Diff: autoMode.h

Revision:

13:57d8e360e9aa

Parent:

6:ca3a74a93ae2

Child:

17:726b6f53a457

--- a/autoMode.h	Mon Nov 02 09:04:20 2015 +0000
+++ b/autoMode.h	Tue Nov 03 00:45:17 2015 +0000
@@ -17,7 +17,6 @@
     flagf   = 1;
 }
 
-#ifdef IM920
 /***IM920 correspondence***/
 void autoIM920() {
     if(b==7){  /*mode change*/
@@ -166,140 +165,6 @@
     if(b!=8) edge8=1;
     if(b!=9) edge9=1;
 }
-#else
-void autoPS3(){
-    if(circle){  /*mode change*/
-        if(edge_circle){
-            edge_circle=0;
-            autoflag=0;
-            Indicator4=0;
-            IndicatorAuto=1;
-            flaga=0;
-            Move_l(0.0);
-            Move_r(0.0);
-        }
-    }
-    else if(triangle){  /*start*/
-        if(edge_triangle){
-            edge_triangle=0;
-            resetState();
-            flagf=1;
-            spcount=0.0;
-//            targ_velocity=speed;
-#ifdef BLUE
-//            sendData(5,69); //right
-            sendData(5,71); //right
-            wait(0.05);
-            sendData(4,69); //left
-            stateR = 69;
-            stateL = 69;
-#else
-            sendData(5,69); //right
-            wait(0.05);
-            sendData(4,69); //left
-            stateR = 69;
-            stateL = 69;
-#endif
-            wait(0.05);
-            step   = 0;
-            CStep  = 1;
-            flaga  = 1;
-        }
-    }
-    else if(square){  /*middle start*/
-        if(edge_square){
-            edge_square=0;
-            resetState();
-            flagf = 1;
-            spcount=0.0;
-//            targ_velocity=speed;
-#ifdef BLUE
-            sendData(5,60); //right
-            wait(0.05);
-            sendData(4,60); //left
-            stateR = 60;
-            stateL = 61;
-#else
-            sendData(5,59); //right
-            wait(0.05);
-            sendData(4,59); //left
-            stateR = 61;
-            stateL = 60;
-#endif
-            wait(0.05);
-            step   = 5;
-            CStep  = 7;
-            flaga  = 1;
-        }
-    }
-    else if(cross){   /*opponents start*/
-        if(edge_cross){
-            edge_cross=0;
-            resetState();
-//            targ_velocity = speed;
-#ifdef BLUE
-            sendData(5,69); //right
-            wait(0.05);
-            sendData(4,69); //left
-            stateR = 71;
-            stateL = 71;
-#else
-            /*sendData(5,66); //right
-            wait(0.05);
-            sendData(4,66); //left*/
-            /*sendData(4,71); //left
-            wait(0.05);
-            sendData(5,71); //right*/
-            sendData(4,73); //left
-            wait(0.05);
-            sendData(5,73); //right
-
-            stateR = 71;
-            stateL = 72;
-#endif
-            wait(0.05);
-            step=114;
-            CStep=114;
-            OpStart.attach(&OpponentsStart,2.2);
-//            OpStart.attach(&OpponentsStart,2.0);
-        }
-    }
-    else if(l1){  /*L up*/
-        if(edge_l1){
-            edge_l1=0;
-            if(stateL!=92) stateL++;
-            sendData(4,stateL);
-        }
-    }
-    else if(l2){  /*L down*/
-        if(edge_l2){
-            edge_l2=0;
-            if(stateL!=1) stateL--;
-            sendData(4,stateL);
-        }
-    }
-    else if(r1){  /*R up*/
-        if(edge_r1){
-            edge_r1=0;
-            if(stateR!=92) stateR++;
-            sendData(5,stateR);
-        }
-    }
-    else if(r2){  /*R down*/
-        if(edge_r2){
-            edge_r2=0;
-            if(stateR!=1) stateR--;
-            sendData(5,stateR);
-        }
-    }
-    if(up){
-        skip = 1;
-    }
-    else if(!up){
-        skip = 0;
-    }
-}
-#endif
 /***The function is PID controller initialize.***/
 inline void initializeControllers()
 {