor_duty);

            while(getRightSWcount() != 0 ){
                if(getRightSWcount() > 500)break;
            };
        }

        //モード選択へ遷移
        if( getLeftSWcount() == 1000)
        {
            setDutyMotor(0.0);
            turnGreenLED(0);
            myPrintfUART("\t return mode select \n");
            break;
        }
    }
}

/******************************************************************************
**                            End Of File
******************************************************************************/