Diff: manualMode.h

Revision:

114:325e4c158141

Parent:

113:ba121edf2588

--- a/manualMode.h	Fri Oct 23 21:58:39 2015 +0000
+++ b/manualMode.h	Tue Oct 27 07:49:43 2015 +0000
@@ -1,12 +1,15 @@
 #ifndef MANUALMODE_H
 #define MANUALMODE_H
 
+//赤修正
+
 #ifdef IM920
 void manualMoveIM920()
 {
+#ifdef BLUE
     if(Y<2) {
-        Move_l(-0.65);
-        Move_r(0.63);
+        Move_l(-0.6);
+        Move_r(0.6);
     } 
     else if(Y>6) {
         Move_l(0.6);
@@ -15,15 +18,37 @@
     else {
         if(X<2) {
             Move_l(0.6);
-            Move_r(0.63);
+            Move_r(0.6);
         } else if(X>6) {
-            Move_l(-0.65);
+            Move_l(-0.6);
             Move_r(-0.6);
         } else {
             Move_l(0.0);
             Move_r(0.0);
         }
     }
+#else
+    if(Y<2) {
+        Move_l(0.6);
+        Move_r(-0.6);
+    }
+    else if(Y>6) {
+        Move_l(-0.6);
+        Move_r(0.6);
+    }
+    else {
+        if(X<2) {
+            Move_l(-0.6);
+            Move_r(-0.6);
+        } else if(X>6) {
+            Move_l(0.6);
+            Move_r(0.6);
+        } else {
+            Move_l(0.0);
+            Move_r(0.0);
+        }
+    }
+#endif
 }
 void manualIM920()
 {
@@ -47,6 +72,7 @@
             edge5=0;
             resetSwingSpeed = 1;
             interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+            swingf=1;
 //            targSwingRadVelocity = swingspeed;
             /*for(float i=0.0;i<0.6;i+=0.01){
                 Motor_swing=i;
@@ -65,7 +91,8 @@
         interruptSwingSpeed.detach();
         targSwingRadVelocity = 0.0;
         contSwing.reset();
-//        Motor_swing = 0.0;
+        swingf=0;
+        Motor_swing = 0.0;
     }
     else if(b==1){  /*L down*/
         if(edge1){
@@ -107,6 +134,7 @@
 #else
 void manualMovePS3()
 {
+#ifdef BLUE
     if(analog_ly>50) {
         Move_l(-0.4);
         Move_r(0.4);
@@ -127,6 +155,28 @@
             Move_r(0.0);
         }
     }
+#else
+    if(analog_ly>50) {
+        Move_l(0.4);
+        Move_r(-0.4);
+    }
+    else if(analog_ly<-50) {
+        Move_l(-0.4);
+        Move_r(0.4);
+    }
+    else {
+        if(analog_lx>50) {
+            Move_l(-0.6);
+            Move_r(-0.6);
+        } else if(analog_lx<-50) {
+            Move_l(0.6);
+            Move_r(0.6);
+        } else {
+            Move_l(0.0);
+            Move_r(0.0);
+        }
+    }
+#endif
 }
 void manualPS3(){
     if(circle){  /*mode change*/
@@ -135,18 +185,29 @@
             autoflag=1;
             Indicator4=1;
             IndicatorAuto=0;
+            Move_l(0.0);
+            Move_r(0.0);
             resetState();
+            flaga=0;
+            step=114;
+            CStep=114;
+            spcount=speed;
         }
     }
     else if(triangle){
         if(edge_triangle){
             edge_triangle=0;
-            targSwingRadVelocity = swingspeed;
+            resetSwingSpeed = 1;
+            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+            swingf=1;
         }
     }
     else if(cross){
+        interruptSwingSpeed.detach();
         targSwingRadVelocity = 0.0;
         contSwing.reset();
+        swingf=0;
+        Motor_swing = 0.0;
     }
     else if(square){
         if(edge_square){
@@ -163,31 +224,31 @@
     else if(l1){  /*L up*/
         if(edge_l1){
             edge_l1=0;
-            if(stateL!=1) stateL--;
+            if(stateL!=92) stateL++;
             sendData(4,stateL);
         }
     }
     else if(l2){  /*L down*/
         if(edge_l2){
             edge_l2=0;
-            if(stateL!=MAX_VALUE) stateL++;
+            if(stateL!=1) stateL--;
             sendData(4,stateL);
         }
     }
     else if(r1){  /*R up*/
         if(edge_r1){
             edge_r1=0;
-            if(stateR!=1) stateR--;
+            if(stateR!=92) stateR++;
             sendData(5,stateR);
         }
     }
     else if(r2){  /*R down*/
         if(edge_r2){
             edge_r2=0;
-            if(stateR!=MAX_VALUE) stateR++;
+            if(stateR!=1) stateR--;
             sendData(5,stateR);
         }
     }
 }
 #endif 
-#endif /*manualMode.h*/
\ No newline at end of file
+#endif /*manualMode.h*/