Diff: autoMode.h

Revision:

36:b8954b13a6d5

Parent:

35:7b6786193aa2

Child:

37:75fcd28f48c7

--- a/autoMode.h	Sat Nov 14 04:05:13 2015 +0000
+++ b/autoMode.h	Sun Nov 15 00:30:44 2015 +0000
@@ -38,6 +38,7 @@
         mCStep=114;
         spcount=speed;
         dpcount=0.0;
+        swingmoved=0;
     }
     if((b==6)&&(!flaga)){ //Own & Middle Start
         if(edge6){
@@ -48,13 +49,13 @@
             dpcount=0.0;
             direction_controller.setBias(0.0);
 #ifdef BLUE
-            sendData(5,69); //over
+            sendData(5,71); //over
 //            sendData(5,68); //over
             wait(0.05);
-            sendData(4,69); //front
+            sendData(4,71); //front
 //            sendData(4,68); //front
             wait(0.05);
-            sendData(6,10); //middle
+            sendData(6,12); //middle
 //            sendData(6,7); //middle
             stateR = 69;
             stateL = 69;
@@ -63,7 +64,7 @@
             wait(0.05);
             sendData(4,69); //left
             wait(0.05);
-            sendData(6,69); //middle
+            sendData(6,10); //middle
             stateR = 69;
             stateL = 69;
 #endif
@@ -87,7 +88,8 @@
 //            sendData(4,65); //left
             sendData(4,69); //left
             wait(0.05);
-            sendData(6,10); //middle
+//            sendData(6,10); //middle
+            sendData(6,12); //middle
             stateR = 69;
             stateL = 69;
 #else       
@@ -104,6 +106,30 @@
             flaga  = 1;
         }
     }
+    else if(b==1){
+        if(edge1){
+            edge1=0;
+            sendData(1,5);
+        }
+    }
+    else if(b==2){
+        if(edge2){
+            edge2=0;
+            sendData(1,4);
+        }
+    }
+    else if(b==3){
+        if(edge3){
+            edge3=0;
+            sendData(1,6);
+        }
+    }
+    else if(b==4){
+        if(edge4){
+            edge4=0;
+            sendData(1,8);
+        }
+    }
     /*if(a2){
         skip = 1;
     }