CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

ジャパンオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

main_processing/strategy/LineProcess.cpp@38:67bc78f3c0ab, 2016-03-27 (annotated)

Committer:
lilac0112_1
Date:
Sun Mar 27 13:04:39 2016 +0000
Revision:
38:67bc78f3c0ab
Parent:
34:1c86c1299ea4 
JapanSoccerOpen2016 CatPot Program(main)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 25:a7460e23e02e 1 #include "mbed.h"
lilac0112_1 25:a7460e23e02e 2 #include "extern.h"
lilac0112_1 25:a7460e23e02e 3
lilac0112_1 25:a7460e23e02e 4 void LineJudgeSlow(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 25:a7460e23e02e 5 uint8_t LineState;
lilac0112_1 25:a7460e23e02e 6 uint8_t LineSum;
lilac0112_1 25:a7460e23e02e 7
lilac0112_1 25:a7460e23e02e 8 //line
lilac0112_1 25:a7460e23e02e 9 LineState = 0;
lilac0112_1 25:a7460e23e02e 10
lilac0112_1 25:a7460e23e02e 11 LineSum = ((data.lnHold>>2)&0x1)+((data.lnHold>>1)&0x1)+((data.lnHold>>0)&0x1);
lilac0112_1 25:a7460e23e02e 12 if((LineSum==3)||(data.FieldSpot==LINE_OUTSIDE)){
lilac0112_1 25:a7460e23e02e 13 LineState = 3;
lilac0112_1 25:a7460e23e02e 14 }
lilac0112_1 25:a7460e23e02e 15 else if(LineSum==2){
lilac0112_1 25:a7460e23e02e 16 LineState = 2;
lilac0112_1 25:a7460e23e02e 17 }
lilac0112_1 25:a7460e23e02e 18 else if(LineSum==1){
lilac0112_1 25:a7460e23e02e 19 LineState = 1;
lilac0112_1 25:a7460e23e02e 20 }
lilac0112_1 25:a7460e23e02e 21 else if(LineSum==0){
lilac0112_1 25:a7460e23e02e 22 LineState = 0;
lilac0112_1 25:a7460e23e02e 23 }
lilac0112_1 25:a7460e23e02e 24
lilac0112_1 25:a7460e23e02e 25
lilac0112_1 25:a7460e23e02e 26 if(pow_x>=0){
lilac0112_1 25:a7460e23e02e 27 if(data.ping[R_PING]<WhiteToWall[X_PING]) (*x)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 28 else *x=1;
lilac0112_1 25:a7460e23e02e 29 }
lilac0112_1 25:a7460e23e02e 30 else{
lilac0112_1 25:a7460e23e02e 31 if(data.ping[L_PING]<WhiteToWall[X_PING]) (*x)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 32 else *x=1;
lilac0112_1 25:a7460e23e02e 33 }
lilac0112_1 25:a7460e23e02e 34
lilac0112_1 25:a7460e23e02e 35 if(pow_y>=0){
lilac0112_1 25:a7460e23e02e 36 if(data.ping[F_PING]<WhiteToWall[Y_PING]) (*y)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 37 else *y=1;
lilac0112_1 25:a7460e23e02e 38 }
lilac0112_1 25:a7460e23e02e 39 else{
lilac0112_1 25:a7460e23e02e 40 if(data.ping[B_PING]<WhiteToWall[Y_PING]) (*y)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 41 else *y=1;
lilac0112_1 25:a7460e23e02e 42 }
lilac0112_1 25:a7460e23e02e 43 }
lilac0112_1 27:825c6835e3db 44 void LineJudgeSlow2(double pow_x, double pow_y, double *x, double *y, uint8_t *px, uint8_t *py){
lilac0112_1 27:825c6835e3db 45 uint8_t LineState;
lilac0112_1 27:825c6835e3db 46 uint8_t LineSum;
lilac0112_1 27:825c6835e3db 47
lilac0112_1 27:825c6835e3db 48 //line
lilac0112_1 27:825c6835e3db 49 LineState = 0;
lilac0112_1 27:825c6835e3db 50
lilac0112_1 27:825c6835e3db 51 LineSum = (data.lnRawOrder[0]!=LINE_EMPTY)+(data.lnRawOrder[1]!=LINE_EMPTY)+(data.lnRawOrder[2]!=LINE_EMPTY);
lilac0112_1 27:825c6835e3db 52 if(LineSum==3){
lilac0112_1 27:825c6835e3db 53 LineState = 3;
lilac0112_1 27:825c6835e3db 54 }
lilac0112_1 27:825c6835e3db 55 else if(LineSum==2){
lilac0112_1 27:825c6835e3db 56 LineState = 2;
lilac0112_1 27:825c6835e3db 57 }
lilac0112_1 27:825c6835e3db 58 else if(LineSum==1){
lilac0112_1 27:825c6835e3db 59 LineState = 1;
lilac0112_1 27:825c6835e3db 60 }
lilac0112_1 27:825c6835e3db 61 else if(LineSum==0){
lilac0112_1 27:825c6835e3db 62 LineState = 0;
lilac0112_1 27:825c6835e3db 63 }
lilac0112_1 27:825c6835e3db 64
lilac0112_1 27:825c6835e3db 65 if(LineSum>0){
lilac0112_1 27:825c6835e3db 66 if(pow_x>=0){
lilac0112_1 27:825c6835e3db 67 if((data.ping[R_PING]<WhiteToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 68 }
lilac0112_1 27:825c6835e3db 69 else{
lilac0112_1 27:825c6835e3db 70 if((data.ping[L_PING]<WhiteToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 71 }
lilac0112_1 27:825c6835e3db 72
lilac0112_1 27:825c6835e3db 73 if(pow_y>=0){
lilac0112_1 27:825c6835e3db 74 if((data.ping[F_PING]<WhiteToWall[Y_PING])&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 75 }
lilac0112_1 27:825c6835e3db 76 else{
lilac0112_1 27:825c6835e3db 77 if((data.ping[B_PING]<WhiteToWall[Y_PING])&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 78 }
lilac0112_1 27:825c6835e3db 79 }
lilac0112_1 27:825c6835e3db 80 else if(LineSum==0){
lilac0112_1 30:5998ba42237e 81 ////超音波による減速
lilac0112_1 27:825c6835e3db 82 if(pow_x>=0){
lilac0112_1 27:825c6835e3db 83 if((data.ping[R_PING]<GoalEdgeToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 84 }
lilac0112_1 27:825c6835e3db 85 else{
lilac0112_1 27:825c6835e3db 86 if((data.ping[L_PING]<GoalEdgeToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 87 }
lilac0112_1 30:5998ba42237e 88
lilac0112_1 30:5998ba42237e 89 if(pow_y>=0){
lilac0112_1 30:5998ba42237e 90 //if((data.ping[F_PING]<15)&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
lilac0112_1 30:5998ba42237e 91 }
lilac0112_1 30:5998ba42237e 92 else{
lilac0112_1 30:5998ba42237e 93 if((data.ping[B_PING]<15)&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
lilac0112_1 30:5998ba42237e 94 }
lilac0112_1 30:5998ba42237e 95 }
lilac0112_1 30:5998ba42237e 96
lilac0112_1 30:5998ba42237e 97 if((data.lnStayNow[X_LINE]==1)&&((*px)>15)){
lilac0112_1 30:5998ba42237e 98 (*px)=15;
lilac0112_1 30:5998ba42237e 99 }
lilac0112_1 30:5998ba42237e 100 if((data.lnStayNow[Y_LINE]==1)&&((*py)>15)){
lilac0112_1 30:5998ba42237e 101 (*py)=15;
lilac0112_1 30:5998ba42237e 102 }
lilac0112_1 30:5998ba42237e 103
lilac0112_1 30:5998ba42237e 104 ////超音波による減速
lilac0112_1 30:5998ba42237e 105 if(pow_x>=0){
lilac0112_1 30:5998ba42237e 106 if((data.ping[R_PING]<GoalEdgeToWall[X_PING])&&((*px)>20)){
lilac0112_1 30:5998ba42237e 107 (*px)=20;
lilac0112_1 30:5998ba42237e 108 if((*py)>30) (*py)=30;
lilac0112_1 30:5998ba42237e 109 }
lilac0112_1 30:5998ba42237e 110 }
lilac0112_1 30:5998ba42237e 111 else{
lilac0112_1 30:5998ba42237e 112 if((data.ping[L_PING]<GoalEdgeToWall[X_PING])&&((*px)>20)){
lilac0112_1 30:5998ba42237e 113 (*px)=20;
lilac0112_1 30:5998ba42237e 114 if((*py)>30) (*py)=30;
lilac0112_1 30:5998ba42237e 115 }
lilac0112_1 30:5998ba42237e 116 }
lilac0112_1 30:5998ba42237e 117
lilac0112_1 30:5998ba42237e 118 if(pow_y>=0){
lilac0112_1 30:5998ba42237e 119 if((data.ping[F_PING]<WhiteToWallPlus[Y_PING])&&((*py)>25)) (*py)=25;
lilac0112_1 30:5998ba42237e 120 }
lilac0112_1 30:5998ba42237e 121 else{
lilac0112_1 30:5998ba42237e 122 if((data.ping[B_PING]<WhiteToWallPlus[Y_PING])&&((*py)>25)) (*py)=25;
lilac0112_1 27:825c6835e3db 123 }
lilac0112_1 27:825c6835e3db 124
lilac0112_1 27:825c6835e3db 125 *x=1;
lilac0112_1 27:825c6835e3db 126 *y=1;
lilac0112_1 27:825c6835e3db 127 }
lilac0112_1 25:a7460e23e02e 128 void LineJudgeReturn(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 25:a7460e23e02e 129 const int8_t static LineReturn[5] = {0, 0, 0, 0, 20};
lilac0112_1 25:a7460e23e02e 130 uint8_t LinePingState[4];
lilac0112_1 25:a7460e23e02e 131 //◎ボールを追う力とラインから離れる力の向きが違うならばラインから離れる力が優先される．
lilac0112_1 25:a7460e23e02e 132 //◎ボールを追う力とラインから離れる力の向きが同じならばボールを追う力が優先される．
lilac0112_1 25:a7460e23e02e 133 //◎ラインセンサ全てが場外になるまではボールを追う力は作用しない．ボールを追う力は場内に出るまで作用する．
lilac0112_1 25:a7460e23e02e 134 //×ラインのほぼ場外では常時ラインから離れる力が優先される．
lilac0112_1 25:a7460e23e02e 135 //※場外判定を行うには再び場内に戻る必要がある．
lilac0112_1 25:a7460e23e02e 136
lilac0112_1 25:a7460e23e02e 137 if(data.FieldSpot==LINE_OUTSIDE){
lilac0112_1 25:a7460e23e02e 138
lilac0112_1 25:a7460e23e02e 139 LinePingState[L_PING]=(data.ping[L_PING]<WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 140 LinePingState[R_PING]=(data.ping[R_PING]<WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 141 LinePingState[F_PING]=(data.ping[F_PING]<WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 142 LinePingState[B_PING]=(data.ping[B_PING]<WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 143
lilac0112_1 25:a7460e23e02e 144 //line間際の復帰力以外の力を作用させるか否か
lilac0112_1 25:a7460e23e02e 145 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 146 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 147
lilac0112_1 25:a7460e23e02e 148 data.ReturnDir[X_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 149 data.ReturnDir[Y_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 150
lilac0112_1 25:a7460e23e02e 151 //x
lilac0112_1 25:a7460e23e02e 152 if(data.ReturnDir[X_LINE]==L_LINE){
lilac0112_1 25:a7460e23e02e 153 if(pow_x<0){
lilac0112_1 25:a7460e23e02e 154 *x = 0;
lilac0112_1 25:a7460e23e02e 155 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 156 }
lilac0112_1 25:a7460e23e02e 157 else{
lilac0112_1 25:a7460e23e02e 158 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 159 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 160 }
lilac0112_1 25:a7460e23e02e 161 }
lilac0112_1 25:a7460e23e02e 162 else if(data.ReturnDir[X_LINE]==R_LINE){
lilac0112_1 25:a7460e23e02e 163 if(pow_x>0){
lilac0112_1 25:a7460e23e02e 164 *x = 0;
lilac0112_1 25:a7460e23e02e 165 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 166 }
lilac0112_1 25:a7460e23e02e 167 else{
lilac0112_1 25:a7460e23e02e 168 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 169 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 170 }
lilac0112_1 25:a7460e23e02e 171 }
lilac0112_1 25:a7460e23e02e 172 else if(data.ReturnDir[X_LINE]==LINE_EMPTY){
lilac0112_1 25:a7460e23e02e 173 if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==0)){
lilac0112_1 25:a7460e23e02e 174 /*if(pow_x>0){
lilac0112_1 25:a7460e23e02e 175 *x = -pow_x*(1-0.75);
lilac0112_1 25:a7460e23e02e 176 }
lilac0112_1 25:a7460e23e02e 177 else{
lilac0112_1 25:a7460e23e02e 178 *x = pow_x*(1-0.75);
lilac0112_1 25:a7460e23e02e 179 }*/
lilac0112_1 25:a7460e23e02e 180 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 181 }
lilac0112_1 25:a7460e23e02e 182 if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
lilac0112_1 25:a7460e23e02e 183
lilac0112_1 25:a7460e23e02e 184 data.ReturnDir[X_LINE]=L_LINE;
lilac0112_1 25:a7460e23e02e 185
lilac0112_1 25:a7460e23e02e 186 /*if(pow_x<0){
lilac0112_1 25:a7460e23e02e 187 *x = 0;
lilac0112_1 25:a7460e23e02e 188 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 189 }
lilac0112_1 25:a7460e23e02e 190 else{
lilac0112_1 25:a7460e23e02e 191 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 192 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 193 }*/
lilac0112_1 25:a7460e23e02e 194 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 195 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 196 }
lilac0112_1 25:a7460e23e02e 197 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
lilac0112_1 25:a7460e23e02e 198
lilac0112_1 25:a7460e23e02e 199 data.ReturnDir[X_LINE]=R_LINE;
lilac0112_1 25:a7460e23e02e 200
lilac0112_1 25:a7460e23e02e 201 /*if(pow_x>0){
lilac0112_1 25:a7460e23e02e 202 *x = 0;
lilac0112_1 25:a7460e23e02e 203 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 204 }
lilac0112_1 25:a7460e23e02e 205 else{
lilac0112_1 25:a7460e23e02e 206 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 207 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 208 }*/
lilac0112_1 25:a7460e23e02e 209 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 210 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 211 }
lilac0112_1 25:a7460e23e02e 212 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)){
lilac0112_1 25:a7460e23e02e 213
lilac0112_1 25:a7460e23e02e 214 if(
lilac0112_1 25:a7460e23e02e 215 (data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT)&&(data.lnOrder[2]==B_SPOT)
lilac0112_1 25:a7460e23e02e 216 ){
lilac0112_1 25:a7460e23e02e 217 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 218 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 219 }
lilac0112_1 25:a7460e23e02e 220 else if(
lilac0112_1 25:a7460e23e02e 221 (data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT)&&(data.lnOrder[2]==A_SPOT)
lilac0112_1 25:a7460e23e02e 222 ){
lilac0112_1 25:a7460e23e02e 223 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 224 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 225 }
lilac0112_1 25:a7460e23e02e 226 else{
lilac0112_1 25:a7460e23e02e 227 *x = 0;
lilac0112_1 25:a7460e23e02e 228 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 229 }
lilac0112_1 25:a7460e23e02e 230 }
lilac0112_1 25:a7460e23e02e 231 }
lilac0112_1 25:a7460e23e02e 232 //y
lilac0112_1 25:a7460e23e02e 233 if(data.ReturnDir[Y_LINE]==F_LINE){
lilac0112_1 25:a7460e23e02e 234 if(pow_y>0){
lilac0112_1 25:a7460e23e02e 235 *y = 0;
lilac0112_1 25:a7460e23e02e 236 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 237 }
lilac0112_1 25:a7460e23e02e 238 else{
lilac0112_1 25:a7460e23e02e 239 *y = LineReturn[4];
lilac0112_1 25:a7460e23e02e 240 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 241 }
lilac0112_1 25:a7460e23e02e 242 }
lilac0112_1 25:a7460e23e02e 243 else if(data.ReturnDir[Y_LINE]==B_LINE){
lilac0112_1 25:a7460e23e02e 244 if(pow_y<0){
lilac0112_1 25:a7460e23e02e 245 *y = 0;
lilac0112_1 25:a7460e23e02e 246 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 247 }
lilac0112_1 25:a7460e23e02e 248 else{
lilac0112_1 25:a7460e23e02e 249 *y = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 250 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 251 }
lilac0112_1 25:a7460e23e02e 252 }
lilac0112_1 25:a7460e23e02e 253 else if(data.ReturnDir[Y_LINE]==LINE_EMPTY){
lilac0112_1 25:a7460e23e02e 254 if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==0)){
lilac0112_1 25:a7460e23e02e 255 /*if(pow_y>0){
lilac0112_1 25:a7460e23e02e 256 *y = -pow_y*(1-0.75);
lilac0112_1 25:a7460e23e02e 257 }
lilac0112_1 25:a7460e23e02e 258 else{
lilac0112_1 25:a7460e23e02e 259 *y = pow_y*(1-0.75);
lilac0112_1 25:a7460e23e02e 260 }*/
lilac0112_1 25:a7460e23e02e 261 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 262 }
lilac0112_1 25:a7460e23e02e 263 if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==1)){
lilac0112_1 25:a7460e23e02e 264
lilac0112_1 25:a7460e23e02e 265 data.ReturnDir[Y_LINE]=B_LINE;
lilac0112_1 25:a7460e23e02e 266
lilac0112_1 25:a7460e23e02e 267 if(pow_y<0){
lilac0112_1 25:a7460e23e02e 268 *y = 0;
lilac0112_1 25:a7460e23e02e 269 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 270 }
lilac0112_1 25:a7460e23e02e 271 else{
lilac0112_1 25:a7460e23e02e 272 *y = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 273 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 274 }
lilac0112_1 25:a7460e23e02e 275 }
lilac0112_1 25:a7460e23e02e 276 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
lilac0112_1 25:a7460e23e02e 277
lilac0112_1 25:a7460e23e02e 278 data.ReturnDir[Y_LINE]=F_LINE;
lilac0112_1 25:a7460e23e02e 279
lilac0112_1 25:a7460e23e02e 280 if(pow_y>0){
lilac0112_1 25:a7460e23e02e 281 *y = 0;
lilac0112_1 25:a7460e23e02e 282 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 283 }
lilac0112_1 25:a7460e23e02e 284 else{
lilac0112_1 25:a7460e23e02e 285 *y = LineReturn[4];
lilac0112_1 25:a7460e23e02e 286 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 287 }
lilac0112_1 25:a7460e23e02e 288 }
lilac0112_1 25:a7460e23e02e 289 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==1)){
lilac0112_1 25:a7460e23e02e 290 if(
lilac0112_1 25:a7460e23e02e 291 (data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT)&&(data.lnOrder[2]==B_SPOT)||
lilac0112_1 25:a7460e23e02e 292 (data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT)&&(data.lnOrder[2]==A_SPOT)
lilac0112_1 25:a7460e23e02e 293 ){
lilac0112_1 25:a7460e23e02e 294 *y = LineReturn[4];
lilac0112_1 25:a7460e23e02e 295 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 296 }
lilac0112_1 25:a7460e23e02e 297 else if(
lilac0112_1 25:a7460e23e02e 298 (data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT)&&(data.lnOrder[2]==C_SPOT)||
lilac0112_1 25:a7460e23e02e 299 (data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT)&&(data.lnOrder[2]==C_SPOT)
lilac0112_1 25:a7460e23e02e 300 ){
lilac0112_1 25:a7460e23e02e 301 *y = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 302 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 303 }
lilac0112_1 25:a7460e23e02e 304 else{
lilac0112_1 25:a7460e23e02e 305 *y = 0;
lilac0112_1 25:a7460e23e02e 306 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 307 }
lilac0112_1 25:a7460e23e02e 308 }
lilac0112_1 25:a7460e23e02e 309 }
lilac0112_1 25:a7460e23e02e 310 //none
lilac0112_1 25:a7460e23e02e 311 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)&&(LinePingState[F_PING]==1)&&(LinePingState[B_PING]==1)){
lilac0112_1 25:a7460e23e02e 312 //turn!
lilac0112_1 25:a7460e23e02e 313 }
lilac0112_1 25:a7460e23e02e 314
lilac0112_1 25:a7460e23e02e 315 }
lilac0112_1 25:a7460e23e02e 316 else{//data.FieldSpot==LINE_INSIDE
lilac0112_1 25:a7460e23e02e 317
lilac0112_1 25:a7460e23e02e 318 data.ReturnDir[X_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 319 data.ReturnDir[Y_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 320
lilac0112_1 25:a7460e23e02e 321 *x = 0;
lilac0112_1 25:a7460e23e02e 322 *y = 0;
lilac0112_1 25:a7460e23e02e 323
lilac0112_1 25:a7460e23e02e 324 //line間際の復帰力以外の力を作用させるか否か
lilac0112_1 25:a7460e23e02e 325 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 326 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 327 /*
lilac0112_1 27:825c6835e3db 328 if(
lilac0112_1 27:825c6835e3db 329 (data.lnRawMemory[A_SPOT]==1)&&
lilac0112_1 27:825c6835e3db 330 (data.lnRawMemory[B_SPOT]==1)&&
lilac0112_1 27:825c6835e3db 331 (data.lnRawMemory[C_SPOT]==0)
lilac0112_1 27:825c6835e3db 332 ){
lilac0112_1 27:825c6835e3db 333 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 334 *y = -LineReturn[4];
lilac0112_1 27:825c6835e3db 335 }
lilac0112_1 27:825c6835e3db 336 else if(
lilac0112_1 27:825c6835e3db 337 (data.lnRawMemory[A_SPOT]==0)&&
lilac0112_1 27:825c6835e3db 338 (data.lnRawMemory[B_SPOT]==0)&&
lilac0112_1 27:825c6835e3db 339 (data.lnRawMemory[C_SPOT]==1)
lilac0112_1 27:825c6835e3db 340 ){
lilac0112_1 27:825c6835e3db 341 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 342 *y = LineReturn[4];
lilac0112_1 27:825c6835e3db 343 }*/
lilac0112_1 27:825c6835e3db 344 }
lilac0112_1 27:825c6835e3db 345 }
lilac0112_1 27:825c6835e3db 346 void LineJudgeReturn2(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 27:825c6835e3db 347 const int8_t static LineReturn[5] = {0, 0, 0, 0, 20};
lilac0112_1 27:825c6835e3db 348 uint8_t LinePingState[4];
lilac0112_1 38:67bc78f3c0ab 349 //JSO2
lilac0112_1 38:67bc78f3c0ab 350 static uint8_t lnRawReturn1 = 0;
lilac0112_1 27:825c6835e3db 351 //◎ボールを追う力とラインから離れる力の向きが違うならばラインから離れる力が優先される．
lilac0112_1 27:825c6835e3db 352 //◎ボールを追う力とラインから離れる力の向きが同じならばボールを追う力が優先される．
lilac0112_1 27:825c6835e3db 353 //◎ラインセンサ全てが場外になるまではボールを追う力は作用しない．ボールを追う力は場内に出るまで作用する．
lilac0112_1 27:825c6835e3db 354 //×ラインのほぼ場外では常時ラインから離れる力が優先される．
lilac0112_1 27:825c6835e3db 355 //※場外判定を行うには再び場内に戻る必要がある．
lilac0112_1 27:825c6835e3db 356
lilac0112_1 27:825c6835e3db 357 data.FieldSpot=LINE_INSIDE;
lilac0112_1 27:825c6835e3db 358
lilac0112_1 27:825c6835e3db 359 if(data.FieldSpot==LINE_OUTSIDE){
lilac0112_1 27:825c6835e3db 360 }
lilac0112_1 27:825c6835e3db 361 else{//data.FieldSpot==LINE_INSIDE
lilac0112_1 27:825c6835e3db 362
lilac0112_1 27:825c6835e3db 363 data.ReturnDir[X_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 364 data.ReturnDir[Y_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 365
lilac0112_1 27:825c6835e3db 366 *x = 0;
lilac0112_1 27:825c6835e3db 367 *y = 0;
lilac0112_1 27:825c6835e3db 368
lilac0112_1 27:825c6835e3db 369 //line間際の復帰力以外の力を作用させるか否か
lilac0112_1 27:825c6835e3db 370 data.lnStop[X_LINE]=1;
lilac0112_1 27:825c6835e3db 371 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 372
lilac0112_1 27:825c6835e3db 373 if(//y
lilac0112_1 27:825c6835e3db 374 ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==B_SPOT)&&(1))||
lilac0112_1 27:825c6835e3db 375 ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==A_SPOT)&&(1))
lilac0112_1 27:825c6835e3db 376 ){
lilac0112_1 27:825c6835e3db 377 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 378 *y = -LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 379 //JSO1
lilac0112_1 38:67bc78f3c0ab 380 if(
lilac0112_1 38:67bc78f3c0ab 381 (data.ping[F_PING]<45)&&
lilac0112_1 38:67bc78f3c0ab 382 (data.lnRawReturn==1)//JSO2
lilac0112_1 38:67bc78f3c0ab 383 ){
lilac0112_1 38:67bc78f3c0ab 384 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 385 }
lilac0112_1 38:67bc78f3c0ab 386 //JSO2
lilac0112_1 38:67bc78f3c0ab 387 if(
lilac0112_1 38:67bc78f3c0ab 388 (
lilac0112_1 38:67bc78f3c0ab 389 ((Line[A_SPOT].read()==1)&&(Line[B_SPOT].read()==0))||
lilac0112_1 38:67bc78f3c0ab 390 ((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==0))
lilac0112_1 38:67bc78f3c0ab 391 )&&
lilac0112_1 38:67bc78f3c0ab 392 (data.ping[F_PING]>45)&&
lilac0112_1 38:67bc78f3c0ab 393 (data.ping[F_PING]<200)&&
lilac0112_1 38:67bc78f3c0ab 394 (data.ping[R_PING]<25)&&
lilac0112_1 38:67bc78f3c0ab 395 (data.ping[L_PING]>40)
lilac0112_1 38:67bc78f3c0ab 396 ){
lilac0112_1 38:67bc78f3c0ab 397 *x = -LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 398 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 399 }
lilac0112_1 38:67bc78f3c0ab 400 if(
lilac0112_1 38:67bc78f3c0ab 401 (
lilac0112_1 38:67bc78f3c0ab 402 ((Line[A_SPOT].read()==0)&&(Line[B_SPOT].read()==1))||
lilac0112_1 38:67bc78f3c0ab 403 ((LineHolding[A_SPOT].read()==0)&&(LineHolding[B_SPOT].read()==1))
lilac0112_1 38:67bc78f3c0ab 404 )&&
lilac0112_1 38:67bc78f3c0ab 405 (data.ping[F_PING]>45)&&
lilac0112_1 38:67bc78f3c0ab 406 (data.ping[F_PING]<200)&&
lilac0112_1 38:67bc78f3c0ab 407 (data.ping[L_PING]<25)&&
lilac0112_1 38:67bc78f3c0ab 408 (data.ping[R_PING]>40)
lilac0112_1 38:67bc78f3c0ab 409 ){
lilac0112_1 38:67bc78f3c0ab 410 *x = LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 411 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 412 }
lilac0112_1 27:825c6835e3db 413 }
lilac0112_1 27:825c6835e3db 414 else if(
lilac0112_1 27:825c6835e3db 415 ((data.lnRawOrder[0]==C_SPOT)&&(1)&&(1))
lilac0112_1 27:825c6835e3db 416 ){
lilac0112_1 27:825c6835e3db 417 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 418 *y = LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 419
lilac0112_1 38:67bc78f3c0ab 420 //JSO1
lilac0112_1 38:67bc78f3c0ab 421 if(
lilac0112_1 38:67bc78f3c0ab 422 (data.ping[B_PING]<45)&&
lilac0112_1 38:67bc78f3c0ab 423 (data.lnRawReturn==1)
lilac0112_1 38:67bc78f3c0ab 424 ){
lilac0112_1 38:67bc78f3c0ab 425 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 426 }
lilac0112_1 27:825c6835e3db 427 }
lilac0112_1 27:825c6835e3db 428 else if(//x
lilac0112_1 27:825c6835e3db 429 ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
lilac0112_1 27:825c6835e3db 430 ){
lilac0112_1 27:825c6835e3db 431 *x = -LineReturn[4];
lilac0112_1 27:825c6835e3db 432 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 433 }
lilac0112_1 27:825c6835e3db 434 else if(
lilac0112_1 27:825c6835e3db 435 ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
lilac0112_1 27:825c6835e3db 436 ){
lilac0112_1 27:825c6835e3db 437 *x = LineReturn[4];
lilac0112_1 27:825c6835e3db 438 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 439 }
lilac0112_1 27:825c6835e3db 440
lilac0112_1 27:825c6835e3db 441 if(
lilac0112_1 27:825c6835e3db 442 ((*x)!=0)||
lilac0112_1 27:825c6835e3db 443 ((*y)!=0)
lilac0112_1 27:825c6835e3db 444 ){
lilac0112_1 27:825c6835e3db 445
lilac0112_1 27:825c6835e3db 446 data.lnRawReturn=1;
lilac0112_1 27:825c6835e3db 447
lilac0112_1 27:825c6835e3db 448 LinePingState[L_PING]=(data.ping[L_PING]<WhiteToWallPlus[X_PING]);
lilac0112_1 27:825c6835e3db 449 LinePingState[R_PING]=(data.ping[R_PING]<WhiteToWallPlus[X_PING]);
lilac0112_1 27:825c6835e3db 450 LinePingState[F_PING]=(data.ping[F_PING]<WhiteToWallPlus[Y_PING]);
lilac0112_1 27:825c6835e3db 451 LinePingState[B_PING]=(data.ping[B_PING]<WhiteToWallPlus[Y_PING]);
lilac0112_1 27:825c6835e3db 452 //x
lilac0112_1 27:825c6835e3db 453 if(data.lnStop[X_LINE]==1){
lilac0112_1 27:825c6835e3db 454 if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
lilac0112_1 27:825c6835e3db 455 *x = -LineReturn[4];
lilac0112_1 27:825c6835e3db 456 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 457 }
lilac0112_1 27:825c6835e3db 458 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
lilac0112_1 27:825c6835e3db 459 *x = LineReturn[4];
lilac0112_1 27:825c6835e3db 460 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 461 }
lilac0112_1 27:825c6835e3db 462 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)){
lilac0112_1 27:825c6835e3db 463 *x = 0;
lilac0112_1 27:825c6835e3db 464 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 465 }
lilac0112_1 27:825c6835e3db 466 }
lilac0112_1 27:825c6835e3db 467 //y
lilac0112_1 27:825c6835e3db 468 if(data.lnStop[Y_LINE]==1){
lilac0112_1 27:825c6835e3db 469 if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==1)){
lilac0112_1 27:825c6835e3db 470 if(pow_y<0){
lilac0112_1 27:825c6835e3db 471 *y = 0;
lilac0112_1 27:825c6835e3db 472 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 473 }
lilac0112_1 27:825c6835e3db 474 else{
lilac0112_1 27:825c6835e3db 475 *y = -LineReturn[4];
lilac0112_1 27:825c6835e3db 476 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 477 }
lilac0112_1 27:825c6835e3db 478 }
lilac0112_1 38:67bc78f3c0ab 479 //JSO2
lilac0112_1 38:67bc78f3c0ab 480 if((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==1)&&(LineHolding[C_SPOT].read()==0)&&(data.lnRawReturn==1)){
lilac0112_1 38:67bc78f3c0ab 481 *y = -LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 482 data.lnStop[Y_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 483 }
lilac0112_1 38:67bc78f3c0ab 484
lilac0112_1 27:825c6835e3db 485 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
lilac0112_1 27:825c6835e3db 486 if(pow_y>0){
lilac0112_1 27:825c6835e3db 487 *y = 0;
lilac0112_1 27:825c6835e3db 488 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 489 }
lilac0112_1 27:825c6835e3db 490 else{
lilac0112_1 27:825c6835e3db 491 *y = LineReturn[4];
lilac0112_1 27:825c6835e3db 492 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 493 }
lilac0112_1 27:825c6835e3db 494 }
lilac0112_1 27:825c6835e3db 495 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==1)){
lilac0112_1 27:825c6835e3db 496 *y = 0;
lilac0112_1 27:825c6835e3db 497 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 498 }
lilac0112_1 27:825c6835e3db 499 }
lilac0112_1 27:825c6835e3db 500 }
lilac0112_1 27:825c6835e3db 501 else{
lilac0112_1 27:825c6835e3db 502 data.lnRawReturn=0;
lilac0112_1 38:67bc78f3c0ab 503
lilac0112_1 38:67bc78f3c0ab 504 //JSO3
lilac0112_1 38:67bc78f3c0ab 505 if((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==LINE_EMPTY)&&(pow_x>0)){
lilac0112_1 38:67bc78f3c0ab 506 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 507 }
lilac0112_1 38:67bc78f3c0ab 508 if((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==LINE_EMPTY)&&(pow_x<0)){
lilac0112_1 38:67bc78f3c0ab 509 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 510 }
lilac0112_1 38:67bc78f3c0ab 511 //JSO3
lilac0112_1 38:67bc78f3c0ab 512 if((Line[C_SPOT].read()==1)&&(1)&&(pow_y>0)){
lilac0112_1 38:67bc78f3c0ab 513 data.lnStop[Y_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 514 }
lilac0112_1 38:67bc78f3c0ab 515 }
lilac0112_1 38:67bc78f3c0ab 516 //JSO3
lilac0112_1 38:67bc78f3c0ab 517 if((Line[C_SPOT].read()==1)&&(1)&&(pow_y>0)){
lilac0112_1 38:67bc78f3c0ab 518 data.lnStop[Y_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 519 }
lilac0112_1 38:67bc78f3c0ab 520 //JSO1
lilac0112_1 38:67bc78f3c0ab 521 if(data.lnRawReturn==1){
lilac0112_1 38:67bc78f3c0ab 522 //JSO2
lilac0112_1 38:67bc78f3c0ab 523 if((lnRawReturn1==0)){
lilac0112_1 38:67bc78f3c0ab 524 LineLiberate();
lilac0112_1 38:67bc78f3c0ab 525 lnRawReturn1=1;
lilac0112_1 38:67bc78f3c0ab 526 }
lilac0112_1 38:67bc78f3c0ab 527
lilac0112_1 38:67bc78f3c0ab 528 if(
lilac0112_1 38:67bc78f3c0ab 529 (
lilac0112_1 38:67bc78f3c0ab 530 ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))||
lilac0112_1 38:67bc78f3c0ab 531 ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
lilac0112_1 38:67bc78f3c0ab 532 )&&
lilac0112_1 38:67bc78f3c0ab 533 //((Line[A_SPOT].read()==1)&&(Line[B_SPOT].read()==1))&&//JSO1
lilac0112_1 38:67bc78f3c0ab 534 ((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==1))&&//JSO2
lilac0112_1 38:67bc78f3c0ab 535 ((data.ping[F_PING]<45)&&(1))&&//JSO2
lilac0112_1 38:67bc78f3c0ab 536 //(!((data.ping[B_PING]<40)&&(data.ping[B_PING]>25)))&&//JSO2
lilac0112_1 38:67bc78f3c0ab 537 ((data.lnRawOrder[0]!=C_SPOT)&&(data.lnRawOrderLog1[0]!=C_SPOT)&&(data.lnRawOrderLog2[0]!=C_SPOT))
lilac0112_1 38:67bc78f3c0ab 538
lilac0112_1 38:67bc78f3c0ab 539 ){
lilac0112_1 38:67bc78f3c0ab 540 *y = -LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 541 data.lnStop[Y_LINE]=0;//JSO2
lilac0112_1 38:67bc78f3c0ab 542 }
lilac0112_1 38:67bc78f3c0ab 543 }
lilac0112_1 38:67bc78f3c0ab 544 else{
lilac0112_1 38:67bc78f3c0ab 545 lnRawReturn1=0;
lilac0112_1 38:67bc78f3c0ab 546
lilac0112_1 38:67bc78f3c0ab 547
lilac0112_1 38:67bc78f3c0ab 548 if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
lilac0112_1 38:67bc78f3c0ab 549 *x = -LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 550 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 551 }
lilac0112_1 38:67bc78f3c0ab 552 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
lilac0112_1 38:67bc78f3c0ab 553 *x = LineReturn[4];
lilac0112_1 38:67bc78f3c0ab 554 data.lnStop[X_LINE]=0;
lilac0112_1 38:67bc78f3c0ab 555 }
lilac0112_1 38:67bc78f3c0ab 556
lilac0112_1 27:825c6835e3db 557 }
lilac0112_1 27:825c6835e3db 558
lilac0112_1 25:a7460e23e02e 559 }
lilac0112_1 25:a7460e23e02e 560 }
lilac0112_1 25:a7460e23e02e 561 void LineJudgeReset(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 25:a7460e23e02e 562 //static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 563 //static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 564 static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 565 static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 566
lilac0112_1 25:a7460e23e02e 567 if((/*data.lnRaw==0*/1)&&(data.lnHold==7)){
lilac0112_1 25:a7460e23e02e 568 if(data.FieldSpot==LINE_INSIDE){
lilac0112_1 25:a7460e23e02e 569
lilac0112_1 25:a7460e23e02e 570 data.lnCorner[L_LINE] = (data.ping[L_PING]<OutToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 571 data.lnCorner[R_LINE] = (data.ping[R_PING]<OutToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 572 data.lnCorner[F_LINE] = (data.ping[F_PING]<OutToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 573 data.lnCorner[B_LINE] = (data.ping[B_PING]<OutToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 574 if(
lilac0112_1 25:a7460e23e02e 575 (data.lnCorner[L_LINE])||
lilac0112_1 25:a7460e23e02e 576 (data.lnCorner[R_LINE])||
lilac0112_1 25:a7460e23e02e 577 (data.lnCorner[F_LINE])||
lilac0112_1 25:a7460e23e02e 578 (data.lnCorner[B_LINE])
lilac0112_1 25:a7460e23e02e 579 ){
lilac0112_1 25:a7460e23e02e 580
lilac0112_1 25:a7460e23e02e 581 data.NonWall[L_LINE] = (data.ping[L_PING]>WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 582 data.NonWall[R_LINE] = (data.ping[R_PING]>WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 583 data.NonWall[F_LINE] = (data.ping[F_PING]>WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 584 data.NonWall[B_LINE] = (data.ping[B_PING]>WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 585
lilac0112_1 25:a7460e23e02e 586
lilac0112_1 25:a7460e23e02e 587
lilac0112_1 25:a7460e23e02e 588 ///*
lilac0112_1 25:a7460e23e02e 589 LastLineCorner[L_LINE]=NewLineCorner[L_LINE];
lilac0112_1 25:a7460e23e02e 590 LastLineCorner[R_LINE]=NewLineCorner[R_LINE];
lilac0112_1 25:a7460e23e02e 591 LastLineCorner[F_LINE]=NewLineCorner[F_LINE];
lilac0112_1 25:a7460e23e02e 592 LastLineCorner[B_LINE]=NewLineCorner[B_LINE];
lilac0112_1 25:a7460e23e02e 593
lilac0112_1 25:a7460e23e02e 594 NewLineCorner[L_LINE]=data.lnCorner[L_LINE];
lilac0112_1 25:a7460e23e02e 595 NewLineCorner[R_LINE]=data.lnCorner[R_LINE];
lilac0112_1 25:a7460e23e02e 596 NewLineCorner[F_LINE]=data.lnCorner[F_LINE];
lilac0112_1 25:a7460e23e02e 597 NewLineCorner[B_LINE]=data.lnCorner[B_LINE];
lilac0112_1 25:a7460e23e02e 598
lilac0112_1 25:a7460e23e02e 599 if(
lilac0112_1 25:a7460e23e02e 600 (LastLineCorner[L_LINE]==NewLineCorner[L_LINE])&&
lilac0112_1 25:a7460e23e02e 601 (LastLineCorner[R_LINE]==NewLineCorner[R_LINE])&&
lilac0112_1 25:a7460e23e02e 602 (LastLineCorner[F_LINE]==NewLineCorner[F_LINE])&&
lilac0112_1 25:a7460e23e02e 603 (LastLineCorner[B_LINE]==NewLineCorner[B_LINE])
lilac0112_1 25:a7460e23e02e 604 ){
lilac0112_1 25:a7460e23e02e 605 data.lnRepeat++;
lilac0112_1 25:a7460e23e02e 606 }
lilac0112_1 25:a7460e23e02e 607 else{
lilac0112_1 25:a7460e23e02e 608 data.lnRepeat=0;
lilac0112_1 25:a7460e23e02e 609 }
lilac0112_1 25:a7460e23e02e 610 //*/
lilac0112_1 25:a7460e23e02e 611
lilac0112_1 25:a7460e23e02e 612 data.FieldSpot = LINE_OUTSIDE;
lilac0112_1 25:a7460e23e02e 613 LineLiberate();
lilac0112_1 25:a7460e23e02e 614 }
lilac0112_1 25:a7460e23e02e 615 }
lilac0112_1 25:a7460e23e02e 616 else if(data.FieldSpot==LINE_OUTSIDE){
lilac0112_1 25:a7460e23e02e 617 if(data.lnRaw==0){
lilac0112_1 25:a7460e23e02e 618 data.FieldSpot = LINE_INSIDE;
lilac0112_1 25:a7460e23e02e 619 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 25:a7460e23e02e 620 LineLiberate();
lilac0112_1 25:a7460e23e02e 621 LineRankClear();
lilac0112_1 25:a7460e23e02e 622 }
lilac0112_1 25:a7460e23e02e 623 }
lilac0112_1 25:a7460e23e02e 624 }
lilac0112_1 25:a7460e23e02e 625 if(data.FieldSpot == LINE_OUTSIDE){
lilac0112_1 25:a7460e23e02e 626 if(
lilac0112_1 25:a7460e23e02e 627 (
lilac0112_1 25:a7460e23e02e 628 (data.ping[L_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 629 (data.NonWall[L_LINE]==1)||
lilac0112_1 25:a7460e23e02e 630 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 631 //(data.lnOrder[0]==A_SPOT)
lilac0112_1 25:a7460e23e02e 632 )&&
lilac0112_1 25:a7460e23e02e 633 (
lilac0112_1 25:a7460e23e02e 634 (data.ping[R_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 635 (data.NonWall[R_LINE]==1)||
lilac0112_1 25:a7460e23e02e 636 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 637 //(data.lnOrder[0]==B_SPOT)
lilac0112_1 25:a7460e23e02e 638 )&&
lilac0112_1 25:a7460e23e02e 639 (
lilac0112_1 25:a7460e23e02e 640 (data.ping[F_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 641 (data.NonWall[F_LINE]==1)||
lilac0112_1 25:a7460e23e02e 642 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
lilac0112_1 25:a7460e23e02e 643 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))
lilac0112_1 25:a7460e23e02e 644 )&&
lilac0112_1 25:a7460e23e02e 645 ((data.ping[B_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 646 (data.NonWall[B_LINE]==1)||
lilac0112_1 25:a7460e23e02e 647 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
lilac0112_1 25:a7460e23e02e 648 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
lilac0112_1 25:a7460e23e02e 649 )
lilac0112_1 25:a7460e23e02e 650 ){
lilac0112_1 25:a7460e23e02e 651 data.FieldSpot = LINE_INSIDE;
lilac0112_1 25:a7460e23e02e 652 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 25:a7460e23e02e 653 LineLiberate();
lilac0112_1 25:a7460e23e02e 654 LineRankClear();
lilac0112_1 25:a7460e23e02e 655 }
lilac0112_1 25:a7460e23e02e 656 }
lilac0112_1 25:a7460e23e02e 657 if((data.FieldSpot == LINE_INSIDE)&&(0<data.lnHold)&&(data.lnHold<7)&&(data.lnRaw==0)){
lilac0112_1 25:a7460e23e02e 658 if(
lilac0112_1 25:a7460e23e02e 659 (
lilac0112_1 25:a7460e23e02e 660 (
lilac0112_1 25:a7460e23e02e 661 (data.ping[L_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 662 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 663 //(data.lnOrder[0]==A_SPOT)
lilac0112_1 25:a7460e23e02e 664 )&&
lilac0112_1 25:a7460e23e02e 665 (
lilac0112_1 25:a7460e23e02e 666 (data.ping[R_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 667 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 668 //(data.lnOrder[0]==B_SPOT)
lilac0112_1 25:a7460e23e02e 669 )&&
lilac0112_1 25:a7460e23e02e 670 (
lilac0112_1 25:a7460e23e02e 671 (data.ping[F_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 672 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
lilac0112_1 25:a7460e23e02e 673 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))
lilac0112_1 25:a7460e23e02e 674 )&&
lilac0112_1 25:a7460e23e02e 675 (
lilac0112_1 25:a7460e23e02e 676 (data.ping[B_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 677 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
lilac0112_1 25:a7460e23e02e 678 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
lilac0112_1 25:a7460e23e02e 679 )
lilac0112_1 25:a7460e23e02e 680 )
lilac0112_1 25:a7460e23e02e 681 ||
lilac0112_1 25:a7460e23e02e 682 (
lilac0112_1 25:a7460e23e02e 683 (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
lilac0112_1 25:a7460e23e02e 684 (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
lilac0112_1 25:a7460e23e02e 685 )
lilac0112_1 25:a7460e23e02e 686 ){
lilac0112_1 25:a7460e23e02e 687 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 25:a7460e23e02e 688 LineLiberate();
lilac0112_1 25:a7460e23e02e 689 }
lilac0112_1 25:a7460e23e02e 690 }
lilac0112_1 25:a7460e23e02e 691 ///*
lilac0112_1 25:a7460e23e02e 692 if(
lilac0112_1 25:a7460e23e02e 693 (data.irNotice==IR_NONE)||
lilac0112_1 25:a7460e23e02e 694 (data.irNotice==IR_FAR)||
lilac0112_1 25:a7460e23e02e 695 (
lilac0112_1 25:a7460e23e02e 696 (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
lilac0112_1 25:a7460e23e02e 697 (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
lilac0112_1 25:a7460e23e02e 698 )
lilac0112_1 25:a7460e23e02e 699 ){
lilac0112_1 25:a7460e23e02e 700 data.lnRepeat = 0;
lilac0112_1 25:a7460e23e02e 701
lilac0112_1 25:a7460e23e02e 702 NewLineCorner[L_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 703 NewLineCorner[R_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 704 NewLineCorner[F_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 705 NewLineCorner[B_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 706
lilac0112_1 25:a7460e23e02e 707 LastLineCorner[L_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 708 LastLineCorner[R_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 709 LastLineCorner[F_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 710 LastLineCorner[B_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 711 }
lilac0112_1 25:a7460e23e02e 712 //data.lnRepeat=0;
lilac0112_1 25:a7460e23e02e 713 if((data.lnRepeat>0)&&(data.FieldSpot == LINE_INSIDE)){
lilac0112_1 25:a7460e23e02e 714 //x
lilac0112_1 25:a7460e23e02e 715 if(
lilac0112_1 25:a7460e23e02e 716 ((pow_x>=0)&&(NewLineCorner[R_LINE]))||
lilac0112_1 25:a7460e23e02e 717 ((pow_x<0)&&(NewLineCorner[L_LINE]))
lilac0112_1 25:a7460e23e02e 718 ){
lilac0112_1 25:a7460e23e02e 719 data.lnStay[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 720 }
lilac0112_1 25:a7460e23e02e 721 else{
lilac0112_1 25:a7460e23e02e 722 data.lnStay[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 723 }
lilac0112_1 25:a7460e23e02e 724 //y
lilac0112_1 25:a7460e23e02e 725 if(
lilac0112_1 25:a7460e23e02e 726 ((pow_y>=0)&&(NewLineCorner[F_LINE]))||
lilac0112_1 25:a7460e23e02e 727 ((pow_y<0)&&(NewLineCorner[B_LINE]))
lilac0112_1 25:a7460e23e02e 728 ){
lilac0112_1 25:a7460e23e02e 729 data.lnStay[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 730 }
lilac0112_1 25:a7460e23e02e 731 else{
lilac0112_1 25:a7460e23e02e 732 data.lnStay[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 733 }
lilac0112_1 25:a7460e23e02e 734 }
lilac0112_1 25:a7460e23e02e 735 else{
lilac0112_1 25:a7460e23e02e 736 data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 737 }
lilac0112_1 25:a7460e23e02e 738 //*/
lilac0112_1 25:a7460e23e02e 739
lilac0112_1 25:a7460e23e02e 740 }
lilac0112_1 27:825c6835e3db 741 void LineJudgeReset2(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 30:5998ba42237e 742
lilac0112_1 30:5998ba42237e 743 if(data.lnRepeat==0){
lilac0112_1 30:5998ba42237e 744 data.lnStayNow[X_LINE]=0;
lilac0112_1 30:5998ba42237e 745 data.lnStayNow[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 746 }
lilac0112_1 30:5998ba42237e 747 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 748 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 749
lilac0112_1 30:5998ba42237e 750 if((data.irNotice==IR_FAR)&&(data.lnRepeat>1)){
lilac0112_1 27:825c6835e3db 751 data.lnRepeat=1;
lilac0112_1 27:825c6835e3db 752 }
lilac0112_1 27:825c6835e3db 753
lilac0112_1 27:825c6835e3db 754 if(
lilac0112_1 27:825c6835e3db 755 (data.irNotice==IR_NONE)||
lilac0112_1 30:5998ba42237e 756 //(data.irNotice==IR_FAR)||
lilac0112_1 30:5998ba42237e 757 //(data.irLastPosition<=7)||
lilac0112_1 27:825c6835e3db 758 (
lilac0112_1 30:5998ba42237e 759 (!(
lilac0112_1 30:5998ba42237e 760 (data.irPosition==data.irLastPosition)||
lilac0112_1 30:5998ba42237e 761 (data.irPosition==(ir_posi_s[(data.irLastPosition-8+24+1)%12]))||
lilac0112_1 30:5998ba42237e 762 (data.irPosition==(ir_posi_s[(data.irLastPosition-8+24-1)%12]))||
lilac0112_1 30:5998ba42237e 763 (data.irPosition==(ir_posi_s[(data.irLastPosition-8+24+2)%12]))||
lilac0112_1 33:aa115c30892e 764 (data.irPosition==(ir_posi_s[(data.irLastPosition-8+24-2)%12]))
lilac0112_1 33:aa115c30892e 765 //((data.irPosition==(ir_posi_s[(data.irLastPosition-8+24+3)%12]))&&(cmps_set.GoalDeg==0))||
lilac0112_1 33:aa115c30892e 766 //((data.irPosition==(ir_posi_s[(data.irLastPosition-8+24-3)%12]))&&(cmps_set.GoalDeg==0))
lilac0112_1 30:5998ba42237e 767 ))&&(
lilac0112_1 30:5998ba42237e 768 (data.irLastNotice==IR_CLOSE)||
lilac0112_1 30:5998ba42237e 769 (data.irLastNotice==IR_CLOSER)
lilac0112_1 30:5998ba42237e 770 )
lilac0112_1 27:825c6835e3db 771 )
lilac0112_1 27:825c6835e3db 772 ){
lilac0112_1 27:825c6835e3db 773 data.lnRepeat = 0;
lilac0112_1 27:825c6835e3db 774
lilac0112_1 27:825c6835e3db 775 LineRawLogReset();
lilac0112_1 27:825c6835e3db 776 }
lilac0112_1 27:825c6835e3db 777 //data.lnRepeat=0;
lilac0112_1 28:f246a5fbf6a5 778 //if((data.lnRepeat==1)&&((data.lnRawOrder[0]==LINE_EMPTY)&&(data.lnRawOrder[1]==LINE_EMPTY)&&(data.lnRawOrder[2]==LINE_EMPTY))){
lilac0112_1 30:5998ba42237e 779 if(
lilac0112_1 30:5998ba42237e 780 (data.lnRepeat>=1)&&
lilac0112_1 30:5998ba42237e 781 (data.lnRawOrder[0]==LINE_EMPTY)/*&&
lilac0112_1 30:5998ba42237e 782 (
lilac0112_1 30:5998ba42237e 783 (
lilac0112_1 30:5998ba42237e 784 (data.irPosition==data.irLastPosition)||
lilac0112_1 30:5998ba42237e 785 (data.irPosition==(data.irLastPosition+1))||
lilac0112_1 30:5998ba42237e 786 (data.irPosition==(data.irLastPosition-1))||
lilac0112_1 30:5998ba42237e 787 (data.irPosition==(data.irLastPosition+11))||
lilac0112_1 30:5998ba42237e 788 (data.irPosition==(data.irLastPosition-11))
lilac0112_1 30:5998ba42237e 789 )&&
lilac0112_1 30:5998ba42237e 790 (
lilac0112_1 30:5998ba42237e 791 (data.irNotice==IR_CLOSE)||
lilac0112_1 30:5998ba42237e 792 (data.irNotice==IR_CLOSER)
lilac0112_1 30:5998ba42237e 793 )
lilac0112_1 30:5998ba42237e 794 )*/
lilac0112_1 30:5998ba42237e 795 ){
lilac0112_1 27:825c6835e3db 796 //y
lilac0112_1 27:825c6835e3db 797 if(
lilac0112_1 27:825c6835e3db 798 ((pow_y>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT)&&(1)))||
lilac0112_1 30:5998ba42237e 799 ((pow_y>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT)&&(1)))
lilac0112_1 30:5998ba42237e 800 ){
lilac0112_1 30:5998ba42237e 801 if(data.ping[F_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 30:5998ba42237e 802 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 803 }
lilac0112_1 30:5998ba42237e 804 else{
lilac0112_1 30:5998ba42237e 805 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 806 }
lilac0112_1 30:5998ba42237e 807 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 808 data.lnStayNow[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 809 }
lilac0112_1 30:5998ba42237e 810 else{
lilac0112_1 30:5998ba42237e 811 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 812 }
lilac0112_1 30:5998ba42237e 813 if(
lilac0112_1 27:825c6835e3db 814 ((pow_y<0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1)&&(1)))
lilac0112_1 27:825c6835e3db 815 ){
lilac0112_1 30:5998ba42237e 816 if(data.ping[B_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 30:5998ba42237e 817 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 818 }
lilac0112_1 30:5998ba42237e 819 else{
lilac0112_1 30:5998ba42237e 820 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 821 }
lilac0112_1 27:825c6835e3db 822 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 823 data.lnStayNow[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 824 }
lilac0112_1 27:825c6835e3db 825 else{
lilac0112_1 27:825c6835e3db 826 data.lnStay[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 827 }
lilac0112_1 27:825c6835e3db 828 //x
lilac0112_1 27:825c6835e3db 829 if(
lilac0112_1 30:5998ba42237e 830 ((pow_x>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))
lilac0112_1 30:5998ba42237e 831 ){
lilac0112_1 30:5998ba42237e 832 if(data.ping[R_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 30:5998ba42237e 833 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 834 }
lilac0112_1 30:5998ba42237e 835 else{
lilac0112_1 30:5998ba42237e 836 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 837 }
lilac0112_1 30:5998ba42237e 838 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 839 data.lnStayNow[X_LINE]=1;
lilac0112_1 30:5998ba42237e 840 }
lilac0112_1 30:5998ba42237e 841 else{
lilac0112_1 30:5998ba42237e 842 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 843 }
lilac0112_1 30:5998ba42237e 844 if(
lilac0112_1 27:825c6835e3db 845 ((pow_x<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))
lilac0112_1 27:825c6835e3db 846 ){
lilac0112_1 30:5998ba42237e 847 if(data.ping[L_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 30:5998ba42237e 848 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 849 }
lilac0112_1 30:5998ba42237e 850 else{
lilac0112_1 30:5998ba42237e 851 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 852 }
lilac0112_1 27:825c6835e3db 853 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 854 data.lnStayNow[X_LINE]=1;
lilac0112_1 27:825c6835e3db 855 }
lilac0112_1 27:825c6835e3db 856 else{
lilac0112_1 27:825c6835e3db 857 data.lnStay[X_LINE]=1;
lilac0112_1 27:825c6835e3db 858 }
lilac0112_1 30:5998ba42237e 859 if((data.irNotice==IR_CLOSE)||(data.irNotice==IR_CLOSER)){
lilac0112_1 30:5998ba42237e 860 //y2
lilac0112_1 30:5998ba42237e 861 if((data.lnStay[X_LINE]==1)&&(data.lnStay[Y_LINE]==0)){
lilac0112_1 30:5998ba42237e 862 if(
lilac0112_1 30:5998ba42237e 863 ((pow_x>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT))&&((data.irPosition== 9)||(data.irPosition==10)))||
lilac0112_1 30:5998ba42237e 864 ((pow_x>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT))&&((data.irPosition== 9)||(data.irPosition==10)))||
lilac0112_1 30:5998ba42237e 865 ((pow_x>0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1 ))&&((data.irPosition==18)||(data.irPosition==19)))
lilac0112_1 30:5998ba42237e 866 ){
lilac0112_1 30:5998ba42237e 867 if(data.ping[R_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 30:5998ba42237e 868 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 869 }
lilac0112_1 30:5998ba42237e 870 else{
lilac0112_1 30:5998ba42237e 871 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 872 }
lilac0112_1 30:5998ba42237e 873 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 30:5998ba42237e 874 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 875 }
lilac0112_1 30:5998ba42237e 876 data.lnStayNow[X_LINE]=1;
lilac0112_1 30:5998ba42237e 877 }
lilac0112_1 30:5998ba42237e 878 else{
lilac0112_1 30:5998ba42237e 879 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 880 }
lilac0112_1 30:5998ba42237e 881 }
lilac0112_1 30:5998ba42237e 882 if((data.lnStay[X_LINE]==1)&&(data.lnStay[Y_LINE]==0)){
lilac0112_1 30:5998ba42237e 883 if(
lilac0112_1 30:5998ba42237e 884 ((pow_x<0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT))&&((data.irPosition==12)||(data.irPosition==13)))||
lilac0112_1 30:5998ba42237e 885 ((pow_x<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT))&&((data.irPosition==12)||(data.irPosition==13)))||
lilac0112_1 30:5998ba42237e 886 ((pow_x<0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1 ))&&((data.irPosition==15)||(data.irPosition==16)))
lilac0112_1 30:5998ba42237e 887 ){
lilac0112_1 30:5998ba42237e 888 if(data.ping[L_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 30:5998ba42237e 889 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 890 }
lilac0112_1 30:5998ba42237e 891 else{
lilac0112_1 30:5998ba42237e 892 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 893 }
lilac0112_1 30:5998ba42237e 894 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 30:5998ba42237e 895 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 896 }
lilac0112_1 30:5998ba42237e 897 data.lnStayNow[X_LINE]=1;
lilac0112_1 30:5998ba42237e 898 }
lilac0112_1 30:5998ba42237e 899 else{
lilac0112_1 30:5998ba42237e 900 data.lnStay[X_LINE]=1;
lilac0112_1 30:5998ba42237e 901 }
lilac0112_1 30:5998ba42237e 902 }
lilac0112_1 30:5998ba42237e 903 //x2
lilac0112_1 30:5998ba42237e 904 if((data.lnStay[X_LINE]==0)&&(data.lnStay[Y_LINE]==1)){
lilac0112_1 30:5998ba42237e 905 if(
lilac0112_1 30:5998ba42237e 906 ((pow_y>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition== 9)||(data.irPosition==10)))||
lilac0112_1 30:5998ba42237e 907 ((pow_y>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition==12)||(data.irPosition==13)))
lilac0112_1 30:5998ba42237e 908 ){
lilac0112_1 30:5998ba42237e 909 if(data.ping[F_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 30:5998ba42237e 910 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 911 }
lilac0112_1 30:5998ba42237e 912 else{
lilac0112_1 30:5998ba42237e 913 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 914 }
lilac0112_1 30:5998ba42237e 915 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 30:5998ba42237e 916 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 917 }
lilac0112_1 30:5998ba42237e 918 data.lnStayNow[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 919 }
lilac0112_1 30:5998ba42237e 920 else{
lilac0112_1 30:5998ba42237e 921 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 922 }
lilac0112_1 30:5998ba42237e 923
lilac0112_1 30:5998ba42237e 924 if(
lilac0112_1 30:5998ba42237e 925 ((pow_y<0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition==18)||(data.irPosition==19)))||
lilac0112_1 30:5998ba42237e 926 ((pow_y<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition==15)||(data.irPosition==16)))
lilac0112_1 30:5998ba42237e 927 ){
lilac0112_1 30:5998ba42237e 928 if(data.ping[B_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 30:5998ba42237e 929 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 930 }
lilac0112_1 30:5998ba42237e 931 else{
lilac0112_1 30:5998ba42237e 932 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 933 }
lilac0112_1 30:5998ba42237e 934 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 30:5998ba42237e 935 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 936 }
lilac0112_1 30:5998ba42237e 937 data.lnStayNow[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 938 }
lilac0112_1 30:5998ba42237e 939 else{
lilac0112_1 30:5998ba42237e 940 data.lnStay[Y_LINE]=1;
lilac0112_1 30:5998ba42237e 941 }
lilac0112_1 30:5998ba42237e 942 }
lilac0112_1 30:5998ba42237e 943 if(
lilac0112_1 30:5998ba42237e 944 (data.lnRepeat>=2)
lilac0112_1 30:5998ba42237e 945 ){
lilac0112_1 30:5998ba42237e 946 if(
lilac0112_1 30:5998ba42237e 947 ((pow_y>0)&&((data.ping[F_PING]<40)&&(1)))||
lilac0112_1 30:5998ba42237e 948 ((pow_y<0)&&((data.ping[B_PING]<40)&&(1)))
lilac0112_1 30:5998ba42237e 949 ){
lilac0112_1 30:5998ba42237e 950 data.lnStay[Y_LINE]=0;
lilac0112_1 30:5998ba42237e 951 }
lilac0112_1 30:5998ba42237e 952 if(
lilac0112_1 30:5998ba42237e 953 ((pow_x>0)&&((data.ping[R_PING]<40)&&(1)))||
lilac0112_1 30:5998ba42237e 954 ((pow_x<0)&&((data.ping[L_PING]<40)&&(1)))
lilac0112_1 30:5998ba42237e 955 ){
lilac0112_1 30:5998ba42237e 956 data.lnStay[X_LINE]=0;
lilac0112_1 30:5998ba42237e 957 }
lilac0112_1 30:5998ba42237e 958 }
lilac0112_1 30:5998ba42237e 959 }
lilac0112_1 30:5998ba42237e 960
lilac0112_1 30:5998ba42237e 961
lilac0112_1 27:825c6835e3db 962 }
lilac0112_1 27:825c6835e3db 963 else{
lilac0112_1 27:825c6835e3db 964 data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 965 }
lilac0112_1 27:825c6835e3db 966
lilac0112_1 27:825c6835e3db 967 }
lilac0112_1 27:825c6835e3db 968 void LineJudgeReset3(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 27:825c6835e3db 969
lilac0112_1 34:1c86c1299ea4 970 if(data.lnRepeat==0){
lilac0112_1 34:1c86c1299ea4 971 data.lnStayNow[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 972 data.lnStayNow[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 973 }
lilac0112_1 34:1c86c1299ea4 974 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 975 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 976
lilac0112_1 34:1c86c1299ea4 977 if((data.irNotice==IR_FAR)&&(data.lnRepeat>1)){
lilac0112_1 34:1c86c1299ea4 978 data.lnRepeat=1;
lilac0112_1 27:825c6835e3db 979 }
lilac0112_1 34:1c86c1299ea4 980
lilac0112_1 27:825c6835e3db 981 if(
lilac0112_1 27:825c6835e3db 982 (data.irNotice==IR_NONE)||
lilac0112_1 27:825c6835e3db 983 (data.irNotice==IR_FAR)||
lilac0112_1 34:1c86c1299ea4 984 //(data.irLastPosition<=7)||
lilac0112_1 27:825c6835e3db 985 (
lilac0112_1 34:1c86c1299ea4 986 (!(
lilac0112_1 34:1c86c1299ea4 987 (data.irPosition==data.irLastPosition)||
lilac0112_1 34:1c86c1299ea4 988 (data.irPosition==(ir_posi_s[(data.irLastPosition-8+24+1)%12]))||
lilac0112_1 34:1c86c1299ea4 989 (data.irPosition==(ir_posi_s[(data.irLastPosition-8+24-1)%12]))
lilac0112_1 34:1c86c1299ea4 990 //(data.irPosition==(ir_posi_s[(data.irLastPosition-8+24+2)%12]))||
lilac0112_1 34:1c86c1299ea4 991 //(data.irPosition==(ir_posi_s[(data.irLastPosition-8+24-2)%12]))
lilac0112_1 34:1c86c1299ea4 992 //((data.irPosition==(ir_posi_s[(data.irLastPosition-8+24+3)%12]))&&(cmps_set.GoalDeg==0))||
lilac0112_1 34:1c86c1299ea4 993 //((data.irPosition==(ir_posi_s[(data.irLastPosition-8+24-3)%12]))&&(cmps_set.GoalDeg==0))
lilac0112_1 34:1c86c1299ea4 994 ))&&(
lilac0112_1 34:1c86c1299ea4 995 (data.irLastNotice==IR_CLOSE)||
lilac0112_1 34:1c86c1299ea4 996 (data.irLastNotice==IR_CLOSER)
lilac0112_1 34:1c86c1299ea4 997 )
lilac0112_1 27:825c6835e3db 998 )
lilac0112_1 27:825c6835e3db 999 ){
lilac0112_1 27:825c6835e3db 1000 data.lnRepeat = 0;
lilac0112_1 27:825c6835e3db 1001
lilac0112_1 34:1c86c1299ea4 1002 LineRawLogReset();
lilac0112_1 27:825c6835e3db 1003 }
lilac0112_1 27:825c6835e3db 1004 //data.lnRepeat=0;
lilac0112_1 34:1c86c1299ea4 1005 //if((data.lnRepeat==1)&&((data.lnRawOrder[0]==LINE_EMPTY)&&(data.lnRawOrder[1]==LINE_EMPTY)&&(data.lnRawOrder[2]==LINE_EMPTY))){
lilac0112_1 34:1c86c1299ea4 1006 if(
lilac0112_1 34:1c86c1299ea4 1007 (data.lnRepeat>=1)&&
lilac0112_1 34:1c86c1299ea4 1008 (data.lnRawOrder[0]==LINE_EMPTY)/*&&
lilac0112_1 34:1c86c1299ea4 1009 (
lilac0112_1 34:1c86c1299ea4 1010 (
lilac0112_1 34:1c86c1299ea4 1011 (data.irPosition==data.irLastPosition)||
lilac0112_1 34:1c86c1299ea4 1012 (data.irPosition==(data.irLastPosition+1))||
lilac0112_1 34:1c86c1299ea4 1013 (data.irPosition==(data.irLastPosition-1))||
lilac0112_1 34:1c86c1299ea4 1014 (data.irPosition==(data.irLastPosition+11))||
lilac0112_1 34:1c86c1299ea4 1015 (data.irPosition==(data.irLastPosition-11))
lilac0112_1 34:1c86c1299ea4 1016 )&&
lilac0112_1 34:1c86c1299ea4 1017 (
lilac0112_1 34:1c86c1299ea4 1018 (data.irNotice==IR_CLOSE)||
lilac0112_1 34:1c86c1299ea4 1019 (data.irNotice==IR_CLOSER)
lilac0112_1 34:1c86c1299ea4 1020 )
lilac0112_1 34:1c86c1299ea4 1021 )*/
lilac0112_1 34:1c86c1299ea4 1022 ){
lilac0112_1 34:1c86c1299ea4 1023 //y
lilac0112_1 34:1c86c1299ea4 1024 if(
lilac0112_1 34:1c86c1299ea4 1025 ((pow_y>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT)&&(1)))||
lilac0112_1 34:1c86c1299ea4 1026 ((pow_y>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT)&&(1)))
lilac0112_1 34:1c86c1299ea4 1027 ){
lilac0112_1 34:1c86c1299ea4 1028 if(data.ping[F_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 34:1c86c1299ea4 1029 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1030 }
lilac0112_1 34:1c86c1299ea4 1031 else{
lilac0112_1 34:1c86c1299ea4 1032 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1033 }
lilac0112_1 34:1c86c1299ea4 1034 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1035 data.lnStayNow[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1036 }
lilac0112_1 34:1c86c1299ea4 1037 else{
lilac0112_1 34:1c86c1299ea4 1038 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1039 }
lilac0112_1 34:1c86c1299ea4 1040 if(
lilac0112_1 34:1c86c1299ea4 1041 ((pow_y<0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1)&&(1)))
lilac0112_1 34:1c86c1299ea4 1042 ){
lilac0112_1 34:1c86c1299ea4 1043 if(data.ping[B_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 34:1c86c1299ea4 1044 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1045 }
lilac0112_1 34:1c86c1299ea4 1046 else{
lilac0112_1 34:1c86c1299ea4 1047 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1048 }
lilac0112_1 34:1c86c1299ea4 1049 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1050 data.lnStayNow[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1051 }
lilac0112_1 34:1c86c1299ea4 1052 else{
lilac0112_1 34:1c86c1299ea4 1053 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1054 }
lilac0112_1 27:825c6835e3db 1055 //x
lilac0112_1 27:825c6835e3db 1056 if(
lilac0112_1 34:1c86c1299ea4 1057 ((pow_x>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))
lilac0112_1 27:825c6835e3db 1058 ){
lilac0112_1 34:1c86c1299ea4 1059 if(data.ping[R_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 34:1c86c1299ea4 1060 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1061 }
lilac0112_1 34:1c86c1299ea4 1062 else{
lilac0112_1 34:1c86c1299ea4 1063 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1064 }
lilac0112_1 27:825c6835e3db 1065 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1066 data.lnStayNow[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1067 }
lilac0112_1 34:1c86c1299ea4 1068 else{
lilac0112_1 34:1c86c1299ea4 1069 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1070 }
lilac0112_1 34:1c86c1299ea4 1071 if(
lilac0112_1 34:1c86c1299ea4 1072 ((pow_x<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))
lilac0112_1 34:1c86c1299ea4 1073 ){
lilac0112_1 34:1c86c1299ea4 1074 if(data.ping[L_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 34:1c86c1299ea4 1075 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1076 }
lilac0112_1 34:1c86c1299ea4 1077 else{
lilac0112_1 34:1c86c1299ea4 1078 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1079 }
lilac0112_1 34:1c86c1299ea4 1080 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1081 data.lnStayNow[X_LINE]=1;
lilac0112_1 27:825c6835e3db 1082 }
lilac0112_1 27:825c6835e3db 1083 else{
lilac0112_1 27:825c6835e3db 1084 data.lnStay[X_LINE]=1;
lilac0112_1 27:825c6835e3db 1085 }
lilac0112_1 34:1c86c1299ea4 1086 if((data.irNotice==IR_CLOSE)||(data.irNotice==IR_CLOSER)){
lilac0112_1 34:1c86c1299ea4 1087 //y2
lilac0112_1 34:1c86c1299ea4 1088 if((data.lnStay[X_LINE]==1)&&(data.lnStay[Y_LINE]==0)){
lilac0112_1 34:1c86c1299ea4 1089 if(
lilac0112_1 34:1c86c1299ea4 1090 ((pow_x>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT))&&((data.irPosition== 9)||(data.irPosition==10)))||
lilac0112_1 34:1c86c1299ea4 1091 ((pow_x>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT))&&((data.irPosition== 9)||(data.irPosition==10)))||
lilac0112_1 34:1c86c1299ea4 1092 ((pow_x>0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1 ))&&((data.irPosition==18)||(data.irPosition==19)))
lilac0112_1 34:1c86c1299ea4 1093 ){
lilac0112_1 34:1c86c1299ea4 1094 if(data.ping[R_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 34:1c86c1299ea4 1095 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1096 }
lilac0112_1 34:1c86c1299ea4 1097 else{
lilac0112_1 34:1c86c1299ea4 1098 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1099 }
lilac0112_1 34:1c86c1299ea4 1100 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 34:1c86c1299ea4 1101 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1102 }
lilac0112_1 34:1c86c1299ea4 1103 data.lnStayNow[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1104 }
lilac0112_1 34:1c86c1299ea4 1105 else{
lilac0112_1 34:1c86c1299ea4 1106 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1107 }
lilac0112_1 34:1c86c1299ea4 1108 }
lilac0112_1 34:1c86c1299ea4 1109 if((data.lnStay[X_LINE]==1)&&(data.lnStay[Y_LINE]==0)){
lilac0112_1 34:1c86c1299ea4 1110 if(
lilac0112_1 34:1c86c1299ea4 1111 ((pow_x<0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT))&&((data.irPosition==12)||(data.irPosition==13)))||
lilac0112_1 34:1c86c1299ea4 1112 ((pow_x<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT))&&((data.irPosition==12)||(data.irPosition==13)))||
lilac0112_1 34:1c86c1299ea4 1113 ((pow_x<0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1 ))&&((data.irPosition==15)||(data.irPosition==16)))
lilac0112_1 34:1c86c1299ea4 1114 ){
lilac0112_1 34:1c86c1299ea4 1115 if(data.ping[L_PING]<WhiteToWallPlus[X_PING]){
lilac0112_1 34:1c86c1299ea4 1116 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1117 }
lilac0112_1 34:1c86c1299ea4 1118 else{
lilac0112_1 34:1c86c1299ea4 1119 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1120 }
lilac0112_1 34:1c86c1299ea4 1121 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 34:1c86c1299ea4 1122 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1123 }
lilac0112_1 34:1c86c1299ea4 1124 data.lnStayNow[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1125 }
lilac0112_1 34:1c86c1299ea4 1126 else{
lilac0112_1 34:1c86c1299ea4 1127 data.lnStay[X_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1128 }
lilac0112_1 34:1c86c1299ea4 1129 }
lilac0112_1 34:1c86c1299ea4 1130 //x2
lilac0112_1 34:1c86c1299ea4 1131 if((data.lnStay[X_LINE]==0)&&(data.lnStay[Y_LINE]==1)){
lilac0112_1 34:1c86c1299ea4 1132 if(
lilac0112_1 34:1c86c1299ea4 1133 ((pow_y>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition== 9)||(data.irPosition==10)))||
lilac0112_1 34:1c86c1299ea4 1134 ((pow_y>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition==12)||(data.irPosition==13)))
lilac0112_1 34:1c86c1299ea4 1135 ){
lilac0112_1 34:1c86c1299ea4 1136 if(data.ping[F_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 34:1c86c1299ea4 1137 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1138 }
lilac0112_1 34:1c86c1299ea4 1139 else{
lilac0112_1 34:1c86c1299ea4 1140 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1141 }
lilac0112_1 34:1c86c1299ea4 1142 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 34:1c86c1299ea4 1143 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1144 }
lilac0112_1 34:1c86c1299ea4 1145 data.lnStayNow[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1146 }
lilac0112_1 34:1c86c1299ea4 1147 else{
lilac0112_1 34:1c86c1299ea4 1148 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1149 }
lilac0112_1 34:1c86c1299ea4 1150
lilac0112_1 34:1c86c1299ea4 1151 if(
lilac0112_1 34:1c86c1299ea4 1152 ((pow_y<0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition==18)||(data.irPosition==19)))||
lilac0112_1 34:1c86c1299ea4 1153 ((pow_y<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT))&&((data.irPosition==15)||(data.irPosition==16)))
lilac0112_1 34:1c86c1299ea4 1154 ){
lilac0112_1 34:1c86c1299ea4 1155 if(data.ping[B_PING]<WhiteToWallPlus[Y_PING]){
lilac0112_1 34:1c86c1299ea4 1156 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1157 }
lilac0112_1 34:1c86c1299ea4 1158 else{
lilac0112_1 34:1c86c1299ea4 1159 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1160 }
lilac0112_1 34:1c86c1299ea4 1161 if(data.lnRepeat>=LINE_REPEAT){
lilac0112_1 34:1c86c1299ea4 1162 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1163 }
lilac0112_1 34:1c86c1299ea4 1164 data.lnStayNow[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1165 }
lilac0112_1 34:1c86c1299ea4 1166 else{
lilac0112_1 34:1c86c1299ea4 1167 data.lnStay[Y_LINE]=1;
lilac0112_1 34:1c86c1299ea4 1168 }
lilac0112_1 34:1c86c1299ea4 1169 }
lilac0112_1 34:1c86c1299ea4 1170 if(
lilac0112_1 34:1c86c1299ea4 1171 (data.lnRepeat>=2)
lilac0112_1 34:1c86c1299ea4 1172 ){
lilac0112_1 34:1c86c1299ea4 1173 if(
lilac0112_1 34:1c86c1299ea4 1174 ((pow_y>0)&&((data.ping[F_PING]<40)&&(1)))||
lilac0112_1 34:1c86c1299ea4 1175 ((pow_y<0)&&((data.ping[B_PING]<40)&&(1)))
lilac0112_1 34:1c86c1299ea4 1176 ){
lilac0112_1 34:1c86c1299ea4 1177 data.lnStay[Y_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1178 }
lilac0112_1 34:1c86c1299ea4 1179 if(
lilac0112_1 34:1c86c1299ea4 1180 ((pow_x>0)&&((data.ping[R_PING]<40)&&(1)))||
lilac0112_1 34:1c86c1299ea4 1181 ((pow_x<0)&&((data.ping[L_PING]<40)&&(1)))
lilac0112_1 34:1c86c1299ea4 1182 ){
lilac0112_1 34:1c86c1299ea4 1183 data.lnStay[X_LINE]=0;
lilac0112_1 34:1c86c1299ea4 1184 }
lilac0112_1 34:1c86c1299ea4 1185 }
lilac0112_1 27:825c6835e3db 1186 }
lilac0112_1 34:1c86c1299ea4 1187
lilac0112_1 34:1c86c1299ea4 1188
lilac0112_1 27:825c6835e3db 1189 }
lilac0112_1 27:825c6835e3db 1190 else{
lilac0112_1 27:825c6835e3db 1191 data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 1192 }
lilac0112_1 27:825c6835e3db 1193
lilac0112_1 27:825c6835e3db 1194 }
lilac0112_1 27:825c6835e3db 1195 void JudgeInSide(void){
lilac0112_1 27:825c6835e3db 1196 data.FieldSpot = LINE_INSIDE;
lilac0112_1 27:825c6835e3db 1197 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 27:825c6835e3db 1198 LineLiberate();
lilac0112_1 27:825c6835e3db 1199 LineRankClear();
lilac0112_1 27:825c6835e3db 1200 //Line_home.detach();
lilac0112_1 27:825c6835e3db 1201 }