change format

Author: aoki-rt

pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino

@@ -44,7 +44,6 @@ volatile unsigned int g_step_r, g_step_l;
 unsigned short g_step_hz_r = MIN_HZ;
 unsigned short g_step_hz_l = MIN_HZ;
 
-
 //割り込み
 //目標値の更新周期1kHz
 void IRAM_ATTR onTimer0(void)
@@ -94,8 +93,8 @@ void setup()
   pinMode(LED2, OUTPUT);
   pinMode(LED3, OUTPUT);
 
-  pinMode(SW_L, INPUT_PULLUP);
-  pinMode(SW_R, INPUT_PULLUP);
+  pinMode(SW_L, INPUT);
+  pinMode(SW_R, INPUT);
 
   //motor disable
   pinMode(MOTOR_EN, OUTPUT);

pico_v2_STEP5_Straight/run.h

@@ -15,10 +15,7 @@
 #ifndef SRC_RUN_H_
 #define SRC_RUN_H_
 
-typedef enum {
-  MOT_FORWARD = 1,
-  MOT_BACK = 2
-} t_CW_CCW;
+typedef enum { MOT_FORWARD = 1, MOT_BACK = 2 } t_CW_CCW;
 
 class RUN
 {
@@ -29,7 +26,6 @@ class RUN
   volatile double max_speed;
   volatile double min_speed;
 
-
   RUN();
   void interrupt(void);
   void counterClear(void);

pico_v2_STEP5_Straight/run.ino

@@ -37,7 +37,6 @@ void RUN::interrupt(void)
   speedSet(speed, speed);
 }
 
-
 void RUN::dirSet(t_CW_CCW dir_left, t_CW_CCW dir_right)
 {
   if (dir_left == MOT_FORWARD) {

pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino

@@ -94,8 +94,8 @@ void setup()
   pinMode(LED2, OUTPUT);
   pinMode(LED3, OUTPUT);
 
-  pinMode(SW_L, INPUT_PULLUP);
-  pinMode(SW_R, INPUT_PULLUP);
+  pinMode(SW_L, INPUT);
+  pinMode(SW_R, INPUT);
 
   //motor disable
   pinMode(MOTOR_EN, OUTPUT);

pico_v2_STEP6_rotate/run.h

@@ -17,10 +17,7 @@
 
 typedef enum { front, right, left, rear } t_local_direction;
 
-typedef enum {
-  MOT_FORWARD = 1,
-  MOT_BACK = 2
-} t_CW_CCW;
+typedef enum { MOT_FORWARD = 1, MOT_BACK = 2 } t_CW_CCW;
 
 class RUN
 {

pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino

@@ -40,7 +40,7 @@
 
 #define MIN_HZ 40
 #define TIRE_DIAMETER (24.70)
-#define PULSE (TIRE_DIAMETER * PI / (35.0 / 10.0 * 20.0 *8.0))
+#define PULSE (TIRE_DIAMETER * PI / (35.0 / 10.0 * 20.0 * 8.0))
 #define MIN_SPEED (MIN_HZ * PULSE)
 
 //環境に合わせて変更する
@@ -126,8 +126,8 @@ void setup()
   pinMode(LED2, OUTPUT);
   pinMode(LED3, OUTPUT);
 
-  pinMode(SW_L, INPUT_PULLUP);
-  pinMode(SW_R, INPUT_PULLUP);
+  pinMode(SW_L, INPUT);
+  pinMode(SW_R, INPUT);
 
   //motor disable
   pinMode(MOTOR_EN, OUTPUT);
@@ -168,7 +168,6 @@ void setup()
   timerAttachInterrupt(g_timer3, &isrL);
   timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
   timerStart(g_timer3);
-
 }
 
 void loop()

pico_v2_STEP7_P_control/run.h

@@ -32,20 +32,19 @@ typedef struct
   bool enable;
 } t_control;
 
-
 typedef enum {
   MOT_FORWARD = 1,  //TMC5240の方向に合わせた数字
   MOT_BACK = 2
 } t_CW_CCW;
 
-class RUN {
+class RUN
+{
 private:
-
 public:
   volatile double accel;
   volatile double speed;
   volatile double speed_target_r;
-  volatile double speed_target_l;   
+  volatile double speed_target_l;
   volatile double max_speed;
   volatile double min_speed;
 
@@ -64,10 +63,9 @@ class RUN {
   void rotate(t_local_direction dir, int times);
 
 private:
-  int step_lr_len,step_lr;
+  int step_lr_len, step_lr;
 };
 
-
 extern RUN g_run;
 
 #endif /* SRC_RUN_H_ */

pico_v2_STEP7_P_control/sensor.h

@@ -28,13 +28,13 @@ typedef struct
   bool is_control;
 } t_sensor;
 
-
-class SENSOR{
+class SENSOR
+{
 public:
   SENSOR();
-	volatile t_sensor sen_r, sen_l, sen_fr, sen_fl;
-	volatile short battery_value;
-	void interrupt(void);
+  volatile t_sensor sen_r, sen_l, sen_fr, sen_fl;
+  volatile short battery_value;
+  void interrupt(void);
 };
 
 extern SENSOR g_sensor;

pico_v2_STEP7_P_control/sensor.ino

@@ -12,13 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
 #include "sensor.h"
 
 SENSOR g_sensor;
 
-
-SENSOR::SENSOR() {  //コンストラクタ
+SENSOR::SENSOR()
+{  //コンストラクタ
 
   sen_r.ref = REF_SEN_R;
   sen_l.ref = REF_SEN_L;
@@ -31,16 +30,11 @@ SENSOR::SENSOR() {  //コンストラクタ
 
   sen_r.th_control = CONTH_SEN_R;
   sen_l.th_control = CONTH_SEN_L;
-
-
-}
-
-void sensorInterrupt(void) {
-  g_sensor.interrupt();
 }
 
+void sensorInterrupt(void) { g_sensor.interrupt(); }
 
-void SENSOR::interrupt(void) 
+void SENSOR::interrupt(void)
 {
   static char cnt = 0;
   short temp_r, temp_l;

pico_v2_STEP8_micromouse/device.ino

@@ -105,8 +105,8 @@ void deviceInit(void)
   pinMode(BLED0, OUTPUT);
   pinMode(BLED1, OUTPUT);
 
-  pinMode(SW_L, INPUT_PULLUP);
-  pinMode(SW_R, INPUT_PULLUP);
+  pinMode(SW_L, INPUT);
+  pinMode(SW_R, INPUT);
 
   ledcAttach(BUZZER, 440, 10);
   ledcWrite(BUZZER, 0);