int RUN_button_touched(){
static U8 button_state = 0;
int result=0;
if(button_state==1 && ecrobot_is_RUN_button_pressed()==0 ){
result = 1;
}
else {
result = 0;
}
button_state= ecrobot_is_RUN_button_pressed();
return result;
}
int UI::courseSelect(){
int course = -1;
display_goto_xy(4, 1);
while(1){
if(ecrobot_is_RUN_button_pressed()){
course = course * (-1);
if(course == 1){
display_string(" IN COURSE");
display_goto_xy(4, 1);
}
else{
display_string("OUT COURSE");
display_goto_xy(4, 1);
}
}
if(ecrobot_is_ENTER_button_pressed()){
display_goto_xy(6, 3);
display_string("READY");
break;
}
display_update();
// 500msecウェイトする
systick_wait_ms(500);
}
display_update();
return course;
}
int tyreal_trigger(){
int result=0;
if (ecrobot_is_RUN_button_pressed() == 1) {
systick_wait_ms(100);
result = 1;
}
return result;
}
void do_tyreal(float *Kp_t,float *Ki_t,float *Kd_t){
//�ó‘Ô‘JˆÚ
if (ecrobot_is_RUN_button_pressed() == 1) {
ecrobot_sound_tone(932, 512, VOL);
systick_wait_ms(100);
ecrobot_sound_tone(466, 256, VOL);
systick_wait_ms(10);
systick_wait_ms(10);
if(adjust_param_state==ADJUST_Kp_VAL){
adjust_param_state=ADJUST_Ki_VAL;
}
else if(adjust_param_state==ADJUST_Ki_VAL){
adjust_param_state=ADJUST_Kd_VAL;
}
else if(adjust_param_state==ADJUST_Kd_VAL){
adjust_param_state=ADJUST_Kp_VAL;
}
}
switch(adjust_param_state) {
case (ADJUST_Kp_VAL): *Kp_t=change_float_param(*Kp_t);
break;
case (ADJUST_Ki_VAL): *Ki_t=change_float_param(*Ki_t);
break;
case (ADJUST_Kd_VAL): *Kd_t=change_float_param(*Kd_t);
break;
default:
break;
}
display_clear(1);
float_to_string(*Kp_t,float_string);
display_show_string("Kp",0,0);
display_show_string(float_string,0,1);
float_to_string(*Ki_t,float_string);
display_show_string("Ki",0,2);
display_show_string(float_string,0,3);
float_to_string(*Kd_t,float_string);
display_show_string("Kd",0,4);
display_show_string(float_string,0,5);
}
