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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

manualMode.h@30:2923c6879e5f, 2015-09-19 (annotated)

Committer:
DeguNaoto
Date:
Sat Sep 19 02:49:00 2015 +0000
Revision:
30:2923c6879e5f
Parent:
29:03bb1ddbe456
Child:
31:74e77ef0831c
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
DeguNaoto 22:3996c3f41922 1 #ifndef MANUALMODE_H
DeguNaoto 22:3996c3f41922 2 #define MANUALMODE_H
DeguNaoto 22:3996c3f41922 3
DeguNaoto 23:5c56747bcc43 4 void manualMovePs3(){
DeguNaoto 23:5c56747bcc43 5 if(analog_lx>10){
DeguNaoto 23:5c56747bcc43 6 if(analog_ly>10){
DeguNaoto 30:2923c6879e5f 7 Move_l(1.0);
DeguNaoto 23:5c56747bcc43 8 Move_r(0.0);
DeguNaoto 23:5c56747bcc43 9 }
DeguNaoto 23:5c56747bcc43 10 else if(analog_ly<-10){
DeguNaoto 30:2923c6879e5f 11 Move_l(-1.0);
DeguNaoto 23:5c56747bcc43 12 Move_r(0.0);
DeguNaoto 23:5c56747bcc43 13 }
DeguNaoto 23:5c56747bcc43 14 else{
DeguNaoto 30:2923c6879e5f 15 Move_l(1.0);
DeguNaoto 30:2923c6879e5f 16 Move_r(-1.0);
DeguNaoto 23:5c56747bcc43 17 }
DeguNaoto 23:5c56747bcc43 18 }
DeguNaoto 23:5c56747bcc43 19 else if(analog_lx<-10){
DeguNaoto 23:5c56747bcc43 20 if(analog_ly>10){
DeguNaoto 23:5c56747bcc43 21 Move_l(0.0);
DeguNaoto 30:2923c6879e5f 22 Move_r(1.0);
DeguNaoto 23:5c56747bcc43 23 }
DeguNaoto 23:5c56747bcc43 24 else if(analog_ly<-10){
DeguNaoto 23:5c56747bcc43 25 Move_l(0.0);
DeguNaoto 30:2923c6879e5f 26 Move_r(-1.0);
DeguNaoto 23:5c56747bcc43 27 }
DeguNaoto 23:5c56747bcc43 28 else{
DeguNaoto 30:2923c6879e5f 29 Move_l(-1.0);
DeguNaoto 30:2923c6879e5f 30 Move_r(1.0);
DeguNaoto 23:5c56747bcc43 31 }
DeguNaoto 23:5c56747bcc43 32 }
DeguNaoto 23:5c56747bcc43 33 else{
DeguNaoto 23:5c56747bcc43 34 if(analog_ly>10){
DeguNaoto 30:2923c6879e5f 35 Move_l(1.0);
DeguNaoto 30:2923c6879e5f 36 Move_r(1.0);
DeguNaoto 23:5c56747bcc43 37 }
DeguNaoto 23:5c56747bcc43 38 else if(analog_ly<-10){
DeguNaoto 30:2923c6879e5f 39 Move_l(-1.0);
DeguNaoto 30:2923c6879e5f 40 Move_r(-1.0);
DeguNaoto 23:5c56747bcc43 41 }
DeguNaoto 24:271da6144a02 42 else{
DeguNaoto 24:271da6144a02 43 Move_l(0.0);
DeguNaoto 24:271da6144a02 44 Move_r(0.0);
DeguNaoto 24:271da6144a02 45 }
DeguNaoto 23:5c56747bcc43 46 }
DeguNaoto 23:5c56747bcc43 47 }
DeguNaoto 22:3996c3f41922 48
DeguNaoto 29:03bb1ddbe456 49 void manualPs3(){
DeguNaoto 29:03bb1ddbe456 50 if(circle){
DeguNaoto 29:03bb1ddbe456 51 if(edge_circle) edge_circle=0,autoflag=1,Indicator4=1;
DeguNaoto 29:03bb1ddbe456 52 }
DeguNaoto 29:03bb1ddbe456 53 else if(triangle) Motor_swing=1;
DeguNaoto 29:03bb1ddbe456 54 else if(square){
DeguNaoto 29:03bb1ddbe456 55 if(edge_square){
DeguNaoto 29:03bb1ddbe456 56 edge_square=0;
DeguNaoto 30:2923c6879e5f 57 // enableShoot=1;
DeguNaoto 30:2923c6879e5f 58 sendData(1,6);
DeguNaoto 29:03bb1ddbe456 59 }
DeguNaoto 29:03bb1ddbe456 60 }
DeguNaoto 29:03bb1ddbe456 61 else if(cross) Motor_swing=0;
DeguNaoto 29:03bb1ddbe456 62 else if(r1) sendData(1,4);
DeguNaoto 29:03bb1ddbe456 63 else if(l1) sendData(1,5);
DeguNaoto 29:03bb1ddbe456 64 }
DeguNaoto 29:03bb1ddbe456 65
DeguNaoto 22:3996c3f41922 66
DeguNaoto 22:3996c3f41922 67
DeguNaoto 22:3996c3f41922 68 #endif /*manualMode.h*/