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:
61:e018207ae860
Parent:
60:4a75f3f3a934
Child:
63:dad3f4e5e99c
--- a/autoMode.h	Fri Oct 02 07:24:52 2015 +0000
+++ b/autoMode.h	Sat Oct 03 00:52:21 2015 +0000
@@ -24,19 +24,26 @@
         wait(0.1);
         stateR = defoR;
         stateL = defoL;
+        step   = 0;
+        CMode  = 0;
     }
+    else if(b==8){ /*middle start*/
+        targ_velocity=speed;
+        sendData(5,13);
+        wait(0.1);
+        sendData(4,13);
+        wait(0.1);
+        stateR = 13;
+        stateL = 13;
+        step   = 4;
+        CMode  = 6;
+    }   
     else if(b==5){ /*reset*/
         sendData(4,31);
         wait(0.1);
         sendData(5,31);
         wait(0.1);
     }
-    else if(b==8){ /*set defo*/
-        sendData(5,defoR);
-        wait(0.1);
-        sendData(4,defoL);
-        wait(0.1);
-    }
     else if(b==9){  /*stop*/
         Motor_swing=0;
         sita=PI/4.0,x=0.0,y=0.0;
@@ -91,14 +98,25 @@
     }
     else if(up){  /*start*/
         targ_velocity=speed;
-//        sendData(5,defoR);
-        sendData(5,13);
+        sendData(5,defoR);
         wait(0.1);
-//        sendData(4,defoL);
-        sendData(4,13);
+        sendData(4,defoL);
         wait(0.1);
         stateR = defoR;
         stateL = defoL;
+        step   = 0;
+        CStep  = 1;
+    }
+    else if(right){  /*middle start*/
+        targ_velocity=speed;
+        sendData(5,13);
+        wait(0.1);
+        sendData(4,13);
+        wait(0.1);
+        stateR = 13;
+        stateL = 13;
+        step   = 4;
+        CStep  = 6;
     }
     else if(square){ /*reset*/
         sendData(4,31);
@@ -123,7 +141,7 @@
     else if(l1){  /*L up*/
         if(edge_l1){
             edge_l1=0;
-            if(stateL!=2) stateL--;
+            if(stateL!=1) stateL--;
             sendData(4,stateL);
         }
     }
@@ -137,7 +155,7 @@
     else if(r1){  /*R up*/
         if(edge_r1){
             edge_r1=0;
-            if(stateR!=2) stateR--;
+            if(stateR!=1) stateR--;
             sendData(5,stateR);
         }
     }