Diff: autoMode.h

Revision:

33:a4323c20494b

Parent:

32:b8c8ad2eeca7

Child:

34:aa2a5c888a27

--- a/autoMode.h	Wed Nov 11 06:40:39 2015 +0000
+++ b/autoMode.h	Thu Nov 12 07:23:30 2015 +0000
@@ -8,7 +8,7 @@
 
 /***IM920 correspondence***/
 void autoIM920() {
-    if(b==7){  //mode change
+    /*if(b==7){  //mode change
         if(edge7) {
             edge7=0;
             autoflag=0;
@@ -24,8 +24,22 @@
             spcount=speed;
             dpcount=0.0;
         }
+    }*/
+    if(!modeflag){  //mode change
+        autoflag=0;
+        Indicator4=0;
+        IndicatorAuto=1;
+        targ_velocity=0.0;
+        resetState(1);
+        flaga=0;
+        step=114;
+        CStep=114;
+        mstep=114;
+        mCStep=114;
+        spcount=speed;
+        dpcount=0.0;
     }
-    else if((b==6)&&(!flaga)){ //Own & Middle Start
+    if((b==6)&&(!flaga)){ //Own & Middle Start
         if(edge6){
             edge6=0;
             resetState(1);
@@ -34,20 +48,13 @@
             dpcount=0.0;
             direction_controller.setBias(0.0);
 #ifdef BLUE
-            sendData(5,69); //right
+            sendData(5,69); //over
             wait(0.05);
-            sendData(4,69); //left
+            sendData(4,68); //front
             wait(0.05);
-            sendData(6,8); //middle
+            sendData(6,7); //middle
             stateR = 69;
             stateL = 69;
-            /*sendData(5,65); //right
-            wait(0.05);
-            sendData(4,65); //left
-            wait(0.05);
-            sendData(6,10); //middle
-            stateR = 69;
-            stateL = 69;*/
 #else       
             sendData(5,69); //right
             wait(0.05);
@@ -62,29 +69,22 @@
             flaga  = 1;
         }
     }
-    else if((b==9)&&(!flaga)){ //Own & Opponent Start
-        if(edge9){
-            edge9=0;
+    else if((b==5)&&(!flaga)){ //Own & Opponent Start
+        if(edge5){
+            edge5=0;
             resetState(1);
             flagf=1;
             spcount=0.0;
             dpcount=0.0;
             direction_controller.setBias(0.0);
 #ifdef BLUE
-            sendData(5,67); //right
-            wait(0.05);
-            sendData(4,67); //left
+            sendData(5,60); //right
             wait(0.05);
-            sendData(6,60); //middle
-            stateR = 69;
-            stateL = 69;
-            /*sendData(5,65); //right
-            wait(0.05);
-            sendData(4,65); //left
+            sendData(4,60); //left
             wait(0.05);
             sendData(6,10); //middle
             stateR = 69;
-            stateL = 69;*/
+            stateL = 69;
 #else       
             sendData(5,69); //right
             wait(0.05);