CatPot 2015-2016 / Mbed 2 deprecated CatPot_Main_T

CatPot for defence on RoboCup in 2015 winter

Dependencies:   AQM0802A HMC6352 MultiSerial PID Servo mbed

Loop.txt@6:2c9cb40ada59, 2015-03-14 (annotated)

Committer:
lilac0112_1
Date:
Sat Mar 14 01:06:13 2015 +0000
Revision:
6:2c9cb40ada59
Parent:
4:7c488c059498 
very dirty

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 4:7c488c059498 1 while(0){
lilac0112_1 4:7c488c059498 2
lilac0112_1 4:7c488c059498 3 //S555.calibrate(0.0006, 120.0);
lilac0112_1 4:7c488c059498 4
lilac0112_1 4:7c488c059498 5 //Receive();
lilac0112_1 4:7c488c059498 6 //Lcd.printf("%d\n",IrNum);
lilac0112_1 4:7c488c059498 7 /*白線を読んでいないか確認する*/
lilac0112_1 4:7c488c059498 8 LineData = (~Line+0x00) & 0x0F;
lilac0112_1 4:7c488c059498 9
lilac0112_1 4:7c488c059498 10 /*
lilac0112_1 4:7c488c059498 11 if(LineData){
lilac0112_1 4:7c488c059498 12 LineIr = LineData & IrChange[IrNum];
lilac0112_1 4:7c488c059498 13 LinePing = PingChange(LineData);
lilac0112_1 4:7c488c059498 14 if(LineIr){
lilac0112_1 4:7c488c059498 15 move(0,0,0,LastDegree);
lilac0112_1 4:7c488c059498 16 while(LineIr){
lilac0112_1 4:7c488c059498 17 Led[1] = Led[2] = Led[3] = 1;
lilac0112_1 4:7c488c059498 18 //Receive();
lilac0112_1 4:7c488c059498 19 LineData = (~Line+0x00) & 0x0F;
lilac0112_1 4:7c488c059498 20 LineIr = LineData & IrChange[IrNum];
lilac0112_1 4:7c488c059498 21 wait_ms(10);
lilac0112_1 4:7c488c059498 22 }
lilac0112_1 4:7c488c059498 23 }else if(LinePing){
lilac0112_1 4:7c488c059498 24 move(0,0,0,LastDegree);
lilac0112_1 4:7c488c059498 25 while(LinePing){
lilac0112_1 4:7c488c059498 26 Led[1] = Led[2] = Led[3] = 1;
lilac0112_1 4:7c488c059498 27 //Receive();
lilac0112_1 4:7c488c059498 28 LineData = (~Line+0x00) & 0x0F;
lilac0112_1 4:7c488c059498 29 LinePing = PingChange(LineData);
lilac0112_1 4:7c488c059498 30
lilac0112_1 4:7c488c059498 31 wait_ms(10);
lilac0112_1 4:7c488c059498 32 }
lilac0112_1 4:7c488c059498 33 }
lilac0112_1 4:7c488c059498 34
lilac0112_1 4:7c488c059498 35
lilac0112_1 4:7c488c059498 36 Led[1] = Led[2] = Led[3] = 0;
lilac0112_1 4:7c488c059498 37
lilac0112_1 4:7c488c059498 38 }
lilac0112_1 4:7c488c059498 39 */
lilac0112_1 4:7c488c059498 40
lilac0112_1 4:7c488c059498 41 /*
lilac0112_1 4:7c488c059498 42 Power = 0;
lilac0112_1 4:7c488c059498 43 Led[0] = 1;
lilac0112_1 4:7c488c059498 44 Degree = 0;
lilac0112_1 4:7c488c059498 45 SetC = 0.0;
lilac0112_1 4:7c488c059498 46 */
lilac0112_1 4:7c488c059498 47
lilac0112_1 4:7c488c059498 48 Led[3] = 1;
lilac0112_1 4:7c488c059498 49 //Receive();
lilac0112_1 4:7c488c059498 50 //Degree = IrDegree();
lilac0112_1 4:7c488c059498 51
lilac0112_1 4:7c488c059498 52 /*if((Degree == 0)||(Degree == 180)||(IrNum == 12)){
lilac0112_1 4:7c488c059498 53 (AnotherAction[IrNum/6])();
lilac0112_1 4:7c488c059498 54 continue;
lilac0112_1 4:7c488c059498 55 }*/
lilac0112_1 4:7c488c059498 56
lilac0112_1 4:7c488c059498 57 if(IrNum == 12){
lilac0112_1 4:7c488c059498 58
lilac0112_1 4:7c488c059498 59 (AnotherAction[2])();//GoHome();
lilac0112_1 4:7c488c059498 60 //move(0,0,0,LastDegree);
lilac0112_1 4:7c488c059498 61 wait_ms(10);
lilac0112_1 4:7c488c059498 62 //continue;
lilac0112_1 4:7c488c059498 63 }
lilac0112_1 4:7c488c059498 64
lilac0112_1 4:7c488c059498 65 /*
lilac0112_1 4:7c488c059498 66 nDegree = wrapDegree[Degree/15];
lilac0112_1 4:7c488c059498 67 Power = 20;
lilac0112_1 4:7c488c059498 68 */
lilac0112_1 4:7c488c059498 69
lilac0112_1 4:7c488c059498 70 // Degree = nDegree + addDegree;
lilac0112_1 4:7c488c059498 71
lilac0112_1 4:7c488c059498 72
lilac0112_1 4:7c488c059498 73 if((Degree <0)||(Degree>=360)){
lilac0112_1 4:7c488c059498 74 Degree = 0;
lilac0112_1 4:7c488c059498 75 }
lilac0112_1 4:7c488c059498 76 //fool(&Degree,&Power);
lilac0112_1 4:7c488c059498 77 move(Power,Power,CompassPID,Degree);
lilac0112_1 4:7c488c059498 78
lilac0112_1 4:7c488c059498 79 //wait_ms(500);
lilac0112_1 4:7c488c059498 80 Led[0] =0;
lilac0112_1 4:7c488c059498 81 wait_ms(10);
lilac0112_1 4:7c488c059498 82
lilac0112_1 4:7c488c059498 83 }
lilac0112_1 4:7c488c059498 84
lilac0112_1 4:7c488c059498 85 while(0){
lilac0112_1 4:7c488c059498 86 //デモプログラム
lilac0112_1 4:7c488c059498 87 //Receive();
lilac0112_1 4:7c488c059498 88 //pc.printf("%d %d %d %d %d\n",IrData[0],IrData[1],IrData[2],PingData[0],PingData[1]);
lilac0112_1 4:7c488c059498 89 pc.printf("%d %d %d %d\n",PingData[1],PingData[2],PingData[3],Compass);
lilac0112_1 4:7c488c059498 90
lilac0112_1 4:7c488c059498 91 //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]);
lilac0112_1 4:7c488c059498 92 //pc.printf("%d\t %d\t %d\t %d\n",speed[0],speed[1],speed[2],speed[3]);
lilac0112_1 4:7c488c059498 93
lilac0112_1 4:7c488c059498 94 /*for(int i=0; i<13; i++){
lilac0112_1 4:7c488c059498 95 move(vrl[i],vrl[i],0,IrServo[i]);
lilac0112_1 4:7c488c059498 96 wait(0.5);
lilac0112_1 4:7c488c059498 97 }*/
lilac0112_1 4:7c488c059498 98
lilac0112_1 4:7c488c059498 99 /*if(PingData[2]>=40){
lilac0112_1 4:7c488c059498 100 move(vrl[6],vrl[6],0,IrServo[6]);
lilac0112_1 4:7c488c059498 101 }*/
lilac0112_1 4:7c488c059498 102
lilac0112_1 4:7c488c059498 103 /*
lilac0112_1 4:7c488c059498 104 if(
lilac0112_1 4:7c488c059498 105 (
lilac0112_1 4:7c488c059498 106 (
lilac0112_1 4:7c488c059498 107 (
lilac0112_1 4:7c488c059498 108 (Compass / 10) + 540 - CompassDef
lilac0112_1 4:7c488c059498 109 ) % 360
lilac0112_1 4:7c488c059498 110 ) - REFERENCE
lilac0112_1 4:7c488c059498 111 ) >15.0
lilac0112_1 4:7c488c059498 112 ){
lilac0112_1 4:7c488c059498 113
lilac0112_1 4:7c488c059498 114 move(0,0,0,0);
lilac0112_1 4:7c488c059498 115 continue;
lilac0112_1 4:7c488c059498 116 }
lilac0112_1 4:7c488c059498 117
lilac0112_1 4:7c488c059498 118 if(PingData[2]>=40){
lilac0112_1 4:7c488c059498 119 move(vrl[6],vrl[6],0,IrServo[6]);
lilac0112_1 4:7c488c059498 120 continue;
lilac0112_1 4:7c488c059498 121 }
lilac0112_1 4:7c488c059498 122
lilac0112_1 4:7c488c059498 123 GoHome();*/
lilac0112_1 4:7c488c059498 124
lilac0112_1 4:7c488c059498 125 }
lilac0112_1 4:7c488c059498 126
lilac0112_1 4:7c488c059498 127 while(1){
lilac0112_1 4:7c488c059498 128 //デモプログラム
lilac0112_1 4:7c488c059498 129
lilac0112_1 4:7c488c059498 130
lilac0112_1 4:7c488c059498 131 //ping continue;
lilac0112_1 4:7c488c059498 132 //line continue;
lilac0112_1 4:7c488c059498 133 LineData = (~Line+0x00) & 0x0F;
lilac0112_1 4:7c488c059498 134
lilac0112_1 4:7c488c059498 135 if(Line!=0){
lilac0112_1 4:7c488c059498 136 if(LastPwm[0]==0){
lilac0112_1 4:7c488c059498 137
lilac0112_1 4:7c488c059498 138 }
lilac0112_1 4:7c488c059498 139 move(LastPwm[0]*(-1),LastPwm[3]*(-1)*(-1),0,LastDeg);
lilac0112_1 4:7c488c059498 140 wait(0.5);
lilac0112_1 4:7c488c059498 141 continue;
lilac0112_1 4:7c488c059498 142 }
lilac0112_1 4:7c488c059498 143
lilac0112_1 4:7c488c059498 144 /*
lilac0112_1 4:7c488c059498 145 if(((((Compass / 10) + 540 - CompassDef) % 360) - REFERENCE) >15.0){
lilac0112_1 4:7c488c059498 146
lilac0112_1 4:7c488c059498 147 move(0,0,0,0);
lilac0112_1 4:7c488c059498 148 continue;
lilac0112_1 4:7c488c059498 149 }
lilac0112_1 4:7c488c059498 150
lilac0112_1 4:7c488c059498 151 if(PingData[2]>=40){
lilac0112_1 4:7c488c059498 152 move(vrl[6],vrl[6],0,IrServo[6]);
lilac0112_1 4:7c488c059498 153 continue;
lilac0112_1 4:7c488c059498 154 }
lilac0112_1 4:7c488c059498 155 */
lilac0112_1 4:7c488c059498 156 /*if(PingData[2]>=40){
lilac0112_1 4:7c488c059498 157
lilac0112_1 4:7c488c059498 158 move(vrl[6],vrl[6],0,IrServo[6]);
lilac0112_1 4:7c488c059498 159 continue;
lilac0112_1 4:7c488c059498 160 }*/
lilac0112_1 4:7c488c059498 161
lilac0112_1 4:7c488c059498 162 Gap=2;
lilac0112_1 4:7c488c059498 163
lilac0112_1 4:7c488c059498 164 switch(IrNum){
lilac0112_1 4:7c488c059498 165 case 0:
lilac0112_1 4:7c488c059498 166 case 1:
lilac0112_1 4:7c488c059498 167 case 2:
lilac0112_1 4:7c488c059498 168 case 3:
lilac0112_1 4:7c488c059498 169 moving(IrNum);
lilac0112_1 4:7c488c059498 170 break;
lilac0112_1 4:7c488c059498 171 case 4:
lilac0112_1 4:7c488c059498 172 case 5:
lilac0112_1 4:7c488c059498 173 moving(IrNum+Gap);
lilac0112_1 4:7c488c059498 174 break;
lilac0112_1 4:7c488c059498 175 case 6:
lilac0112_1 4:7c488c059498 176 if(PingData[0]>PingData[1]) moving(IrNum+Gap);
lilac0112_1 4:7c488c059498 177 else moving(IrNum-Gap);
lilac0112_1 4:7c488c059498 178
lilac0112_1 4:7c488c059498 179 break;
lilac0112_1 4:7c488c059498 180 case 7:
lilac0112_1 4:7c488c059498 181 case 8:
lilac0112_1 4:7c488c059498 182 moving(IrNum-Gap);
lilac0112_1 4:7c488c059498 183 break;
lilac0112_1 4:7c488c059498 184 case 9:
lilac0112_1 4:7c488c059498 185 case 10:
lilac0112_1 4:7c488c059498 186 case 11:
lilac0112_1 4:7c488c059498 187 moving(IrNum);
lilac0112_1 4:7c488c059498 188 break;
lilac0112_1 4:7c488c059498 189 case 12:
lilac0112_1 4:7c488c059498 190 GoHome();
lilac0112_1 4:7c488c059498 191 break;
lilac0112_1 4:7c488c059498 192
lilac0112_1 4:7c488c059498 193 }
lilac0112_1 4:7c488c059498 194
lilac0112_1 4:7c488c059498 195
lilac0112_1 4:7c488c059498 196 }
lilac0112_1 4:7c488c059498 197
lilac0112_1 4:7c488c059498 198 while(0){
lilac0112_1 4:7c488c059498 199 moving(6);
lilac0112_1 6:2c9cb40ada59 200 }
lilac0112_1 6:2c9cb40ada59 201
lilac0112_1 6:2c9cb40ada59 202
lilac0112_1 6:2c9cb40ada59 203
lilac0112_1 6:2c9cb40ada59 204
lilac0112_1 6:2c9cb40ada59 205 /*3/13(Fri)*/
lilac0112_1 6:2c9cb40ada59 206
lilac0112_1 6:2c9cb40ada59 207
lilac0112_1 6:2c9cb40ada59 208 if(LineData!=0){
lilac0112_1 6:2c9cb40ada59 209
lilac0112_1 6:2c9cb40ada59 210 if(PingData[0]>PingData[1]) LineState[0]=1;
lilac0112_1 6:2c9cb40ada59 211 if(PingData[2]<=30) LineState[1]=1;
lilac0112_1 6:2c9cb40ada59 212
lilac0112_1 6:2c9cb40ada59 213 switch(LinkBit(0,0,0,0,0,0,LineState[1],LineState[0])&0x03){
lilac0112_1 6:2c9cb40ada59 214
lilac0112_1 6:2c9cb40ada59 215 case 0:
lilac0112_1 6:2c9cb40ada59 216 moving(3);
lilac0112_1 6:2c9cb40ada59 217 break;
lilac0112_1 6:2c9cb40ada59 218 case 1:
lilac0112_1 6:2c9cb40ada59 219 moving(9);
lilac0112_1 6:2c9cb40ada59 220 break;
lilac0112_1 6:2c9cb40ada59 221 case 2:
lilac0112_1 6:2c9cb40ada59 222 moving(1);
lilac0112_1 6:2c9cb40ada59 223 break;
lilac0112_1 6:2c9cb40ada59 224 case 3:
lilac0112_1 6:2c9cb40ada59 225 moving(11);
lilac0112_1 6:2c9cb40ada59 226 break;
lilac0112_1 6:2c9cb40ada59 227 default :
lilac0112_1 6:2c9cb40ada59 228 break;
lilac0112_1 6:2c9cb40ada59 229
lilac0112_1 6:2c9cb40ada59 230 }
lilac0112_1 6:2c9cb40ada59 231 /*if(LastPwm[0]==0){
lilac0112_1 6:2c9cb40ada59 232
lilac0112_1 6:2c9cb40ada59 233 }
lilac0112_1 6:2c9cb40ada59 234 move(LastPwm[0]*(-1),LastPwm[3]*(-1)*(-1),0,LastDeg);*/
lilac0112_1 6:2c9cb40ada59 235 wait(0.5);
lilac0112_1 6:2c9cb40ada59 236 continue;
lilac0112_1 6:2c9cb40ada59 237
lilac0112_1 6:2c9cb40ada59 238 }else{
lilac0112_1 6:2c9cb40ada59 239 /*if(PingData[0]<=15) LineState[2]=1;
lilac0112_1 6:2c9cb40ada59 240 if(PingData[1]<=15) LineState[3]=1;
lilac0112_1 6:2c9cb40ada59 241 if(PingData[2]<=15) LineState[4]=1;
lilac0112_1 6:2c9cb40ada59 242
lilac0112_1 6:2c9cb40ada59 243 switch(LinkBit(0,0,0,0,0,LineState[4],LineState[3],LineState[2])&0x07){
lilac0112_1 6:2c9cb40ada59 244
lilac0112_1 6:2c9cb40ada59 245 case 0:
lilac0112_1 6:2c9cb40ada59 246 break;
lilac0112_1 6:2c9cb40ada59 247 case 1:
lilac0112_1 6:2c9cb40ada59 248 moving(3);
lilac0112_1 6:2c9cb40ada59 249 break;
lilac0112_1 6:2c9cb40ada59 250 case 2:
lilac0112_1 6:2c9cb40ada59 251 moving(9);
lilac0112_1 6:2c9cb40ada59 252 break;
lilac0112_1 6:2c9cb40ada59 253 case 3:
lilac0112_1 6:2c9cb40ada59 254 moving(0);
lilac0112_1 6:2c9cb40ada59 255 break;
lilac0112_1 6:2c9cb40ada59 256 case 4:
lilac0112_1 6:2c9cb40ada59 257 moving(0);
lilac0112_1 6:2c9cb40ada59 258 break;
lilac0112_1 6:2c9cb40ada59 259 case 5:
lilac0112_1 6:2c9cb40ada59 260 moving(1);
lilac0112_1 6:2c9cb40ada59 261 break;
lilac0112_1 6:2c9cb40ada59 262 case 6:
lilac0112_1 6:2c9cb40ada59 263 moving(11);
lilac0112_1 6:2c9cb40ada59 264 break;
lilac0112_1 6:2c9cb40ada59 265 case 7:
lilac0112_1 6:2c9cb40ada59 266 moving(0);
lilac0112_1 6:2c9cb40ada59 267 break;
lilac0112_1 6:2c9cb40ada59 268 default :
lilac0112_1 6:2c9cb40ada59 269 break;
lilac0112_1 6:2c9cb40ada59 270
lilac0112_1 6:2c9cb40ada59 271 }
lilac0112_1 6:2c9cb40ada59 272
lilac0112_1 6:2c9cb40ada59 273 if((LinkBit(0,0,0,0,0,LineState[4],LineState[3],LineState[2])&0x07)!=0){
lilac0112_1 6:2c9cb40ada59 274 wait(0.2);
lilac0112_1 6:2c9cb40ada59 275 continue;
lilac0112_1 6:2c9cb40ada59 276 }*/
lilac0112_1 6:2c9cb40ada59 277 }
lilac0112_1 6:2c9cb40ada59 278
lilac0112_1 6:2c9cb40ada59 279
lilac0112_1 6:2c9cb40ada59 280
lilac0112_1 6:2c9cb40ada59 281
lilac0112_1 6:2c9cb40ada59 282 switch(IrNum){
lilac0112_1 6:2c9cb40ada59 283 case 0:
lilac0112_1 6:2c9cb40ada59 284 case 1:
lilac0112_1 6:2c9cb40ada59 285 case 2:
lilac0112_1 6:2c9cb40ada59 286 case 3:
lilac0112_1 6:2c9cb40ada59 287 moving(IrNum);
lilac0112_1 6:2c9cb40ada59 288 break;
lilac0112_1 6:2c9cb40ada59 289 case 4:
lilac0112_1 6:2c9cb40ada59 290 case 5:
lilac0112_1 6:2c9cb40ada59 291 moving(IrNum+Gap);
lilac0112_1 6:2c9cb40ada59 292 break;
lilac0112_1 6:2c9cb40ada59 293 case 6:
lilac0112_1 6:2c9cb40ada59 294 if(PingData[0]>PingData[1]) moving(IrNum+Gap);
lilac0112_1 6:2c9cb40ada59 295 else moving(IrNum-Gap);
lilac0112_1 6:2c9cb40ada59 296
lilac0112_1 6:2c9cb40ada59 297 break;
lilac0112_1 6:2c9cb40ada59 298 case 7:
lilac0112_1 6:2c9cb40ada59 299 case 8:
lilac0112_1 6:2c9cb40ada59 300 moving(IrNum-Gap);
lilac0112_1 6:2c9cb40ada59 301 break;
lilac0112_1 6:2c9cb40ada59 302 case 9:
lilac0112_1 6:2c9cb40ada59 303 case 10:
lilac0112_1 6:2c9cb40ada59 304 case 11:
lilac0112_1 6:2c9cb40ada59 305 moving(IrNum);
lilac0112_1 6:2c9cb40ada59 306 break;
lilac0112_1 6:2c9cb40ada59 307 case 12:
lilac0112_1 6:2c9cb40ada59 308 GoHome();
lilac0112_1 6:2c9cb40ada59 309 break;
lilac0112_1 6:2c9cb40ada59 310 default:
lilac0112_1 6:2c9cb40ada59 311 break;
lilac0112_1 6:2c9cb40ada59 312 }
lilac0112_1 6:2c9cb40ada59 313
lilac0112_1 6:2c9cb40ada59 314
lilac0112_1 6:2c9cb40ada59 315 /*3/14(Sat)*/
lilac0112_1 6:2c9cb40ada59 316
lilac0112_1 6:2c9cb40ada59 317
lilac0112_1 6:2c9cb40ada59 318
lilac0112_1 6:2c9cb40ada59 319 if((IrNum==12)&&
lilac0112_1 6:2c9cb40ada59 320 (!(
lilac0112_1 6:2c9cb40ada59 321 (abs( int( int(PingData[0]) - int(PingData[1]) ) ) )
lilac0112_1 6:2c9cb40ada59 322 <= 80
lilac0112_1 6:2c9cb40ada59 323 )) &&
lilac0112_1 6:2c9cb40ada59 324 (
lilac0112_1 6:2c9cb40ada59 325 PingData[2]<=50
lilac0112_1 6:2c9cb40ada59 326
lilac0112_1 6:2c9cb40ada59 327 )&&
lilac0112_1 6:2c9cb40ada59 328 (
lilac0112_1 6:2c9cb40ada59 329 (abs(CompassDif)<5)
lilac0112_1 6:2c9cb40ada59 330 )
lilac0112_1 6:2c9cb40ada59 331
lilac0112_1 6:2c9cb40ada59 332
lilac0112_1 6:2c9cb40ada59 333 ){
lilac0112_1 6:2c9cb40ada59 334
lilac0112_1 6:2c9cb40ada59 335 if(PingData[0]>PingData[1]){
lilac0112_1 6:2c9cb40ada59 336 moving(10);
lilac0112_1 6:2c9cb40ada59 337 wait(0.5);
lilac0112_1 6:2c9cb40ada59 338 continue;
lilac0112_1 6:2c9cb40ada59 339 }
lilac0112_1 6:2c9cb40ada59 340 else{
lilac0112_1 6:2c9cb40ada59 341 moving(2);
lilac0112_1 6:2c9cb40ada59 342 wait(0.5);
lilac0112_1 6:2c9cb40ada59 343 continue;
lilac0112_1 6:2c9cb40ada59 344 }
lilac0112_1 6:2c9cb40ada59 345
lilac0112_1 6:2c9cb40ada59 346 }
lilac0112_1 6:2c9cb40ada59 347
lilac0112_1 6:2c9cb40ada59 348 if((PingData[2]>100)&&
lilac0112_1 6:2c9cb40ada59 349 (
lilac0112_1 6:2c9cb40ada59 350 (abs( int( int(PingData[0]) - int(PingData[1]) ) ) )
lilac0112_1 6:2c9cb40ada59 351 <= 80
lilac0112_1 6:2c9cb40ada59 352 )
lilac0112_1 6:2c9cb40ada59 353 ){
lilac0112_1 6:2c9cb40ada59 354
lilac0112_1 6:2c9cb40ada59 355 move(vrl[6]-10,vrl[6]-10,0,IrServo[6]);
lilac0112_1 6:2c9cb40ada59 356 continue;
lilac0112_1 6:2c9cb40ada59 357 }
lilac0112_1 6:2c9cb40ada59 358 if((PingData[2]>60)&&
lilac0112_1 6:2c9cb40ada59 359 (
lilac0112_1 6:2c9cb40ada59 360 (abs( int( int(PingData[0]) - int(PingData[1]) ) ) )
lilac0112_1 6:2c9cb40ada59 361 <= 60
lilac0112_1 6:2c9cb40ada59 362 )&&(IrNum==12)
lilac0112_1 6:2c9cb40ada59 363 ){
lilac0112_1 6:2c9cb40ada59 364
lilac0112_1 6:2c9cb40ada59 365 move(vrl[6]-5,vrl[6]-5,0,IrServo[6]);
lilac0112_1 6:2c9cb40ada59 366 continue;
lilac0112_1 6:2c9cb40ada59 367 }
lilac0112_1 6:2c9cb40ada59 368 if((PingData[2]>30)&&
lilac0112_1 6:2c9cb40ada59 369 (
lilac0112_1 6:2c9cb40ada59 370 (abs( int( int(PingData[0]) - int(PingData[1]) ) ) )
lilac0112_1 6:2c9cb40ada59 371 <= 60
lilac0112_1 6:2c9cb40ada59 372 )&&(IrNum==12)
lilac0112_1 6:2c9cb40ada59 373 ){
lilac0112_1 6:2c9cb40ada59 374
lilac0112_1 6:2c9cb40ada59 375 move(vrl[6],vrl[6],0,IrServo[6]);
lilac0112_1 6:2c9cb40ada59 376 continue;
lilac0112_1 6:2c9cb40ada59 377 }