Diff: main_processing/strategy_parts/input.cpp

Revision:

25:a7460e23e02e

Parent:

24:34ef6379b0df

Child:

27:825c6835e3db

--- a/main_processing/strategy_parts/input.cpp	Thu Mar 17 02:49:45 2016 +0000
+++ b/main_processing/strategy_parts/input.cpp	Thu Mar 17 13:00:24 2016 +0000
@@ -90,6 +90,43 @@
 uint8_t ReadBall(void){//1or0
     return (BallCheckerA.read_u16()<40000); 
 }
+void JudgeBallHolding(void){
+    //ホールド判定
+    if(sys.DriBlind==0){
+        if(
+            ((data.ball==0)&&(sys.BallHoldFlag==0))||
+            ((data.ball==1)&&(sys.BallHoldFlag==1))
+        ){
+            sys.BallHoldJudgeFlag=0;
+            Ball_judge.detach();
+        }
+        if(
+            ((data.ball==0)&&(sys.BallHoldFlag==1))||
+            ((data.ball==1)&&(sys.BallHoldFlag==0))
+        ){
+            if(sys.BallHoldJudgeFlag==0){
+                sys.BallHoldJudgeFlag=1;
+                Ball_judge.attach(&JudgeBallHold, .5);
+            }
+        }
+        /*
+        if(
+            !(
+                (data.irNotice==IR_CLOSER)&&
+                ((data.irPosition==10)||(data.irPosition==11)||(data.irPosition==12))
+            )
+        ){
+            sys.BallHoldJudgeFlag=0;
+            sys.BallHoldFlag=0;
+            Ball_judge.detach();
+        }
+        */
+    }
+    else{
+        sys.BallHoldFlag=0;
+    }
+}
+//readsensor
 void ReadCmps(void){
     cmps_set.cmps = hmc.sample()/10.0;
 }