Diff: manualMode.h

Revision:

0:b613dc16f27d

Child:

1:3ac2087996f3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/manualMode.h	Wed Oct 28 09:03:19 2015 +0000
@@ -0,0 +1,259 @@
+#ifndef MANUALMODE_H
+#define MANUALMODE_H
+
+//赤修正
+
+#ifdef IM920
+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){
+            edge7=0;
+            autoflag=1;
+            Indicator4=1;
+            IndicatorAuto=0;
+            Move_l(0.0);
+            Move_r(0.0);
+            resetState();
+            flaga=0;
+            step=114;
+            CStep=114;
+            spcount=speed;            
+        }
+    }
+    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==5){
+        if(edge5){
+            edge5=0;
+            resetSwingSpeed = 1;
+            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+            swingf=1;
+        }
+    }*/
+    else if(b==8){
+        if(edge8){
+            edge8=0;
+            enableShoot=1;
+        }
+    }
+    else if(b==9){
+        interruptSwingSpeed.detach();
+        targSwingRadVelocity = 0.0;
+        contSwing.reset();
+        Motor_swing = 0.0;
+    }
+    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!=92) 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!=92) stateR++;
+            sendData(5,stateR);
+        }
+    }
+    if(b!=7) edge7=1;
+    if(b!=1) edge1=1;
+    if(b!=2) edge2=1;
+    if(b!=3) edge3=1;
+    if(b!=4) edge4=1;
+    if(b!=5) edge5=1;
+    if(b!=8) edge8=1;
+    if(b!=9) edge9=1;
+}
+#else
+void manualMovePS3()
+{
+#ifdef BLUE
+    if(analog_ly>50) {
+        Move_l(-0.4);
+        Move_r(0.4);
+    } 
+    else if(analog_ly<-50) {
+        Move_l(0.4);
+        Move_r(-0.4);
+    } 
+    else {
+        if(analog_lx>50) {
+            Move_l(0.6);
+            Move_r(0.6);
+        } else if(analog_lx<-50) {
+            Move_l(-0.6);
+            Move_r(-0.6);
+        } else {
+            Move_l(0.0);
+            Move_r(0.0);
+        }
+    }
+#else
+    if(analog_ly>50) {
+        Move_l(0.4);
+        Move_r(-0.4);
+    }
+    else if(analog_ly<-50) {
+        Move_l(-0.4);
+        Move_r(0.4);
+    }
+    else {
+        if(analog_lx>50) {
+            Move_l(-0.6);
+            Move_r(-0.6);
+        } else if(analog_lx<-50) {
+            Move_l(0.6);
+            Move_r(0.6);
+        } else {
+            Move_l(0.0);
+            Move_r(0.0);
+        }
+    }
+#endif
+}
+void manualPS3(){
+    if(circle){  /*mode change*/
+        if(edge_circle){
+            edge_circle=0;
+            autoflag=1;
+            Indicator4=1;
+            IndicatorAuto=0;
+            Move_l(0.0);
+            Move_r(0.0);
+            resetState();
+            flaga=0;
+            step=114;
+            CStep=114;
+            spcount=speed;
+        }
+    }
+    else if(triangle){
+        if(edge_triangle){
+            edge_triangle=0;
+            resetSwingSpeed = 1;
+            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
+            swingf=1;
+        }
+    }
+    else if(cross){
+        interruptSwingSpeed.detach();
+        targSwingRadVelocity = 0.0;
+        contSwing.reset();
+        swingf=0;
+        Motor_swing = 0.0;
+    }
+    else if(square){
+        if(edge_square){
+            edge_square=0;
+            enableShoot=1;
+        }
+    }
+    else if(left){
+        sendData(1,5);
+    }
+    else if(right){
+        sendData(1,4);
+    }
+    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);
+        }
+    }
+}
+#endif 
+#endif /*manualMode.h*/