Diff: manualMode.h

Revision:

52:d9e1629da852

Parent:

51:cb430192b28b

Child:

53:51ee40cf3d74

--- a/manualMode.h	Sun Sep 27 05:02:15 2015 +0000
+++ b/manualMode.h	Sun Sep 27 10:04:52 2015 +0000
@@ -1,33 +1,64 @@
 #ifndef MANUALMODE_H
 #define MANUALMODE_H
 
-void manualMovePs3()
+void manualMoveIM920()
 {
-    
-    /*if(analog_ly>10) {
+    if(Y>6) {
         Move_l(-0.4);
         Move_r(0.4);
     } 
-    else if(analog_ly<-10) {
+    else if(Y<2) {
         Move_l(0.4);
         Move_r(-0.4);
     } 
     else {
-        if(analog_lx>10) {
+        if(X>6) {
             Move_l(0.4);
             Move_r(0.4);
-        } else if(analog_lx<-10) {
+        } else if(X<2) {
             Move_l(-0.4);
             Move_r(-0.4);
         } else {
             Move_l(0.0);
             Move_r(0.0);
         }
-    }*/
+    }
 }
-
-void manualPs3()
+void manualIM920()
 {
+    if(b==7){  /*mode change*/
+        if(edge7){
+            edge7=0;
+            autoflag=1;
+            Indicator4=1;
+            IndicatorAuto=0;
+        }
+    }
+    else if(b==6){
+        targSwingRadVelocity = swingspeed;
+    }
+    else if(b==5){
+        if(edge5){
+            edge5=0;
+            sendData(1,6);
+        }
+    }
+    else if(b==9){
+        targSwingRadVelocity = 0.0;
+        contSwing.reset();
+    }
+    else if(b==2){
+        sendData(1,5);
+    }
+    else if(b==4){
+        sendData(1,4);
+    }
+    if(b!=7) edge7=1;
+    if(b!=1) edge1=1;
+    if(b!=2) edge2=1;
+    if(b!=3) edge3=1;
+    if(b!=4) edge4=1;
+    if(b!=5) edge5=1;
     /*if(circle) {
         if(edge_circle) edge_circle=0,autoflag=1,Indicator4=1,IndicatorAuto=0;
     }