2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

manualMode.h

Committer:
DeguNaoto
Date:
2015-11-09
Revision:
27:88863fab46c0
Parent:
26:760f1bce8214
Child:
30:cd344beb415d

File content as of revision 27:88863fab46c0:

#ifndef MANUALMODE_H
#define MANUALMODE_H

void manualIM920()
{
    if(b==7){  /*mode change*/
        if(edge7){
            edge7=0;
            autoflag=1;
            Indicator4=1;
            IndicatorAuto=0;
            direction_controller.setTunings(36.0,3.0,0.0);
            resetState();
            flaga=0;
            step=114;
            CStep=114;
            spcount=speed;
            dpcount=0.0;
        }
    }
    else if(b==5){
        if(edge5){
            edge5=0;
            resetSwingSpeed = 1;
            interruptSwingSpeed.attach(&countSwingSpeed, 0.05);
            enableSwing=1;
            /*for(float i=0.0;i<0.6;i+=0.01){
                Motor_swing=i;
                wait(0.01);
            }
            Motor_swing = 0.6;*/
        }
    }
    else if(b==9){
        interruptSwingSpeed.detach();
        targSwingRadVelocity = 0.0;
        enableSwing=0;
        contSwing.reset();
        sendData(2,8);
        Motor_swing = 0.0;
    }
    else if(b==6){
        if(edge6){
            edge6=0;
            sendData(1,1);
        }
    }
    else if(b==8){
        if(edge8){
            edge8=0;
            sendData(1,5);
        }
    }
    else if(b==1){
        if(edge1){
            edge1=0;
            if(stateL!=1) stateL--;
            sendData(4,stateL);
        }
    }
    else if(b==2){
        if(edge2){
            edge2=0;
            if(stateL!=92) stateL++;
            sendData(4,stateL);
        }
    }
    else if(b==3){
        if(edge3){
            edge3=0;
            if(stateR!=1) stateR--;
            sendData(5,stateR);
        }
    }
    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;
    if(b!=2) edge2=1;
    if(b!=3) edge3=1;
    if(b!=4) edge4=1;
    if(b!=5) edge5=1;
    if(b!=6) edge6=1;
    if(b!=8) edge8=1;
    if(b!=9) edge9=1;
}

#endif /*manualMode.h*/