Diff: manualMode.h

Revision:

78:abb760e0a935

Parent:

74:5dd06d211b12

Child:

79:7f86e18f40ef

--- a/manualMode.h	Sat Oct 10 06:01:19 2015 +0000
+++ b/manualMode.h	Sat Oct 10 09:53:52 2015 +0000
@@ -43,22 +43,50 @@
         }
         Motor_swing = 1.0;*/
     }
-    else if(b==5){
+    /*else if(b==5){
         if(edge5){
             edge5=0;
             enableShoot=1;
         }
+    }*/
+    else if(b==5){
+        sendData(1,5);
+    }
+    else if(b==7){
+        sendData(1,4);
     }
     else if(b==9){
         targSwingRadVelocity = 0.0;
         contSwing.reset();
 //        Motor_swing = 0.0;
     }
-    else if(b==2){
-        sendData(1,5);
+    else if(b==1){  /*L down*/
+        if(edge1){
+            edge1=0;
+            if(stateL!=1) stateL--;
+            sendData(4,stateL);
+        }
+    }
+    else if(b==2){  /*L up*/
+        if(edge2){
+            edge2=0;
+            if(stateL!=92) stateL++;
+            sendData(4,stateL);
+        }
     }
-    else if(b==4){
-        sendData(1,4);
+    else if(b==3){  /*R down*/
+        if(edge3){
+            edge3=0;
+            if(stateR!=1) stateR--;
+            sendData(5,stateR);
+        }
+    }
+    else if(b==4){  /*R up*/
+        if(edge4){
+            edge4=0;
+            if(stateR!=92) stateR++;
+            sendData(5,stateR);
+        }
     }
     if(b!=7) edge7=1;
     if(b!=1) edge1=1;
@@ -119,12 +147,40 @@
         contSwing.reset();
 //        Motor_swing=0.0;
     }
-    else if(l1){
+    else if(left){
         sendData(1,5);
     }
-    else if(r1){
+    else if(right){
         sendData(1,4);
     }
+    else if(l1){  /*L up*/
+        if(edge_l1){
+            edge_l1=0;
+            if(stateL!=1) stateL--;
+            sendData(4,stateL);
+        }
+    }
+    else if(l2){  /*L down*/
+        if(edge_l2){
+            edge_l2=0;
+            if(stateL!=92) stateL++;
+            sendData(4,stateL);
+        }
+    }
+    else if(r1){  /*R up*/
+        if(edge_r1){
+            edge_r1=0;
+            if(stateR!=1) stateR--;
+            sendData(5,stateR);
+        }
+    }
+    else if(r2){  /*R down*/
+        if(edge_r2){
+            edge_r2=0;
+            if(stateR!=92) stateR++;
+            sendData(5,stateR);
+        }
+    }
 }
 #endif 
 #endif /*manualMode.h*/
\ No newline at end of file