Diff: autoMode.h

Revision:

78:abb760e0a935

Parent:

69:bf094811b4a9

Parent:

77:7dd154b5ace3

Child:

79:7f86e18f40ef

--- a/autoMode.h	Sat Oct 10 06:01:19 2015 +0000
+++ b/autoMode.h	Sat Oct 10 09:53:52 2015 +0000
@@ -21,6 +21,7 @@
         }
     }
     else if(b==6){  /*start*/
+        resetState();
         flagf=1;
         targ_velocity=speed;
         sendData(7,defoR);
@@ -30,6 +31,7 @@
         CMode  = 0;
     }
     else if(b==8){ /*middle start*/
+        resetState();
         flagf=1;
         targ_velocity=speed;
         sendData(7,57);
@@ -77,6 +79,12 @@
             sendData(5,stateR);
         }
     }
+    if(a2){
+        skip = 1;
+    }
+    else if(!a2){
+        skip = 0;
+    }
     if(b!=7) edge7=1;
     if(b!=1) edge1=1;
     if(b!=2) edge2=1;
@@ -94,6 +102,7 @@
         }
     }
     else if(up){  /*start*/
+        resetState();
         flagf=1;
         targ_velocity=speed;
         sendData(7,defoR);
@@ -103,20 +112,28 @@
         CStep  = 1;
     }
     else if(right){  /*middle start*/
+        resetState();
         flagf = 1;
         targ_velocity=speed;
         sendData(7,57);
         stateR = 17;
         stateL = 17;
         step   = 4;
-        CStep  = 6;
+        medge  = 1;
+    }
+    else if(down){   /*opponents start*/
+        resetState();
+        flagf = 1;
+        targ_velocity = speed;
+        targ_sita     = 0.0;
+        sendData(7,17);
+        stateR = 17;
+        stateL = 17;
+        step   = 8;
     }
     else if(square){ /*reset*/
         sendData(7,255);
     }
-    else if(triangle){ /*set defo*/
-        sendData(7,defoR);
-    }
     else if(cross){  /*stop*/
         Motor_swing=0;
 //        sita=PI/4.0,x=0.0,y=0.0;
@@ -153,6 +170,12 @@
             sendData(5,stateR);
         }
     }
+    if(triangle){
+        skip = 1;
+    }
+    else if(!triangle){
+        skip = 0;
+    }
 }
 #endif
 /***The function is PID controller initialize.***/