Diff: main_processing/strategy/strategy.cpp

Revision:

27:825c6835e3db

Parent:

26:6ca88eeaa2b4

Child:

28:f246a5fbf6a5

diff -r 6ca88eeaa2b4 -r 825c6835e3db main_processing/strategy/strategy.cpp
--- a/main_processing/strategy/strategy.cpp	Mon Mar 21 05:49:18 2016 +0000
+++ b/main_processing/strategy/strategy.cpp	Mon Mar 21 17:05:08 2016 +0000
@@ -18,7 +18,7 @@
     ////初期値を決める等
     if(sys.KickOffFlag==1){
         ///Blindシリーズ．1を代入であらゆるセンサーなどの値を反映させないようにする．
-        sys.IrBlind=1;
+        sys.IrBlind=0;
         sys.LineBlind=0;
         sys.PingBlind=0;
         
@@ -36,6 +36,15 @@
         data.FieldSpot = LINE_INSIDE;
         LineLiberate();
         LineRankClear();
+        
+        LineRawRankClear();
+        data.lnRawMemory[A_SPOT]=0;
+        data.lnRawMemory[B_SPOT]=0;
+        data.lnRawMemory[C_SPOT]=0;
+        
+        data.lnRawReturn=0;
+        
+        LineRawLogReset();
         //backhome
         sys.HomeStayFlag[X_PING]=0;
         sys.HomeStayFlag[Y_PING]=0;
@@ -196,15 +205,18 @@
     else{
         LineJudgeReset(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]);
         LineJudgeSlow(ir_x, ir_y, &LineSlowPower[X_LINE], &LineSlowPower[Y_LINE]);
-        LineJudgeReturn(ir_x*LineSlowPower[X_LINE], ir_y*LineSlowPower[Y_LINE], &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]);
+        LineJudgeReturn2(ir_x*LineSlowPower[X_LINE], ir_y*LineSlowPower[Y_LINE], &LineReturnPower[X_LINE], &LineReturnPower[Y_LINE]);
     }
     ////LEDデバッグ
     //if(data.FieldSpot==LINE_OUTSIDE) LED = 0x9;
     //if(data.FieldSpot==LINE_INSIDE) LED = 0x6;
+    //LED = ((data.lnRawMemory[0]!=0)<<2) | ((data.lnRawMemory[1]!=0)<<1) | ((data.lnRawMemory[2]!=0)<<0);
+    LED = ((data.lnRawOrder[0]!=LINE_EMPTY)<<2) | ((data.lnRawOrder[1]!=LINE_EMPTY)<<1) | ((data.lnRawOrder[2]!=LINE_EMPTY)<<0);
+    //LED = ((data.lnOrder[0]!=LINE_EMPTY)<<2) | ((data.lnOrder[1]!=LINE_EMPTY)<<1) | ((data.lnOrder[2]!=LINE_EMPTY)<<0);
     
     //LED = sys.BallHoldFlag*15;
-    if(sys.BallHoldFlag==1) LED=15;
-    else LED=10;
+    //if(sys.BallHoldFlag==1) LED=15;
+    //else LED=10;
     
     //LED = 0xFF*(data.ping[B_PING]<30);