Diff: manualMode.h

Revision:

26:760f1bce8214

Parent:

24:6d2573d6f2b6

Child:

27:88863fab46c0

--- a/manualMode.h	Sun Nov 08 04:26:26 2015 +0000
+++ b/manualMode.h	Sun Nov 08 10:56:27 2015 +0000
@@ -1,95 +1,21 @@
 #ifndef MANUALMODE_H
 #define MANUALMODE_H
 
-void Call(){
-    mesure_state();
-    if(autoflag){
-        move_following();
-        if(spcount<speed){
-            spcount+=speed/100.0;
-            targ_velocity=spcount;
-        }
-        if(dpcount>0.0){
-            dpcount-=speed/100.0;
-            targ_velocity=dpcount;
-        }
-    }
-    #ifdef MESURE
-//    if(mesureflag){
-        fprintf(fp_r, "time:%1.3f ,x:%f ,y:%f ,sita:%f ,testflag:%d\r\n",time,x,y,sita,testflag);
-//    }
-    #endif
-}
-
-void mCall(){
-    mesureSwing();
-    if(enableSwing) swingFollowing();
-}
-
-void manualMoveIM920()
-{
-#ifdef BLUE
-    if(Y<2) {
-        Move_l(-0.6);
-        Move_r(0.6);
-    } 
-    else if(Y>6) {
-        Move_l(0.6);
-        Move_r(-0.6);
-    } 
-    else {
-        if(X<2) {
-            Move_l(0.6);
-            Move_r(0.6);
-        } else if(X>6) {
-            Move_l(-0.6);
-            Move_r(-0.6);
-        } else {
-            Move_l(0.0);
-            Move_r(0.0);
-        }
-    }
-#else
-    if(Y<2) {
-        Move_l(0.6);
-        Move_r(-0.6);
-    }
-    else if(Y>6) {
-        Move_l(-0.6);
-        Move_r(0.6);
-    }
-    else {
-        if(X<2) {
-            Move_l(-0.6);
-            Move_r(-0.6);
-        } else if(X>6) {
-            Move_l(0.6);
-            Move_r(0.6);
-        } else {
-            Move_l(0.0);
-            Move_r(0.0);
-        }
-    }
-#endif
-}
 void manualIM920()
 {
     if(b==7){  /*mode change*/
         if(edge7){
-            Com.detach();
             edge7=0;
             autoflag=1;
             Indicator4=1;
             IndicatorAuto=0;
-            Move_l(0.0);
-            Move_r(0.0);
             direction_controller.setTunings(36.0,3.0,0.0);
             resetState();
             flaga=0;
             step=114;
             CStep=114;
             spcount=speed;
-            Com.attach(&Call,RATE);
+            dpcount=0.0;
         }
     }
     else if(b==5){
@@ -122,48 +48,48 @@
     else if(b==8){
         if(edge8){
             edge8=0;
-            sendData(1,4);
+            sendData(1,5);
         }
     }
-    /*else if(b==5){
-        if(edge5){
-            edge5=0;
-            sendData(1,4);
-        }
-    }
-    else if(b==6){
-        if(edge6){
-            edge6=0;
-            sendData(1,5);
-        }
-    }*/
-    else if(b==1){  /*L down*/
+    /*else if(b==1){
         if(edge1){
             edge1=0;
             if(stateL!=1) stateL--;
             sendData(4,stateL);
         }
     }
-    else if(b==2){  /*L up*/
+    else if(b==2){
         if(edge2){
             edge2=0;
             if(stateL!=92) stateL++;
             sendData(4,stateL);
         }
     }
-    else if(b==3){  /*R down*/
+    else if(b==3){
         if(edge3){
             edge3=0;
             if(stateR!=1) stateR--;
             sendData(5,stateR);
         }
     }
-    else if(b==4){  /*R up*/
+    else if(b==4){
         if(edge4){
             edge4=0;
             if(stateR!=92) stateR++;
             sendData(5,stateR);
         }
+    }*/
+    if(b==2){
+        if(edge2){
+            edge2=0;
+            targ_sita+=PI/4;
+        }
+    }
+    else if(b==3){
+        if(edge3){
+            edge3=0;
+            targ_sita-=PI/4;
+        }
     }
     if(b!=7) edge7=1;
     if(b!=1) edge1=1;