Diff: manualMode.h

Revision:

38:f4e9893641ac

Parent:

37:75fcd28f48c7

Child:

39:5ba406327aa3

--- a/manualMode.h	Sun Nov 15 11:45:29 2015 +0000
+++ b/manualMode.h	Mon Nov 16 09:37:31 2015 +0000
@@ -17,7 +17,7 @@
         dpcount=0.0;
         swingmoved=0;
     }
-    if(b==9){
+    if(b==9){  //swing start&stop
         if(edge9){
             edge9=0;
             toggle9=!toggle9;
@@ -43,7 +43,7 @@
             }
         }
     }
-    else if(b==10){
+    else if(b==10){ //shoot
         if(edge10){
             edge10=0;
             enableShoot=!enableShoot;
@@ -72,9 +72,15 @@
             swingspeed = 17.0;
         }
     }
-    else if((b==8)&&(!flaga)){ //Swing Start(over)
-        if(edge8){
-            edge8=0;
+#ifdef BLUE
+    else if((b==6)&&(!flaga)){ //Swing Start(over)
+        if(edge6){
+            edge6=0;
+#else
+    else if((b==7)&&(!flaga)){ //Swing Start(over)
+        if(edge7){
+            edge7=0;
+#endif
             resetState(0);
             flagf=0;
             spcount=0.0;
@@ -90,12 +96,43 @@
             mstep   = 10;
             mCStep  = 114;
             flaga  = 1;
+#ifdef BLUE
             swingspeed = 18.015; //入った
+#else
+            swingspeed = 17.0;
+#endif
         }
     }
-    else if((b==7)&&(swingmoved!=0)){
+#ifdef BLUE
+    else if((b==7)&&(!flaga)){ //Swing Start(front)
         if(edge7){
             edge7=0;
+#else
+    else if((b==6)&&(!flaga)){ //Swing Start(front)
+        if(edge6){
+            edge6=0;
+#endif
+            resetState(0);
+            flagf=0;
+            spcount=0.0;
+            dpcount=0.0;
+            direction_controller.setBias(0.0);
+            sendData(5,60); //right
+            wait(0.05);
+            sendData(4,60); //left
+            wait(0.05);
+            sendData(6,30); //middle
+            stateR = 90;
+            stateL = 90;
+            mstep   = 20;
+            mCStep  = 114;
+            flaga  = 1;
+            swingspeed = 13.0;
+        }
+    }
+    else if((b==8)&&(swingmoved!=0)){
+        if(edge8){
+            edge8=0;
             if(swingmoved==1){
                 mstep=2;
                 swingmoved=0;
@@ -113,12 +150,20 @@
     //Move
     if(b==2){
         flagf=1;
+#ifdef BLUE
         targ_velocity=speed;
+#else
+        targ_velocity=-speed;
+#endif
         move=1;
     }
     else if(b==3){
         flagf=0;
+#ifdef BLUE
+        targ_velocity=-speed;
+#else
         targ_velocity=speed;
+#endif
         move=1;
     }
     else if(move){