2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

manualMode.h

Committer:
DeguNaoto
Date:
2015-10-02
Revision:
60:4a75f3f3a934
Parent:
57:3fbd487e055e
Child:
62:02a44f5bc51e

File content as of revision 60:4a75f3f3a934:

#ifndef MANUALMODE_H
#define MANUALMODE_H

#ifdef IM920
void manualMoveIM920()
{
    if(Y>6) {
        Move_l(-0.4);
        Move_r(0.4);
    } 
    else if(Y<2) {
        Move_l(0.4);
        Move_r(-0.4);
    } 
    else {
        if(X>6) {
            Move_l(0.4);
            Move_r(0.4);
        } else if(X<2) {
            Move_l(-0.4);
            Move_r(-0.4);
        } else {
            Move_l(0.0);
            Move_r(0.0);
        }
    }
}
void manualIM920()
{
    if(b==7){  /*mode change*/
        if(edge7){
            edge7=0;
            autoflag=1;
            Indicator4=1;
            IndicatorAuto=0;
        }
    }
    else if(b==6){
//        targSwingRadVelocity = swingspeed;
        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;
            enableShoot=1;
        }
    }
    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;
}
#else
void manualMovePS3()
{
    if(analog_ly>10) {
        Move_l(-0.4);
        Move_r(0.4);
    } 
    else if(analog_ly<-10) {
        Move_l(0.4);
        Move_r(-0.4);
    } 
    else {
        if(analog_lx>10) {
            Move_l(0.4);
            Move_r(0.4);
        } else if(analog_lx<-10) {
            Move_l(-0.4);
            Move_r(-0.4);
        } else {
            Move_l(0.0);
            Move_r(0.0);
        }
    }
}
void manualPS3(){
    if(circle){  /*mode change*/
        if(edge_circle){
            edge_circle=0;
            autoflag=1;
            Indicator4=1;
            IndicatorAuto=0;
        }
    }
    else if(triangle){
//        targSwingRadVelocity = swingspeed;
        for(float i=0.0;i<1.0;i+=0.01){
            Motor_swing=i;
            wait(0.05);
        }
        Motor_swing = 1.0;
    }
    else if(square){
        if(edge_square){
            edge_square=0;
            enableShoot=1;
        }
    }
    else if(cross){
//        targSwingRadVelocity = 0.0;
//        contSwing.reset();
        Motor_swing=0.0;
    }
    else if(l1){
        sendData(1,5);
    }
    else if(r1){
        sendData(1,4);
    }
}
#endif 
#endif /*manualMode.h*/