File content as of revision 32:b8c8ad2eeca7:

#ifndef MANUALMODE_H
#define MANUALMODE_H

void manualIM920()
{
    if(b==7){  /*mode change*/
        if(edge7){
            edge7=0;
            autoflag=1;
            Indicator4=1;
            IndicatorAuto=0;
            resetState(1);
            flaga=0;
            step=114;
            CStep=114;
            mstep=114;
            mCStep=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(1,7);
            sendData(1,1);
            /*wait(0.5);
            sendData(1,2);
            wait(0.5);
            sendData(1,3);
            wait(0.5);
            sendData(1,4);
            wait(0.5);
            sendData(1,5);
            wait(0.5);
            sendData(1,6);*/
        }
    }
    else if(b==8){
        if(edge8){
            edge8=0;
            targ_sita=PI/4.0;
        }
    }
    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);
        }
    }
    else if((b==10)&&(!flaga)){ //Swing Start
        if(edge10){
            edge10=0;
            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   = 0;
            mCStep  = 0;
            flaga  = 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!=7) edge7=1;
    if(b!=8) edge8=1;
    if(b!=9) edge9=1;
    if(b!=10) edge10=1;
    if(b!=11) edge11=1;
}

#endif /*manualMode.h*/