File content as of revision 4:7c488c059498:

    while(0){
         
        //S555.calibrate(0.0006, 120.0);

        //Receive();
        //Lcd.printf("%d\n",IrNum);
        /*白線を読んでいないか確認する*/
        LineData = (~Line+0x00) & 0x0F; 
        
        /*
        if(LineData){
            LineIr = LineData & IrChange[IrNum];
            LinePing = PingChange(LineData);
            if(LineIr){
                move(0,0,0,LastDegree);
                while(LineIr){
                    Led[1] = Led[2] = Led[3] = 1;  
                    //Receive();
                    LineData = (~Line+0x00) & 0x0F;
                    LineIr = LineData & IrChange[IrNum];
                    wait_ms(10);
                }                 
            }else if(LinePing){
                move(0,0,0,LastDegree);
                while(LinePing){
                    Led[1] = Led[2] = Led[3] = 1;  
                    //Receive();
                    LineData = (~Line+0x00) & 0x0F;
                    LinePing = PingChange(LineData);
                    
                    wait_ms(10);
                }
            }
            
            
            Led[1] = Led[2] = Led[3] = 0;
            
        }
        */
        
        /*
        Power = 0;
        Led[0] = 1;
        Degree = 0;
        SetC = 0.0;
        */
        
        Led[3] = 1;
        //Receive();
        //Degree = IrDegree();
        
        /*if((Degree == 0)||(Degree == 180)||(IrNum == 12)){
            (AnotherAction[IrNum/6])();
            continue;
        }*/
        
        if(IrNum == 12){
            
            (AnotherAction[2])();//GoHome();
            //move(0,0,0,LastDegree);
            wait_ms(10);
            //continue;   
        }
        
        /*
        nDegree = wrapDegree[Degree/15];
        Power = 20;
        */
        
       // Degree = nDegree + addDegree;
       
       
        if((Degree <0)||(Degree>=360)){
            Degree = 0;
        }
        //fool(&Degree,&Power);
        move(Power,Power,CompassPID,Degree);
        
        //wait_ms(500);
        Led[0] =0;
        wait_ms(10);
        
    }
    
    while(0){
    //デモプログラム
        //Receive();
        //pc.printf("%d %d %d %d %d\n",IrData[0],IrData[1],IrData[2],PingData[0],PingData[1]);
        pc.printf("%d %d %d %d\n",PingData[1],PingData[2],PingData[3],Compass);
        
        //pc.printf("%d\t %d\t %d\t %d\t %d\t %d\t\n",rx_data[3],rx_data[4],rx_data[5],rx_data[6],rx_data[7],rx_data[8]);
        //pc.printf("%d\t %d\t %d\t %d\n",speed[0],speed[1],speed[2],speed[3]);
        
        /*for(int i=0; i<13; i++){
            move(vrl[i],vrl[i],0,IrServo[i]);
            wait(0.5);
        }*/
        
        /*if(PingData[2]>=40){
            move(vrl[6],vrl[6],0,IrServo[6]);
        }*/
        
        /*
        if(
            (
                (
                    (
                        (Compass / 10) + 540 - CompassDef
                    ) % 360
                ) - REFERENCE
            ) >15.0
        ){
            
            move(0,0,0,0);     
            continue;
        }
        
        if(PingData[2]>=40){
            move(vrl[6],vrl[6],0,IrServo[6]);
            continue;
        }
        
        GoHome();*/
        
    }
    
    while(1){
    //デモプログラム
    
    
    //ping  continue;
    //line  continue;
        LineData = (~Line+0x00) & 0x0F;
        
        if(Line!=0){
            if(LastPwm[0]==0){
                
            }
            move(LastPwm[0]*(-1),LastPwm[3]*(-1)*(-1),0,LastDeg);
            wait(0.5);
            continue;
        }
        
        /*
        if(((((Compass / 10) + 540 - CompassDef) % 360) - REFERENCE) >15.0){
            
            move(0,0,0,0);     
            continue;
        }
        
        if(PingData[2]>=40){
            move(vrl[6],vrl[6],0,IrServo[6]);
            continue;
        }
        */
        /*if(PingData[2]>=40){
            
            move(vrl[6],vrl[6],0,IrServo[6]);
            continue;
        }*/
        
        Gap=2;
        
        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;
                
        }
        
        
    }
    
    while(0){
        moving(6);
    }