Diff: main.cpp

Revision:

8:2ba338b4590e

Parent:

7:44ce34007499

Child:

9:7667dcfc7ce5

--- a/main.cpp	Sat Mar 02 08:27:05 2019 +0000
+++ b/main.cpp	Thu Mar 07 02:54:55 2019 +0000
@@ -45,65 +45,59 @@
                 switch(id1_value[6]) {
                     case 0:
                         //-----right mode-------------------------------------------------------------------------------------------------------------//
+                        if(T1 == 0) {
 
+                            //スタート位置からみかんの木まで移動
+                            wait(0.5);
+                            T1++;
+
+                        }
+                        if(T1 == 1) {
+                            while(1) {
+                                wait(0.5);
+                                if(T1 == 2) {
+                                    break;
+                                }
+                            }
+                        }
+                        if(T1 == 2) {
+
+                            //みかんの木から三宝置き場まで移動
+                            T1++;
+                        }
+                        if(T1 == 3) {
+                            while(1) {
+                                wait(0.5);
+                                if(T1 == 4) {
+                                    break;
+                                }
+                            }
+                        }
+                        if(T1 == 4) {
+
+                            //三宝置き場からりんごの木まで移動
+                            wait(0.5);
+                            T1++;
+                        }
+                        if(T1 == 5) {
+                            while(1) {
+
+                                wait(0.5);
+                                if(T1 == 6) {
+                                    break;
+                                }
+                            }
+                        }
+                        if(T1 == 6) {
+
+                            //りんごの木からお供え台まで移動
+                            wait(0.5);
+                            T1++;
+                        }
                         break;
                     case 1:
                         //-----left mode--------------------------------------------------------------------------------------------------------------//
 
-                        if(go_waitmode == 0) {
-
-                            //can_start();
-                            //set_cond(2,1,-700,1,-700);
-                            gogo_straight(1,1,-2962,3500,-2962,2900,200,1000,5,0.1,10,0.1,600,0);
-                            purecurve(7,1,1,-2962,2900,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
-                            purecurve(8,1,1,-2317,2500,-1610,2000,9,1000,5,0.1,10,0.1,600,0);
-                            gogo_straight(1,1,-1610,2000,-1610,1250,1000,200,5,0.1,10,0.1,600,0);
-                            MaxonControl(0,0,0,0);
-                            set_cond(2,0,-1243,1,1080);
-                            pos_correction(-1610,1250,0,1,0);
-                            wait(0.5);
-
-                            gogo_straight(1,1,-1610,1250,-1610,2000,200,1000,5,0.1,10,0.1,600,0);
-                            purecurve(3,1,1,-1610,2000,-2317,2500,9,1000,5,0.1,10,0.1,600,0);
-                            purecurve(4,1,1,-2317,2500,-2962,3000,9,1000,5,0.1,10,0.1,600,-90);
-                            gogo_straight(1,1,-2962,3000,-2962,4000,1000,1000,5,0.1,10,0.1,600,-90);
-                            gogo_straight(1,1,-2962,4000,-2962,4500,1000,200,5,0.1,10,0.1,600,-90);
-                            MaxonControl(0,0,0,0);
-                            pos_correction(-2962,4500,-90,1,1);
-
-                            set_cond(0,0,-2462,0,0);
-                            gogo_straight(1,1,-2962,4500,-2850,4500,200,200,5,0.1,10,0.1,800,-90);
-                            MaxonControl(0,0,0,0);
-                            pos_correction(-2850,4500,-90,1,1);
-                            wait(0.5);
-
-                            gogo_straight(1,1,-2850,4500,-2850,5150,200,1000,5,0.1,10,0.1,800,-90);
-                            purecurve(2,1,1,-2850,5150,-2257,5500,9,1000,5,0.1,10,0.1,800,-90);
-                            purecurve(1,1,1,-2257,5500,-1700,6000,9,1000,5,0.1,10,0.1,800,-90);
-                            purecurve(3,1,1,-1700,6000,-2257,6647,9,1000,5,0.1,10,0.1,800,-90);
-                            gogo_straight(1,1,-2257,6647,-2500,6647,1000,1000,5,0.1,10,0.1,800,-90);
-                            set_cond(2,1,-3500,1,6324);
-                            gogo_straight(1,1,-2500,6647,-2700,6647,1000,200,5,0.1,10,0.1,800,-90);
-                            MaxonControl(0,0,0,0);
-                            pos_correction(-2700,6647,-90,1,1);
-                            wait(0.5);
-
-                            gogo_straight(1,1,-2700,6647,-2500,6647,200,1000,5,0.1,10,0.1,800,-90);
-                            gogo_straight(1,1,-2500,6647,-1000,6647,1000,1000,5,0.1,10,0.1,800,-90);
-                            purecurve(8,1,1,-1000,6647,-350,6000,9,1000,5,0.1,10,0.1,600,-180);
-                            gogo_straight(1,1,-350,6000,-350,4700,1000,1000,5,0.1,10,0.1,600,-180);
-                            set_cond(2,1,1243,1,4000);
-                            gogo_straight(1,1,-350,4700,-350,4500,1000,200,5,0.1,10,0.1,800,-180);
-                            MaxonControl(0,0,0,0);
-                            pos_correction(-400,4500,-180,1,1);
-
-                            go_waitmode = 1;
-
-                        } else if(go_waitmode == 1) {
-
-                            MaxonControl(0,0,0,0);
-
-                        }
                         break;
                 }
 //-----wait mode----------------------------------------------------------------------------------------------------------------------//