Revision 7:81f57b67dff8, committed 2015-03-14

Comitter:

lilac0112_1

Date:

Sat Mar 14 07:16:46 2015 +0000

Parent:

6:2c9cb40ada59

Commit message:

The end...

Changed in this revision

--- a/main.cpp	Sat Mar 14 01:06:13 2015 +0000
+++ b/main.cpp	Sat Mar 14 07:16:46 2015 +0000
@@ -793,26 +793,40 @@
         if(LineData!=0){
             
             if(PingData[0]>PingData[1]) LineState[0]=1;
-            if(PingData[2]<=30)         LineState[1]=1;
+            if(PingData[2]<=60)         LineState[1]=1;
             
             switch(LinkBit(0,0,0,0,0,0,LineState[1],LineState[0])&0x03){
                 
                 case 0:
                     moving(3);
+                    wait(0.25);
                     break;
                 case 1:
                     moving(9);
+                    wait(0.25);
                     break;
                 case 2:
                     moving(1);
+                    wait(0.5);
                     break;
                 case 3:
                     moving(11);
+                    wait(0.5);
                     break;
                 default :
                     break;
                 
             }
+            
+            
+            
+            if((PingData[2]<90)){
+                
+                    moving(6);
+                    wait(0.25);
+                    continue;
+                
+            }
             /*if(LastPwm[0]==0){
                 
             }
@@ -824,36 +838,52 @@
         if(
                 (!(
                     (abs(    int(    int(PingData[0])    -   int(PingData[1])    )           )      )
-                    <= 30
+                    <= 20
                 ))   
            ){
-            
-            if(PingData[0]>PingData[1]){
-                moving(9);
-                //wait(0.5);
-                continue;
-            }
-            else{
-                moving(3);
-                //wait(0.5);
-                continue;
+            if( 
+                (PingData[0]+PingData[1])
+                >= 80
+            ){
+                if(PingData[0]>PingData[1]){
+                    moving(9);
+                    //wait(0.5);
+                    continue;
+                }
+                else{
+                    moving(3);
+                    //wait(0.5);
+                    continue;
+                }
             }
             
         }
         if(
                 ((
-                    (abs(    int(    int(PingData[0])    -   int(PingData[1])    )           )      )
-                    <= 30
-                ))   &&
-                (
-                    PingData[2]>15
-                
-                )
+                    (abs(    int(    int(PingData[0])    -   int(PingData[1])    )  )      )
+                    <= 20
+                ))   
            ){
             
-                moving(6);
-                //wait(0.5);
-                continue;
+            if( 
+                (PingData[0]+PingData[1])
+                >= 140
+            ){
+                if(PingData[2]>25){
+                    moving(6);
+                    wait(0.1);
+                    continue;
+                
+                }
+                if(PingData[2]<15){
+                    moving(0);
+                    wait(0.1);
+                    continue;
+                
+                }
+                
+            }
+                
             
         }
         
@@ -866,7 +896,12 @@
             case 3:
             case 4:
             case 5:
-                moving(3);
+                if((PingData[0]<PingData[1])&&(PingData[0]+PingData[1]>=90)){
+                    moving(3);
+                }
+                else{
+                    moving(9);
+                }
                 break;
                 
             case 7:
@@ -874,10 +909,14 @@
             case 9:
             case 10:
             case 11:
-                moving(9);
+                if((PingData[0]>PingData[1])&&(PingData[0]+PingData[1]>=90)){
+                    moving(9);
+                }
+                else{
+                    moving(3);
+                }
                 break;
                 
-                
             case 6:
                 if(PingData[0]>PingData[1]) moving(7);
                 else                        moving(5);