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:
2015-09-26
Revision:
49:9276fda93084
Parent:
48:64d005c70df2
Child:
50:8ea4714316ce

File content as of revision 49:9276fda93084:

#ifndef MANUALMODE_H
#define MANUALMODE_H

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) {
        if(edge_circle) edge_circle=0,autoflag=1,Indicator4=1,IndicatorAuto=0;
    } 
    else if(triangle) targSwingRadVelocity = swingspeed;
    else if(square) {
        if(edge_square) {
            edge_square=0;
            sendData(1,6);
        }
    }
    /*else if(up){
        if(edge_up){
            edge_up=0;
            sendData(1,4);
        }
    }*/
    else if(cross){
        targSwingRadVelocity = 0.0;
        contSwing.reset();
    }
    else if(r1) sendData(1,4);
    else if(l1) sendData(1,5);
}



#endif /*manualMode.h*/