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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

manualMode.h

Committer:
unicore32
Date:
2015-10-10
Revision:
78:abb760e0a935
Parent:
74:5dd06d211b12
Child:
79:7f86e18f40ef

File content as of revision 78:abb760e0a935:

#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==5){
        sendData(1,5);
    }
    else if(b==7){
        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;
            if(stateL!=1) stateL--;
            sendData(4,stateL);
        }
    }
    else if(b==2){  /*L up*/
        if(edge2){
            edge2=0;
            if(stateL!=92) stateL++;
            sendData(4,stateL);
        }
    }
    else if(b==3){  /*R down*/
        if(edge3){
            edge3=0;
            if(stateR!=1) stateR--;
            sendData(5,stateR);
        }
    }
    else if(b==4){  /*R up*/
        if(edge4){
            edge4=0;
            if(stateR!=92) stateR++;
            sendData(5,stateR);
        }
    }
    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>50) {
        Move_l(-0.4);
        Move_r(0.4);
    } 
    else if(analog_ly<-50) {
        Move_l(0.4);
        Move_r(-0.4);
    } 
    else {
        if(analog_lx>50) {
            Move_l(0.4);
            Move_r(0.4);
        } else if(analog_lx<-50) {
            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(0.02);
        }
        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(left){
        sendData(1,5);
    }
    else if(right){
        sendData(1,4);
    }
    else if(l1){  /*L up*/
        if(edge_l1){
            edge_l1=0;
            if(stateL!=1) stateL--;
            sendData(4,stateL);
        }
    }
    else if(l2){  /*L down*/
        if(edge_l2){
            edge_l2=0;
            if(stateL!=92) stateL++;
            sendData(4,stateL);
        }
    }
    else if(r1){  /*R up*/
        if(edge_r1){
            edge_r1=0;
            if(stateR!=1) stateR--;
            sendData(5,stateR);
        }
    }
    else if(r2){  /*R down*/
        if(edge_r2){
            edge_r2=0;
            if(stateR!=92) stateR++;
            sendData(5,stateR);
        }
    }
}
#endif 
#endif /*manualMode.h*/