Diff: Loop.txt

Revision:

6:2c9cb40ada59

Parent:

4:7c488c059498

--- a/Loop.txt	Fri Mar 13 03:17:44 2015 +0000
+++ b/Loop.txt	Sat Mar 14 01:06:13 2015 +0000
@@ -197,4 +197,181 @@
     
     while(0){
         moving(6);
-    }
\ No newline at end of file
+    }
+    
+    
+    
+    
+    /*3/13(Fri)*/
+    
+    
+    if(LineData!=0){
+            
+            if(PingData[0]>PingData[1]) LineState[0]=1;
+            if(PingData[2]<=30)         LineState[1]=1;
+            
+            switch(LinkBit(0,0,0,0,0,0,LineState[1],LineState[0])&0x03){
+                
+                case 0:
+                    moving(3);
+                    break;
+                case 1:
+                    moving(9);
+                    break;
+                case 2:
+                    moving(1);
+                    break;
+                case 3:
+                    moving(11);
+                    break;
+                default :
+                    break;
+                
+            }
+            /*if(LastPwm[0]==0){
+                
+            }
+            move(LastPwm[0]*(-1),LastPwm[3]*(-1)*(-1),0,LastDeg);*/
+            wait(0.5);
+            continue;
+            
+        }else{
+            /*if(PingData[0]<=15) LineState[2]=1;
+            if(PingData[1]<=15) LineState[3]=1;
+            if(PingData[2]<=15) LineState[4]=1;
+            
+            switch(LinkBit(0,0,0,0,0,LineState[4],LineState[3],LineState[2])&0x07){
+                
+                case 0:
+                    break;
+                case 1:
+                    moving(3);
+                    break;
+                case 2:
+                    moving(9);
+                    break;
+                case 3:
+                    moving(0);
+                    break;
+                case 4:
+                    moving(0);
+                    break;
+                case 5:
+                    moving(1);
+                    break;
+                case 6:
+                    moving(11);
+                    break;
+                case 7:
+                    moving(0);
+                    break;
+                default :
+                    break;
+                
+            }
+            
+            if((LinkBit(0,0,0,0,0,LineState[4],LineState[3],LineState[2])&0x07)!=0){
+                wait(0.2);
+                continue;
+            }*/
+        }
+        
+        
+        
+        
+        switch(IrNum){
+            case 0:
+            case 1:
+            case 2:
+            case 3:
+                moving(IrNum);
+                break;
+            case 4:
+            case 5:
+                moving(IrNum+Gap);
+                break;
+            case 6:
+                if(PingData[0]>PingData[1]) moving(IrNum+Gap);
+                else moving(IrNum-Gap);
+                
+                break;
+            case 7:
+            case 8:
+                moving(IrNum-Gap);
+                break;
+            case 9:
+            case 10:
+            case 11:
+                moving(IrNum);
+                break;
+            case 12:
+                GoHome();
+                break;
+            default:
+                break;
+        }
+        
+        
+        /*3/14(Sat)*/
+        
+        
+        
+        if((IrNum==12)&&
+                (!(
+                    (abs(    int(    int(PingData[0])    -   int(PingData[1])    )           )      )
+                    <= 80
+                ))   &&
+                (
+                    PingData[2]<=50
+                
+                )&&
+                (
+                    (abs(CompassDif)<5)
+                )
+                    
+                    
+           ){
+            
+            if(PingData[0]>PingData[1]){
+                moving(10);
+                wait(0.5);
+                continue;
+            }
+            else{
+                moving(2);
+                wait(0.5);
+                continue;
+            }
+            
+        }
+        
+        if((PingData[2]>100)&&
+            (
+                (abs(    int(    int(PingData[0])    -   int(PingData[1])    )           )      )
+                <= 80
+            )
+        ){
+            
+            move(vrl[6]-10,vrl[6]-10,0,IrServo[6]);
+            continue;
+        }
+        if((PingData[2]>60)&&
+            (
+                (abs(    int(    int(PingData[0])    -   int(PingData[1])    )           )      )
+                <= 60
+            )&&(IrNum==12)
+        ){
+            
+            move(vrl[6]-5,vrl[6]-5,0,IrServo[6]);
+            continue;
+        }
+        if((PingData[2]>30)&&
+            (
+                (abs(    int(    int(PingData[0])    -   int(PingData[1])    )           )      )
+                <= 60
+            )&&(IrNum==12)
+        ){
+            
+            move(vrl[6],vrl[6],0,IrServo[6]);
+            continue;
+        }
\ No newline at end of file