Miya Miyagawa
aaaaa
Diff: System/Process/Process.cpp
- Revision:
- 12:8321e464475f
- Parent:
- 11:88f17bc0724f
--- a/System/Process/Process.cpp Mon Feb 25 05:48:20 2019 +0000
+++ b/System/Process/Process.cpp Mon Feb 25 06:44:02 2019 +0000
@@ -52,60 +52,63 @@
float s=Airtime.read();//エアータイム
int a_array[15][15] = {
-{-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
-{-79, -69, -55, -47, -35, -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
-{-77, -68, -50, -45, -30, -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
-{-75, -67, -49, -40, -25, -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
-{-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
-{-71, -62, -46, -32, -20, -10, 0 , 0, 0 , 10, 20, 32, 46, 62, 71},
-{-70, -60, -45, -30, -20, -10, 0 , 0, 0 , 10, 20, 30, 45, 60, 70},
-{-71, -62, -46, -32, 10 , -10, 0 , 0, 0 , 10, 20, 32, 46, 62, 71},
-{-72, -64, -47, -35, 20 , -10, -10, 0, 10, 10, 20, 35, 47, 64, 72},
-{-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
-{-75, -67, -49, -40, 40 , -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
-{-77, -68, -50, -45, 60 , -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
-{-79, -69, -55, -47, 70 , -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
-{-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
-{-80, -70, -60, -50, -40, -20,s-10, 0, 10, 20, 40, 50, 60, 70, 80}};
+ {-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
+ {-79, -69, -55, -47, -35, -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
+ {-77, -68, -50, -45, -30, -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
+ {-75, -67, -49, -40, -25, -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
+ {-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
+ {-71, -62, -46, -32, -20, -10, 0, 0, 0, 10, 20, 32, 46, 62, 71},
+ {-70, -60, -45, -30, -20, -10, 0, 0, 0, 10, 20, 30, 45, 60, 70},
+ {-71, -62, -46, -32, 10, -10, 0, 0, 0, 10, 20, 32, 46, 62, 71},
+ {-72, -64, -47, -35, 20, -10, -10, 0, 10, 10, 20, 35, 47, 64, 72},
+ {-73, -66, -48, -37, -20, -20, -10, 0, 10, 20, 20, 37, 48, 66, 73},
+ {-75, -67, -49, -40, 40, -20, -10, 0, 10, 20, 25, 40, 49, 67, 75},
+ {-77, -68, -50, -45, 60, -20, -10, 0, 10, 20, 30, 45, 50, 68, 77},
+ {-79, -69, -55, -47, 70, -20, -10, 0, 10, 20, 35, 47, 55, 69, 79},
+ {-80, -70, -60, -50, -40, -20, -10, 0, 10, 20, 40, 50, 60, 70, 80},
+ {-80, -70, -60, -50, -40, -20,s-10, 0, 10, 20, 40, 50, 60, 70, 80}
+};
int b_array[15][15] = {
-{80, 80, 80 , 77 , 75 , 72 , 71 , 70, 60, 50, 40, 30, 20, 10, 0},
-{80, 80, 75 , 70 , 65 , 60 , 55 , 50, 45, 40, 30, 20, 10, 0 , -10},
-{80, 71, 70 , 60 , 55 , 50 , 45 , 40, 35, 30, 20, 10, 0, -10, -13},
-{60, 60, 57 , 50 , 45 , 40 , 35 , 30, 25, 20, 10, 0 , -10, -13, -17},
-{50, 50, 50 , 40 , 35 , 30 , 23 , 20, 15, 10, 0 , -10, -15, -17, -20},
-{45, 45, 43 , 35 , 30 , 25 , 10 , 10, 10, 0 , -10, -15, -20, -20, -25},
-{40, 37, 35 , 30 , 25 , 20 , 0 , 0 , 0 , -10, -15, -20, -25, -25, -30},
-{35, 30, 30 , 25 , 20 , 15 , 0 , 0 , 0 , -15, -20, -25, -30, -30, -35},
-{30, 25, 25 , 20 , 15 , 10 , 0 , 0 , 0 , -20, -25, -30, -35, -37, -40},
-{20, 17, 15 , 10 , 0 , -10, -15,-20, -23, -30 ,-35 ,-40 ,-50 ,-50 , -50},
-{17, 13, 10 , 0 , -10, -20, -25,-30, -35, -40 ,-45 ,-50 ,-57 ,-60 , -60},
-{13, 10, 0 , -10, -20, -30, -35,-40, -45, -50 ,-55 ,-60 , -70, -71, -80},
-{10, 0 , -10, -20, -30, -40, -45,-50, -55, -60 ,-65 ,-70 ,-75 ,-80 , -80},
-{0 , -10, -20, -30, -40, -50, -60,-70, -71, -72 ,-75 ,-77 ,-80 ,-80 , -80},
-{0 , -10, -20, -30, -40, -50, -60,-70, -71, -72 ,-75 ,-77 ,-80 ,-80 , -80}};
+ {80, 80, 80, 77, 75, 72, 71, 70, 60, 50, 40, 30, 20, 10, 0},
+ {80, 80, 75, 70, 65, 60, 55, 50, 45, 40, 30, 20, 10, 0, -10},
+ {80, 71, 70, 60, 55, 50, 45, 40, 35, 30, 20, 10, 0, -10, -13},
+ {60, 60, 57, 50, 45, 40, 35, 30, 25, 20, 10, 0, -10, -13, -17},
+ {50, 50, 50, 40, 35, 30, 23, 20, 15, 10, 0, -10, -15, -17, -20},
+ {45, 45, 43, 35, 30, 25, 10, 10, 10, 0, -10, -15, -20, -20, -25},
+ {40, 37, 35, 30, 25, 20, 0, 0, 0, -10, -15, -20, -25, -25, -30},
+ {35, 30, 30, 25, 20, 15, 0, 0, 0, -15, -20, -25, -30, -30, -35},
+ {30, 25, 25, 20, 15, 10, 0, 0, 0, -20, -25, -30, -35, -37, -40},
+ {20, 17, 15, 10, 0, -10, -15,-20, -23, -30,-35,-40,-50,-50, -50},
+ {17, 13, 10, 0, -10, -20, -25,-30, -35, -40,-45,-50,-57,-60, -60},
+ {13, 10, 0, -10, -20, -30, -35,-40, -45, -50,-55,-60, -70, -71, -80},
+ {10, 0, -10, -20, -30, -40, -45,-50, -55, -60,-65,-70,-75,-80, -80},
+ {0, -10, -20, -30, -40, -50, -60,-70, -71, -72,-75,-77,-80,-80, -80},
+ {0, -10, -20, -30, -40, -50, -60,-70, -71, -72,-75,-77,-80,-80, -80}
+};
- int c_array[15][15] = {
-{0, 10, 20 , 30 , 40 , 50 , 60 ,70 , 71, 72 , 75 , 77 , 80 , 80 , 80},
-{-10, 0 , 10 , 20 , 30 , 40 , 45 ,50 , 55 , 60 ,65 ,70 ,75 ,80 ,80},
-{-13, -10, 0 , 10 , 20 , 30 , 35 ,40 , 45 , 50 ,55 ,60 ,70 ,71 ,80},
-{-17, -13, -10, 0 , 10 , 20 , 25 ,30 , 35 , 40 ,45 ,50 ,57 ,60 ,60},
-{-20, -17, -15, -10, 0 , 10 , 15 ,20 , 23 , 30 ,35 ,40 ,50 ,50 ,50},
-{-25, -20, -20, -15, -10, 0 , 10 ,10 , 10 , 25 ,30 ,35 ,43 ,45 ,45},
-{-30, -25, -25, -20, -15, -10, 0 ,0 , 0 , 20 ,25 ,30 ,35 ,37 ,40},
-{-35, -30, -30, -25, -20, -15, 0 ,0 , 0 , 15 ,20 ,25 ,30 ,30 ,35},
-{-40, -37, -35, -30, -25, -20, 0 ,0 , 0 , 10 ,15 ,20 ,25 ,25 ,30},
-{-50, -50, -50, -40, -35, -30, -23,-20, -15, -10 ,0 ,10 ,15 ,17 ,20},
-{-60, -60, -57, -50, -45, -40, -35,-30, -25, -20 ,-10 ,0 ,10 ,13 ,17},
-{-80, -71, -70, -60, -55, -50, -45,-40, -35, -30 ,-20 ,-10 ,0 ,10 ,13},
-{-80, -80, -75, -70, -65, -60, -55,-50, -45, -40 ,-30 ,-20 ,-10 ,0 ,10},
-{-80, -80, -80, -77, -75, -72, -71,-70, -60, -50 ,-40 ,-30 ,-20 ,-10 ,0},
-{-80, -80, -80, -77, -75, -72, -71,-70, -60, -50 ,-40 ,-30 ,-20 ,-10 ,0}};
+int c_array[15][15] = {
+ {0, 10, 20, 30, 40, 50, 60,70, 71, 72, 75, 77, 80, 80, 80},
+ {-10, 0, 10, 20, 30, 40, 45,50, 55, 60,65,70,75,80,80},
+ {-13, -10, 0, 10, 20, 30, 35,40, 45, 50,55,60,70,71,80},
+ {-17, -13, -10, 0, 10, 20, 25,30, 35, 40,45,50,57,60,60},
+ {-20, -17, -15, -10, 0, 10, 15,20, 23, 30,35,40,50,50,50},
+ {-25, -20, -20, -15, -10, 0, 10,10, 10, 25,30,35,43,45,45},
+ {-30, -25, -25, -20, -15, -10, 0,0, 0, 20,25,30,35,37,40},
+ {-35, -30, -30, -25, -20, -15, 0,0, 0, 15,20,25,30,30,35},
+ {-40, -37, -35, -30, -25, -20, 0,0, 0, 10,15,20,25,25,30},
+ {-50, -50, -50, -40, -35, -30, -23,-20, -15, -10,0,10,15,17,20},
+ {-60, -60, -57, -50, -45, -40, -35,-30, -25, -20,-10,0,10,13,17},
+ {-80, -71, -70, -60, -55, -50, -45,-40, -35, -30,-20,-10,0,10,13},
+ {-80, -80, -75, -70, -65, -60, -55,-50, -45, -40,-30,-20,-10,0,10},
+ {-80, -80, -80, -77, -75, -72, -71,-70, -60, -50,-40,-30,-20,-10,0},
+ {-80, -80, -80, -77, -75, -72, -71,-70, -60, -50,-40,-30,-20,-10,0}
+};
-
-
+
+
#define usiro 0
#define mae 0
@@ -117,7 +120,7 @@
int conrx;
int conry;
-int mode=0;
+int mode=1;
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//_____________________
@@ -131,174 +134,175 @@
using namespace SWITCH;
-void SystemProcess(void) {
+void SystemProcess(void)
+{
while(true) {
controller = XBEE::Controller::GetData();
//____________________________
-/*------------------------ HOW TO WRITE ------------------------/
+ /*------------------------ HOW TO WRITE ------------------------/
- ここにメインのプログラムを書く
+ ここにメインのプログラムを書く
- ・コントローラから受け取ったデータをもとに動作のプログラムを書く
- (コントローラのデータは controller-> で取る)
+ ・コントローラから受け取ったデータをもとに動作のプログラムを書く
+ (コントローラのデータは controller-> で取る)
- if(controller->Button.RIGHT) {
- motor[TIRE_L].dir = FOR;
- motor[TIRE_R].dir = BACK;
- motor[TIRE_L].pwm = 12.3;
- motor[TIRE_R].pwm = 12.3;
- }
+ if(controller->Button.RIGHT) {
+ motor[TIRE_L].dir = FOR;
+ motor[TIRE_R].dir = BACK;
+ motor[TIRE_L].pwm = 12.3;
+ motor[TIRE_R].pwm = 12.3;
+ }
- motor[0].dirは FOR (正転)
- BACK (逆転)
- BRAKE (ブレーキ)
- FREE (フリー)
+ motor[0].dirは FOR (正転)
+ BACK (逆転)
+ BRAKE (ブレーキ)
+ FREE (フリー)
- motor[0].pwmは 0.0(%) ~ 100.0(%)
+ motor[0].pwmは 0.0(%) ~ 100.0(%)
- controllerは XBee.hの構造体の中身
+ controllerは XBee.hの構造体の中身
- (AnalogL・Rを使いたかったら、頑張って考える or 聞いてください)
+ (AnalogL・Rを使いたかったら、頑張って考える or 聞いてください)
- ・リミットスイッチの値をもとに動作のプログラムを書く
+ ・リミットスイッチの値をもとに動作のプログラムを書く
- if(Switch::CheckPushed(ARM_L))
- {
- if(controller->Button.L)
- {
- motor[ARM].dir = FOR;
- motor[ARM].pwm = 80.0;
- }
- if(motor[ARM].dir == BACK)
- {
- motor[ARM].dir = BRAKE;
- }
- }
+ if(Switch::CheckPushed(ARM_L))
+ {
+ if(controller->Button.L)
+ {
+ motor[ARM].dir = FOR;
+ motor[ARM].pwm = 80.0;
+ }
+ if(motor[ARM].dir == BACK)
+ {
+ motor[ARM].dir = BRAKE;
+ }
+ }
- →関数 Switch::CheckPushed の引数はリミットスイッチの名前 (limitSw[0]みたいな), 返り値はbool型 (true or false)
+ →関数 Switch::CheckPushed の引数はリミットスイッチの名前 (limitSw[0]みたいな), 返り値はbool型 (true or false)
- ・他にもやりたいことがあったら自由にどうぞ
+ ・他にもやりたいことがあったら自由にどうぞ
- ps.わからないことがあったら聞いてください
+ ps.わからないことがあったら聞いてください
-/------------------------ HOW TO WRITE ------------------------*/
+ /------------------------ HOW TO WRITE ------------------------*/
//↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
-conlx = controller->AnalogL.X;
-conly = controller->AnalogL.Y;
-conrx = controller->AnalogR.X;
-conry = controller->AnalogR.Y;
+ conlx = controller->AnalogL.X;
+ conly = controller->AnalogL.Y;
+ conrx = controller->AnalogR.X;
+ conry = controller->AnalogR.Y;
//conba = controller->Button.A;
//conbb = controller->Button.B;
//conby = controller->Button.Y;
//conbx = controller->Button.X;
- if(a_array[conly][conlx]<0){
- motor[a].pwm = (-1*a_array[conly][conlx]*100)/80;
- motor[a].dir = FOR;
- }else if(a_array[conly][conlx] > 0){
- motor[a].pwm = (a_array[conly][conlx]*100)/80;
- motor[a].dir = BACK;
- }else if(a_array[conly][conlx] == 0){
- if(conry < 6){
- motor[a].dir = BACK;
- motor[b].dir = BACK;
- motor[c].dir = BACK;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
- }else if(conry > 8){
+ if(a_array[conly][conlx]<0) {
+ motor[a].pwm = (-1*a_array[conly][conlx]*100)/80;
motor[a].dir = FOR;
- motor[b].dir = FOR;
- motor[c].dir = FOR;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
- }else{
- motor[a].dir = BRAKE;
- motor[b].dir = BRAKE;
- motor[c].dir = BRAKE;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
+ } else if(a_array[conly][conlx] > 0) {
+ motor[a].pwm = (a_array[conly][conlx]*100)/80;
+ motor[a].dir = BACK;
+ } else if(a_array[conly][conlx] == 0) {
+ if(conry < 6) {
+ motor[a].dir = BACK;
+ motor[b].dir = BACK;
+ motor[c].dir = BACK;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else if(conry > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else {
+ motor[a].dir = BRAKE;
+ motor[b].dir = BRAKE;
+ motor[c].dir = BRAKE;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ }
}
- }
-
- if(b_array[conly][conlx] <0 ){
- motor[b].pwm = (-1*b_array[conly][conlx]*100)/80;
- motor[b].dir = FOR;
- }else if(b_array[conly][conlx] > 0){
- motor[b].pwm = (b_array[conly][conlx]*100)/80;
- motor[b].dir = BACK;
- }else if(a_array[conly][conlx] == 0 ){
- if(conrx < 6 ) {
- motor[a].dir = BACK;
- motor[b].dir = BACK;
- motor[c].dir = BACK;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
- }else if(conrx > 8){
- motor[a].dir = FOR;
+
+ if(b_array[conly][conlx] <0 ) {
+ motor[b].pwm = (-1*b_array[conly][conlx]*100)/80;
motor[b].dir = FOR;
- motor[c].dir = FOR;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
- }else{
- motor[a].dir = BRAKE;
- motor[b].dir = BRAKE;
- motor[c].dir = BRAKE;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
- }
- }
-
- if(c_array[conly][conlx] <0 ){
- motor[c].pwm =(-1*c_array[conly][conlx]*100)/80;
- motor[c].dir = BACK;
- }else if(c_array[conly][conlx] > 0){
- motor[c].pwm =(c_array[conly][conlx]*100)/80;
- motor[c].dir = FOR;
- }else if(a_array[conly][conlx] == 0 ){
- if(conrx < 6 ) {
- motor[a].dir = BACK;
+ } else if(b_array[conly][conlx] > 0) {
+ motor[b].pwm = (b_array[conly][conlx]*100)/80;
motor[b].dir = BACK;
+ } else if(a_array[conly][conlx] == 0 ) {
+ if(conrx < 6 ) {
+ motor[a].dir = BACK;
+ motor[b].dir = BACK;
+ motor[c].dir = BACK;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else if(conrx > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else {
+ motor[a].dir = BRAKE;
+ motor[b].dir = BRAKE;
+ motor[c].dir = BRAKE;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ }
+ }
+
+ if(c_array[conly][conlx] <0 ) {
+ motor[c].pwm =(-1*c_array[conly][conlx]*100)/80;
motor[c].dir = BACK;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
- }else if(conrx > 8){
- motor[a].dir = FOR;
- motor[b].dir = FOR;
+ } else if(c_array[conly][conlx] > 0) {
+ motor[c].pwm =(c_array[conly][conlx]*100)/80;
motor[c].dir = FOR;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
- }else{
- motor[a].dir = BRAKE;
- motor[b].dir = BRAKE;
- motor[c].dir = BRAKE;
- motor[a].pwm = 100.0;
- motor[b].pwm = 100.0;
- motor[c].pwm = 100.0;
+ } else if(a_array[conly][conlx] == 0 ) {
+ if(conrx < 6 ) {
+ motor[a].dir = BACK;
+ motor[b].dir = BACK;
+ motor[c].dir = BACK;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else if(conrx > 8) {
+ motor[a].dir = FOR;
+ motor[b].dir = FOR;
+ motor[c].dir = FOR;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ } else {
+ motor[a].dir = BRAKE;
+ motor[b].dir = BRAKE;
+ motor[c].dir = BRAKE;
+ motor[a].pwm = 100.0;
+ motor[b].pwm = 100.0;
+ motor[c].pwm = 100.0;
+ }
}
- }
-
+
////////////課題１////////////
- if(controller->Button.X){
- if(Switch::checkPushed(ARMlim)){
+ if(controller->Button.X) {
+ if(Switch::checkPushed(ARMlim)) {
motor[d].dir = BRAKE;
motor[d].pwm = 100;
- }else{
+ } else {
motor[d].dir = FOR;
motor[d].pwm = 100;
- }
- }else if(controller->Button.Y){
+ }
+ } else if(controller->Button.Y) {
motor[d].dir = BACK;
motor[d].pwm = 100;
- }else{
+ } else {
motor[d].dir = BRAKE;
motor[d].pwm = 100;
}
@@ -308,47 +312,50 @@
AirOut(Air0,0);
}
//////////////課題2/////////////////////
-// if((controller->Button.ZL)&&(mode==0)) {
-// Airtime.start();
-// AirOut(Air1,0);
-// }
-// if((s>1)&&(s<3)) {
-// AirOut(Air1,1);
-// }else if(s>=3){
-// Airtime.stop();
-// Airtime.reset();
-// mode=1;
-// }
-// if((mode==2)||((controller->Button.ZR)&&(mode==1))) {
-// motor[4].dir=FOR;
-// motor[4].pwm=10;
-// }
-// if(!(Switch::checkPushed(lim))&&(mode==1)){
-// mode=2;
-// }
-// if((Switch::checkPushed(lim))&&(mode==2)){
-// motor[4].dir=BRAKE;
-// motor[4].pwm=100;
-// mode=0;
-// }
-//
-// if (controller->Button.ZL)
-// AiOut(Air1,0);
+ s=Airtime.read();
+ if((controller->Button.ZL)&&(mode==1)) {
+ mode=2;
+ Airtime.start();
+ }
+ if((mode==2)&&(s>=1)) {
+ mode=3;
+ }
+ if((mode==3)&&(s>=3)) {
+ mode=4;
+ }
+ if((mode==4)&&(!(Switch::checkPushed(lim)))) {
+ mode=5;
+ Airtime.stop();
+ Airtime.reset();
+ }
+ if((mode==5)&&(Switch::checkPushed(lim))) {
+ mode=1;
+ }
- if(controller->Button.ZL){
- AirOut(Air1,1)
- AirOut(Air1.0)
- motor[4].dir = FOR;
- motor[4].pwm = 100.0;
- if(Switch::checkPushed(lim)){
- motor.
- }
-
+ if(mode==1) {
+ AirOut(1,1);
+ motor[4].dir=BRAKE;
+ motor[4].pwm=100;
+ } else if(mode==2) {
+ AirOut(1,0);
+ } else if(mode==3) {
+ AirOut(1,1);
+ } else if(mode==4) {
+ motor[4].dir=FOR;
+ motor[4].pwm=50;
+ } else if(mode==5) {
+ motor[4].dir=FOR;
+ motor[4].pwm=50;
+ } else {
+ mode=1;
+ AirOut(1,1);
+ }
+
//↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
//___________________________
-
+
MOTOR::Motor::Update(motor);
}
}
\ No newline at end of file