Diff: manualMode.h

Revision:

83:e1638c58e1f1

Parent:

79:7f86e18f40ef

Child:

84:919a335ac81e

--- a/manualMode.h	Sun Oct 11 07:42:18 2015 +0000
+++ b/manualMode.h	Mon Oct 12 06:15:45 2015 +0000
@@ -13,11 +13,11 @@
         Move_r(-0.4);
     } 
     else {
-        if(X>6) {
+        if(X<2) {
             Move_l(0.6);
             Move_r(0.6);
-        } else if(X<2) {
-            Move_l(-0.6);
+        } else if(X>6) {
+            Move_l(-0.61);
             Move_r(-0.6);
         } else {
             Move_l(0.0);
@@ -33,33 +33,36 @@
             autoflag=1;
             Indicator4=1;
             IndicatorAuto=0;
+            resetState();
         }
     }
-    else if(b==6){
-        targSwingRadVelocity = swingspeed;
+    else if(b==8){
+        if(edge8){
+            edge8=0;
+            if(targSwingRadVelocity == 0.0) targSwingRadVelocity = swingspeed;
+            else {
+                targSwingRadVelocity = 0.0;
+                contSwing.reset();
+            }
+        }
         /*for(float i=0.0;i<1.0;i+=0.01){
             Motor_swing=i;
             wait(0.05);
         }
         Motor_swing = 1.0;*/
     }
-    /*else if(b==5){
-        if(edge5){
-            edge5=0;
+    else if(b==9){
+        if(edge9){
+            edge9=0;
             enableShoot=1;
         }
-    }*/
+    }
     else if(b==5){
         sendData(1,5);
     }
-    else if(b==7){
+    else if(b==6){
         sendData(1,4);
     }
-    else if(b==9){
-        targSwingRadVelocity = 0.0;
-        contSwing.reset();
-//        Motor_swing = 0.0;
-    }
     else if(b==1){  /*L down*/
         if(edge1){
             edge1=0;
@@ -94,6 +97,8 @@
     if(b!=3) edge3=1;
     if(b!=4) edge4=1;
     if(b!=5) edge5=1;
+    if(b!=8) edge8=1;
+    if(b!=9) edge9=1;
 }
 #else
 void manualMovePS3()
@@ -126,6 +131,7 @@
             autoflag=1;
             Indicator4=1;
             IndicatorAuto=0;
+            resetState();
         }
     }
     else if(triangle){