Diff: autoMode.h

Revision:

23:26f9483439fe

Parent:

21:bdf8ac5c200c

Child:

24:6d2573d6f2b6

--- a/autoMode.h	Fri Nov 06 11:35:39 2015 +0000
+++ b/autoMode.h	Sat Nov 07 01:03:46 2015 +0000
@@ -58,101 +58,11 @@
             stateR = 69;
             stateL = 69;
 #endif
-            wait(0.05);
             step   = 0;
             CStep  = 1;
             flaga  = 1;
         }
     }
-    else if((b==5)&&(!flaga)){ /*middle start*/
-        if(edge5){
-            edge5=0;
-            resetState();
-            flagf = 1;
-            spcount=0.0;
-            direction_controller.setBias(0.0);
-//            targ_velocity=speed;
-#ifdef BLUE
-            sendData(5,60); //right
-            wait(0.05);
-            sendData(4,60); //left
-            wait(0.05);
-            sendData(6,49); //middle
-            stateR = 60;
-            stateL = 61;
-#else
-            sendData(5,59); //right
-            wait(0.05);
-            sendData(4,59); //left
-            wait(0.05);
-            sendData(6,49); //middle
-            stateR = 59;
-            stateL = 59;
-#endif
-            wait(0.05);
-            step   = 5;
-            CStep  = 7;
-            flaga  = 1;
-        }
-    }   
-    else if((b==8)&&(!flaga)){  /*opponents start*/
-        if(edge8){
-            edge8=0;
-            resetState();
-            direction_controller.setBias(0.0);
-//            targ_velocity = speed;
-#ifdef BLUE
-            sendData(5,69); //right
-            wait(0.05);
-            sendData(4,69); //left
-            wait(0.05);
-            sendData(6,69); //middle
-            stateR = 71;
-            stateL = 71;
-#else
-            sendData(4,73); //left
-            wait(0.05);
-            sendData(5,73); //right
-            wait(0.05);
-            sendData(6,69); //middle
-            stateR = 71;
-            stateL = 72;
-#endif
-            wait(0.05);
-            step=114;
-            CStep=114;
-            OpStart.attach(&OpponentsStart,2.2);
-//            OpStart.attach(&OpponentsStart,2.0);
-        }
-    }
-    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!=MAX_VALUE) 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!=MAX_VALUE) stateR++;
-            sendData(5,stateR);
-        }
-    }
     /*if(a2){
         skip = 1;
     }