2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: autoMode.h

Revision:
108:7eb434cfcbd7
Parent:
106:20dab118bd5b
Child:
109:e009296125db
--- a/autoMode.h	Mon Oct 19 08:29:58 2015 +0000
+++ b/autoMode.h	Mon Oct 19 11:55:00 2015 +0000
@@ -38,13 +38,20 @@
             flagf=1;
             spcount=0.0;
 //            targ_velocity=speed;
-//            sendData(7,70);
+#ifdef BLUE
             sendData(5,69); //right
             wait(0.05);
             sendData(4,69); //left
-            wait(0.05);
             stateR = 69;
             stateL = 69;
+#else       
+            sendData(5,69); //right
+            wait(0.05);
+            sendData(4,69); //left
+            stateR = 69;
+            stateL = 69;
+#endif
+            wait(0.05);
             step   = 0;
             CStep  = 1;
             flaga  = 1;
@@ -57,13 +64,20 @@
             flagf = 1;
             spcount=0.0;
 //            targ_velocity=speed;
-//            sendData(7,59);
+#ifdef BLUE
             sendData(5,60); //right
             wait(0.05);
-            sendData(4,61); //left
+            sendData(4,60); //left
+            stateR = 60;
+            stateL = 61;
+#else
+            sendData(5,61); //right
             wait(0.05);
-            stateR = 59;
-            stateL = 59;
+            sendData(4,60); //left
+            stateR = 61;
+            stateL = 60;
+#endif
+            wait(0.05);
             step   = 5;
             CStep  = 7;
             flaga  = 1;
@@ -75,30 +89,52 @@
             resetState();
 //            targ_velocity = speed;
 #ifdef BLUE
-            sendData(5,71); //right
+            sendData(5,69); //right
             wait(0.05);
-            sendData(4,71); //left
+            sendData(4,69); //left
+            stateR = 71;
+            stateL = 71;
 #else
-            sendData(5,71); //right
+//            sendData(5,71); //right
+//            wait(0.05);
+//            sendData(4,72); //left
+            sendData(4,69); //left
             wait(0.05);
-            sendData(4,72); //left
-//            sendData(4,71); //left
+            sendData(5,69); //right
+            stateR = 71;
+            stateL = 72;
 #endif
             wait(0.05);
-            stateR = 70;
-            stateL = 70;
             step=114;
             CStep=114;
             OpStart.attach(&OpponentsStart,2.2);
 //            OpStart.attach(&OpponentsStart,2.0);
-//            spcount=0.0;
-//            step   = 15;
-//            CStep  = 15;
-//            flaga  = 1;
-//            flagf  = 1;
         }
     }
-    else if(b==9){ /******/
+    else if(b==9){ /***Disturb***/
+        if(edge9){
+            edge9=0;
+            resetState();
+            flagf=1;
+            spcount=0.0;
+//            targ_velocity=speed;
+#ifdef BLUE
+            sendData(5,70); //right
+            wait(0.05);
+            sendData(4,70); //left
+            stateR = 70;
+            stateL = 70;
+#else       
+            sendData(5,70); //right
+            wait(0.05);
+            sendData(4,70); //left
+            stateR = 70;
+            stateL = 70;
+#endif
+            wait(0.05);
+            step   = 50;
+            flaga  = 1;
+        }
     }
     else if(b==1){  /*L down*/
         if(edge1){
@@ -142,6 +178,7 @@
     if(b!=6) edge6=1;
     if(b!=7) edge7=1;
     if(b!=8) edge8=1;
+    if(b!=9) edge9=1;
 }
 #else
 void autoPS3(){