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:
69:bf094811b4a9
Parent:
68:2b2b88ecdcce
Child:
78:abb760e0a935
--- a/autoMode.h	Thu Oct 08 09:04:48 2015 +0000
+++ b/autoMode.h	Sat Oct 10 06:01:19 2015 +0000
@@ -7,11 +7,13 @@
 PID velocity_controller(9.0,5274.0 ,0.0,RATE);
 PID direction_controller(36.0,3.0,0.0,RATE);
 
+#define MAX_VALUE 93
+
 #ifdef IM920
 /***IM920 correspondence***/
 void autoIM920() {
     if(b==7){  /*mode change*/
-        if(edge7){
+        if(edge7)
             edge7=0;
             autoflag=0;
             Indicator4=0;
@@ -57,7 +59,7 @@
     else if(b==2){  /*L up*/
         if(edge2){
             edge2=0;
-            if(stateL!=28) stateL++;
+            if(stateL!=MAX_VALUE) stateL++;
             sendData(4,stateL);
         }
     }
@@ -71,7 +73,7 @@
     else if(b==4){  /*R up*/
         if(edge4){
             edge4=0;
-            if(stateR!=28) stateR++;
+            if(stateR!=MAX_VALUE) stateR++;
             sendData(5,stateR);
         }
     }
@@ -133,7 +135,7 @@
     else if(l2){  /*L down*/
         if(edge_l2){
             edge_l2=0;
-            if(stateL!=28) stateL++;
+            if(stateL!=MAX_VALUE) stateL++;
             sendData(4,stateL);
         }
     }
@@ -147,7 +149,7 @@
     else if(r2){  /*R down*/
         if(edge_r2){
             edge_r2=0;
-            if(stateR!=28) stateR++;
+            if(stateR!=MAX_VALUE) stateR++;
             sendData(5,stateR);
         }
     }