Diff: autoMode.h

Revision:

28:c6ed6fb95795

Parent:

26:8e6c736b6791

Child:

29:03bb1ddbe456

diff -r 8e6c736b6791 -r c6ed6fb95795 autoMode.h
--- a/autoMode.h	Fri Sep 18 04:00:33 2015 +0000
+++ b/autoMode.h	Fri Sep 18 06:40:32 2015 +0000
@@ -7,57 +7,30 @@
 
 /***Ps3 correspondence***/
 void autoPs3(){
-    /*if(up) targ_velocity=speed;
+    if(up) targ_velocity=speed;
     else if(down) targ_velocity=-speed;
     else if(right) targ_velocity=0.0,targ_sita=0.0;
     else if(left) targ_velocity=0.0,targ_sita=PI/2.0;
-    else if(r1) targ_sita=0.0;
-    else if(l1) targ_sita=PI/2.0;
-    else if(square) if(edge_square) edge_square=0,autoflag=0,Indicator4=0;
+    else if(r1) sendData(1,1);
+    else if(l1) sendData(1,2);
+    else if(square){
+        if(edge_square) edge_square=0,autoflag=0,Indicator4=0;
+    }
     else if(cross){
-        sendData(1, 4);
         sita=PI/4.0,x=0.0,y=0.0;
         targ_velocity=0.0;
         targ_sita=PI/4.0;
         velocity_controller.reset();
         direction_controller.reset();
-        wait(0.3);
-        sita=PI/4.0,x=0.0,y=0.0;
-        velocity_controller.reset();
-        direction_controller.reset();
     }
-    else if(r2){
-        if(edge_r1){
-            edge_r1=0;
-            sendData(1, 1);
-            wait(0.1);
-            sendData(1, 4);
-            wait(0.01);
-            sendData(1, 2);
-            wait(0.1);
-            sendData(1, 4);
+    else if(triangle==1){
+        if(edge_triangle){
+            edge_triangle=0;
+            if(cylinderStep==3) cylinderStep=0;
+            cylinderStep++;
+            sendData(1, cylinderStep);
         }
     }
-    else if(l2){
-        if(edge_l1){
-            edge_l1=0;
-            sendData(1, 3);
-            wait(0.1);
-            sendData(1, 4);
-            wait(0.01);
-            sendData(1, 5);
-            wait(0.1);
-            sendData(1, 7);
-        }
-    }
-    else if(triangle){
-        if(edge_triangle){
-            edge_triangle=0;
-            if(cylinder_step==3) cylinder_step=0;
-            cylinder_step++;
-            sendData(1, cylinder_step);
-        }
-    }*/
 }