Process.cpp

00001 
00002 
00003 
00004 /*
00005 このプログラムを見る人へ
00006 
00007 用語解説
00008 
00009 ご挨拶モード：足回りでロボットを左右に振りご挨拶しつつ、回路リセットを行うおれたおになくてはならないモード
00010 足回り：宮川は十字キー足回りを、新村はアナログスティック足回りを担当しました。宮川のプログラムは猫でも書けますが、新村のは難易度S＋です。わからないことがあれば新村へ
00011 
00012 わからないことがあればアナログスティック以外、なんでも宮川に聞いてください
00013 */
00014 
00015 
00016 
00017 
00018 //------------------------------------------------------------------------------------------------------------------------------------------
00019 #include "Process.h"
00020 
00021 #include "mbed.h"
00022 #include "../../Communication/XBee/XBee.h"
00023 //#include "../../Input/Switch/Switch.h"
00024 #include "../../Output/Motor/Motor.h"
00025 #include "../../Output/Servo/Servo.h"
00026 
00027 //_____________________
00028 /*---------------- HOW TO WRITE ----------------/
00029 
00030     ・motor の割り当てを決める
00031         #define TIRE_L 1
00032 
00033     ・リミットスイッチの割り当てを決める
00034         #define ARM_L 1
00035 
00036     ・他にも自由に定義してもいいです (pwmとか)
00037 
00038 /---------------- HOW TO WRITE ----------------*/
00039 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
00040 
00041 
00042 #define TIRE_1 0
00043 #define TIRE_2 1
00044 #define TIRE_3 2
00045 #define ARM    3
00046 
00047 #define ARMlim 0
00048 
00049 int Air0=0;
00050 int Air1=1;
00051 
00052 #define a 0
00053 #define b 1
00054 #define c 2
00055 
00056 int a_array[15][15] = {
00057     {   -30,   -20,   -10,     0,     0,     0,   0,   0,   0,    0,    0,    0,   10,   20,   30 },
00058     {   -40,   -30,   -20,   -10,     0,     0,   0,   0,   0,    0,    0,   10,   20,   30,   40  },
00059     {   -50,   -40,   -30,   -20,   -10,     0,   0,   0,   0,    0,   10,   20,   30,   40,   50  },
00060     {   -60,   -50,   -40,   -30,   -20,   -10,   0,   0,   0,   10,   20,   30,   40,   50,   60  },
00061     {   -70,   -60,   -50,   -40,   -30,   -20, -10,   0,  10,   20,   30,   40,   50,   60,   70  },
00062     {   -80,   -70,   -60,   -50,   -40,   -30, -20,   0,  20,   30,   40,   50,   60,   70,   80  },
00063     {   -90,   -80,   -70,   -60,   -50,   -40, -30,   0,  30,   40,   50,   60,   70,   80,   90  },
00064     {   -100,   -90,   -80,   -70,   -60,   -50, -40,   0,  40,   50,   60,   70,   80,   90,  100  },
00065     {   -90,   -80,   -70,   -60,   -50,   -40, -30,   0,  30,   40,   50,   60,   70,   80,   90  },
00066     {   -80,   -70,   -60,   -50,   -40,   -30, -20,   0,  20,   30,   40,   50,   60,   70,   80  },
00067     {   -70,   -60,   -50,   -40,   -30,   -20, -10,   0,  10,   20,   30,   40,   50,   60,   70  },
00068     {   -60,   -50,   -40,   -30,   -20,   -10,   0,   0,   0,   10,   20,   30,   40,   50,   60  },
00069     {   -50,   -40,   -30,   -20,   -10,     0,   0,   0,   0,    0,   10,   20,   30,   40,   50  },
00070     {   -40,   -30,   -20,   -10,     0,     0,   0,   0,   0,    0,    0,   10,   20,   30,   40  },
00071     {   -30,   -20,   -10,     0,     0,     0,   0,   0,   0,    0,    0,    0,   10,   20,   30  }
00072 };
00073 
00074 int b_array[15][15] = {
00075     {  100,   92,   84,   76,   68,   60,   52,  100,   36,   28,   20,   12,   4,    0,   0   },
00076     {   92,   84,   76,   68,   60,   52,   44,   36,   28,   20,   12,    4,   0,   0,   0   },
00077     {   84,   76,   68,   60,   52,   44,   36,   28,   20,   12,    4,   0,   0,   0,   -4  },
00078     {   76,   68,   60,   52,   44,   36,   28,   20,   12,    4,   0,   0,   0,    -4,   -12 },
00079     {   68,   60,   52,   44,   36,   28,   20,   12,    4,   0,   0,   0,   -4,   -12,   -20 },
00080     {   60,   52,   44,   36,   28,   20,   12,    4,    0,   0,   0,   -4,   -12,   -20,   -28 },
00081     {   52,   44,   36,   28,   20,   12,    4,   0,   0,   0,    -4,   -12,   -20,   -28,   -36 },
00082     {  100,   36,   28,   20,   12,    4,   0,   0,   0,    -4,   -12,   -20,   -28,   -36,   -44 },
00083     {   85,   28,   20,   12,    4,   0,   0,   0,    -4,   -12,   -20,   -28,   -36,   -44,   -52 },
00084     {   70,   20,   12,    4,   0,   0,   0,   -4,   -12,   -20,   -28,   -36,   -44,   -52,   -60 },
00085     {   55,   12,    4,   0,   0,   0,    -4,   -12,   -20,   -28,   -36,   -44,   -52,   -60,   -68 },
00086     {   40,    4,   0,   0,   0,    -4,   -12,   -20,   -28,   -36,   -44,   -52,   -60,   -68,   -76 },
00087     {   25,   0,   0,   0,    -4,   -12,   -20,   -28,   -36,   -44,   -52,   -60,   -68,   -76,   -84 },
00088     {   10,   0,   0,    -4,   -12,   -20,   -28,   -36,   -44,   -52,   -60,   -68,   -76,   -84,   -92 },
00089     {    0,   0,   -4,   -12,   -20,   -28,  -36,   -100,   -52,   -60,   -68,   -76,   -84,   -92,  -100 }
00090 };
00091 
00092 
00093 int c_array[15][15] = {
00094     {   0,   0,    4,    12,   20,   28,   36,  100,   52,   60,   68,   76,   84,   92,  100  },
00095     {   0,   0,    0,     4,   12,   20,   28,   36,   44,   52,   60,   68,   76,   84,   92  },
00096     {   -4,   0,    0,     0,    4,   12,   20,   28,   36,   44,   52,   60,   68,   76,   84  },
00097     {   -12,   -4,    0,     0,   0,    4,   12,   20,   28,   36,   44,   52,   60,   68,   76  },
00098     {   -20,   -12,   -4,     0,   0,   0,    4,   12,   20,   28,   36,   44,   52,   60,   68  },
00099     {   -28,   -20,   -12,    -4,   0,   0,    0,    4,   12,   20,   28,   36,   44,   52,   60  },
00100     {   -36,   -28,   -20,   -12,    -4,   0,    0,   0,    4,   12,   20,   28,   36,   44,   52  },
00101     {   -44,   -36,   -28,   -20,   -12,    -4,    0,   0,    0,   4,   12,   20,   28,   36,   44  },
00102     {   -52,   -44,   -36,   -28,   -20,   -12,     4,   0,    0,   0,   4,   12,    20,   28,   36  },
00103     {   -60,   -52,   -44,   -36,   -28,   -20,   -12,    -4,    0,   0,   0,   4,   12,   20,   28  },
00104     {   -68,   -60,   -52,   -44,   -36,   -28,   -20,   -12,    -4,   0,   0,   0,   4,   12,   20  },
00105     {   -76,   -68,   -60,   -52,   -44,   -36,   -28,   -20,   -12,    -4,   0,   0,   0,   4,   12  },
00106     {   -84,   -76,   -68,   -60,   -52,   -44,   -36,   -28,   -20,   -12,   -4,   0,   0,   0,    4  },
00107     {   -92,   -84,   -76,   -68,   -60,   -52,   -44,   -36,   -28,   -20,   -12,    -4,   0,   0,    0  },
00108     {  -100,   -92,   -84,   -76,   -76,   -60,  -100,  -100,   -36,   -28,   -20,   -12,  -4,   0,    0  }
00109 };
00110 
00111 int pwm_array[15] = {   30,   25,   20,   15,   10,   5,   0,   0,   0,   -5,   -10,   -15,   -20,   -25,   -30 };
00112 
00113 #define usiro 0
00114 #define mae 0
00115 uint8_t motorData[5];
00116 uint8_t pwmData[5];
00117 
00118 int conlx;
00119 int conly;
00120 int conrx;
00121 int conry;
00122 int conba;
00123 int conbb;
00124 int conbx;
00125 int conby;
00126 int homes=0;
00127 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
00128 //_____________________
00129 
00130 //#define USE_USB_SERIAL
00131 #ifdef USE_USB_SERIAL
00132 Serial pc(SERIAL_TX, SERIAL_RX);
00133 #endif
00134 Serial pc(SERIAL_TX,SERIAL_RX);
00135 XBEE::ControllerData *controller;
00136 MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
00137 //////////////////////////////////
00138 //関数、タイマーの宣言
00139 DigitalOut Air[]= {
00140     DigitalOut(A5),
00141     DigitalOut(A4),
00142 };
00143 DigitalIn limit[]= {
00144     DigitalIn(A7),
00145     DigitalIn(A6),
00146 };
00147 Timer Airtime;
00148 Timer home;
00149 void AirOut(int pin,int mode)
00150 {
00151     Air[pin]=mode;
00152 }
00153 bool LimitRead(int pin)
00154 {
00155     int x;
00156     x=limit[pin];
00157     if(x==0) {
00158         return false;
00159     } else if(x==1) {
00160         return true;
00161     } else {
00162         return false;
00163     }
00164 }
00165 //関数、タイマーの宣言
00166 //////////////////////////////////
00167 //using namespace SWITCH;
00168 
00169 void SystemProcess(void)
00170 {
00171     while(true) {
00172         controller = XBEE::Controller::GetData();
00173 //____________________________
00174         /*------------------------ HOW TO WRITE ------------------------/
00175 
00176             ここにメインのプログラムを書く
00177 
00178             ・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
00179              (コントローラのデータは controller-> で取る)
00180 
00181                 if(controller->Button.RIGHT) {
00182                     motor[TIRE_L].dir = FOR;
00183                     motor[TIRE_R].dir = BACK;
00184                     motor[TIRE_L].pwm = 12.3;
00185                     motor[TIRE_R].pwm = 12.3;
00186                 }
00187 
00188              motor[0].dirは     FOR   (正転)
00189                                 BACK  (逆転)
00190                                 BRAKE (ブレーキ)
00191                                 FREE  (フリー)
00192 
00193              motor[0].pwmは     0.0(%) ~ 100.0(%)
00194 
00195              controllerは       XBee.hの構造体の中身
00196 
00197              (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)
00198 
00199             ・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
00200 
00201                 if(Switch::CheckPushed(ARM_L))
00202                 {
00203                     if(controller->Button.L)
00204                     {
00205                         motor[ARM].dir = FOR;
00206                         motor[ARM].pwm = 80.0;
00207                     }
00208                     if(motor[ARM].dir == BACK)
00209                     {
00210                         motor[ARM].dir = BRAKE;
00211                     }
00212                 }
00213 
00214              →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)
00215 
00216             ・他にもやりたいことがあったら自由にどうぞ
00217 
00218             ps.わからないことがあったら聞いてください
00219 
00220         /------------------------ HOW TO WRITE ------------------------*/
00221 //↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓
00222 
00223         float precision; //精密モード変数
00224         float s=Airtime.read();//エアータイム
00225         float hometime=home.read();//ホームタイム（ご挨拶モード兼回路リセット）
00226         float goaisatsu_time=0.2;//ご挨拶タイム
00227         //////////////////////////////////////////////////////////////////////////////////
00228         //ご挨拶モード
00229 
00230         if(controller->Button.HOME) {
00231             home.start();
00232             homes=1;
00233         }
00234 
00235         if((hometime<=goaisatsu_time)&&(!(homes==0))) {
00236             homes=2;
00237         } else if(hometime<=2*goaisatsu_time) {
00238             homes=1;
00239         } else if(hometime<=3*goaisatsu_time) {
00240             homes=2;
00241         } else if(hometime<4*goaisatsu_time) {
00242             homes=1;
00243         } else if(hometime<5*goaisatsu_time) {
00244             homes=0;
00245             home.stop();
00246             home.reset();
00247         } else {
00248             homes=0;
00249             home.stop();
00250             home.reset();
00251         }
00252 
00253         //ご挨拶モード
00254         ////////////////////////////////////////////////////////////////////////////////////
00255 
00256         ////////////////////////////////////////////////////////////////////////////////////
00257         //精密モード
00258         if(controller->Button.ZR) {
00259             precision=0.5;
00260         } else {
00261             precision=1.0;
00262         }
00263         //精密モード
00264         ////////////////////////////////////////////////////////////////////////////////////
00265 
00266         ////////////////////////////////////////////////////////////////////////////////////
00267         //アーム機構
00268         //motor[ARM].pwm=100;
00269 
00270         if(controller->Button.X) {
00271             if(LimitRead(0)){
00272                 motor[ARM].dir = BACK;
00273                 motor[ARM].pwm = 100;
00274             }else{
00275                 motor[ARM].dir = FREE;
00276                 motor[ARM].pwm = 100;
00277             }
00278         }else if(controller->Button.Y) {
00279             motor[ARM].dir = FOR;
00280             motor[ARM].pwm = 100;
00281         }else{
00282             motor[ARM].dir = FREE;
00283             motor[ARM].pwm = 100;
00284         }
00285 
00286             //アーム機構
00287             ////////////////////////////////////////////////////////////////////////////////////
00288 
00289             ////////////////////////////////////////////////////////////////////////////////////
00290             //十字キー足回り（宮川ver）
00291 
00292             if(controller->Button.L) {
00293                 motor[TIRE_1].dir = FOR;
00294                 motor[TIRE_2].dir = FOR;
00295                 motor[TIRE_3].dir = FOR;
00296                 motor[TIRE_1].pwm = 100*precision;
00297                 motor[TIRE_2].pwm = 100*precision;
00298                 motor[TIRE_3].pwm = 100*precision;
00299             } else if(controller->Button.R) {
00300                 motor[TIRE_1].dir = BACK;
00301                 motor[TIRE_2].dir = BACK;
00302                 motor[TIRE_3].dir = BACK;
00303                 motor[TIRE_1].pwm = 100*precision;
00304                 motor[TIRE_2].pwm = 100*precision;
00305                 motor[TIRE_3].pwm = 100*precision;
00306             } else if(controller->Button.RIGHT) {
00307                 motor[TIRE_1].dir = BACK;
00308                 motor[TIRE_2].dir = FOR;
00309                 motor[TIRE_3].dir = FOR;
00310                 motor[TIRE_1].pwm = 100*precision;
00311                 motor[TIRE_2].pwm = 60*precision;
00312                 motor[TIRE_3].pwm = 60*precision;
00313             } else if(controller->Button.LEFT) {
00314                 motor[TIRE_1].dir = FOR;
00315                 motor[TIRE_2].dir = BACK;
00316                 motor[TIRE_3].dir = BACK;
00317                 motor[TIRE_1].pwm = 100*precision;
00318                 motor[TIRE_2].pwm = 60*precision;
00319                 motor[TIRE_3].pwm = 60*precision;
00320             } else if(controller->Button.DOWN) {
00321                 motor[TIRE_1].dir = BRAKE;
00322                 motor[TIRE_2].dir = FOR;
00323                 motor[TIRE_3].dir = BACK;
00324                 motor[TIRE_1].pwm = 100;
00325                 motor[TIRE_2].pwm = 100*precision;
00326                 motor[TIRE_3].pwm = 100*precision;
00327             } else if(controller->Button.UP) {
00328                 motor[TIRE_1].dir = BRAKE;
00329                 motor[TIRE_2].dir = BACK;
00330                 motor[TIRE_3].dir = FOR;
00331                 motor[TIRE_1].pwm = 100;
00332                 motor[TIRE_2].pwm = 100*precision;
00333                 motor[TIRE_3].pwm = 100*precision;
00334             } else if((controller->Button.UP) && (controller->Button.RIGHT)) {
00335                 motor[TIRE_1].dir = BACK;
00336                 motor[TIRE_2].dir = BRAKE;
00337                 motor[TIRE_3].dir = FOR;
00338                 motor[TIRE_1].pwm = 100*precision;
00339                 motor[TIRE_2].pwm = 100;
00340                 motor[TIRE_3].pwm = 100*precision;
00341             } else if((controller->Button.UP) && (controller->Button.LEFT)) {
00342                 motor[TIRE_1].dir = FOR;
00343                 motor[TIRE_2].dir = BACK;
00344                 motor[TIRE_3].dir = BRAKE;
00345                 motor[TIRE_1].pwm = 100*precision;
00346                 motor[TIRE_2].pwm = 100*precision;
00347                 motor[TIRE_3].pwm = 100;
00348             } else if((controller->Button.DOWN) && (controller->Button.RIGHT)) {
00349                 motor[TIRE_1].dir = BACK;
00350                 motor[TIRE_2].dir = FOR;
00351                 motor[TIRE_3].dir = BRAKE;
00352                 motor[TIRE_1].pwm = 100*precision;
00353                 motor[TIRE_2].pwm = 100*precision;
00354                 motor[TIRE_3].pwm = 100;
00355             } else if((controller->Button.DOWN) && (controller->Button.LEFT)) {
00356                 motor[TIRE_1].dir = FOR;
00357                 motor[TIRE_2].dir = BRAKE;
00358                 motor[TIRE_3].dir = BACK;
00359                 motor[TIRE_1].pwm = 100*precision;
00360                 motor[TIRE_2].pwm = 100;
00361                 motor[TIRE_3].pwm = 100*precision;
00362             } else if(homes==1) {
00363                 motor[TIRE_1].dir = FOR;
00364                 motor[TIRE_2].dir = FOR;
00365                 motor[TIRE_3].dir = FOR;
00366                 motor[TIRE_1].pwm = 70*precision;
00367                 motor[TIRE_2].pwm = 70*precision;
00368                 motor[TIRE_3].pwm = 70*precision;
00369             } else if(homes==2) {
00370                 motor[TIRE_1].dir = BACK;
00371                 motor[TIRE_2].dir = BACK;
00372                 motor[TIRE_3].dir = BACK;
00373                 motor[TIRE_1].pwm = 70*precision;
00374                 motor[TIRE_2].pwm = 70*precision;
00375                 motor[TIRE_3].pwm = 70*precision;
00376             } else {
00377                 motor[TIRE_1].dir=BRAKE;
00378                 motor[TIRE_2].dir=BRAKE;
00379                 motor[TIRE_3].dir=BRAKE;
00380                 motor[TIRE_1].pwm=100;
00381                 motor[TIRE_2].pwm=100;
00382                 motor[TIRE_3].pwm=100;
00383             }
00384             //十字キー足回り（みやがわver）
00385             ///////////////////////////////////
00386 
00387             ///////////////////////////////////
00388             //課題１
00389             if(controller->Button.A) {
00390                 AirOut(Air0,1);
00391             } else if(controller->Button.B) {
00392                 AirOut(Air0,0);
00393             }
00394 
00395             if(controller->Button.ZL) {
00396                 Airtime.start();
00397                 AirOut(Air1,0);
00398             }
00399             if(s>1) {
00400                 Airtime.stop();
00401                 Airtime.reset();
00402                 AirOut(Air1,1);
00403             }
00404             //課題１
00405             ///////////////////////////////////
00406 
00407             /////////////////////////////////////////////////////////////////////////////////////
00408             //アナログスティック足回り（新村ver）
00409 
00410             conlx = controller->AnalogL.X;
00411             conly = controller->AnalogL.Y;
00412             conrx = controller->AnalogR.X;
00413             conry = controller->AnalogR.Y;
00414             if((!(controller->Button.RIGHT))&&(!(controller->Button.DOWN))&&
00415                     (!(controller->Button.LEFT))&&(!(controller->Button.UP))&&
00416                     (!(controller->Button.L))&&(!(controller->Button.R))&&
00417                     (!(controller->Button.HOME))) {
00418                 if(((conlx >6) && (conly <8)) ||((conrx >6)&&(conry <8))) {
00419                     motor[a].dir = BRAKE;
00420                     motor[b].dir = BRAKE;
00421                     motor[c].dir = BRAKE;
00422                     motor[a].pwm = 100.0;
00423                     motor[b].pwm = 100.0;
00424                     motor[c].pwm = 100.0;
00425                 }
00426 
00427                 if(a_array[conly][conlx]<0) {
00428                     motor[a].pwm = -1*a_array[conly][conlx]*precision;
00429                     motor[a].dir = FOR;
00430                 } else if(a_array[conly][conlx] > 0) {
00431                     motor[a].pwm = a_array[conly][conlx]*precision;
00432                     motor[a].dir = BACK;
00433                 } else if(a_array[conly][conlx] == 0) {
00434                     if(conry < 6) {
00435                         motor[a].dir = BACK;
00436                         motor[b].dir = BACK;
00437                         motor[c].dir = BACK;
00438                         motor[a].pwm = 100.0*precision;
00439                         motor[b].pwm = 100.0*precision;
00440                         motor[c].pwm = 100.0*precision;
00441                     } else if(conry > 8) {
00442                         motor[a].dir = FOR;
00443                         motor[b].dir = FOR;
00444                         motor[c].dir = FOR;
00445                         motor[a].pwm = 100.0*precision;
00446                         motor[b].pwm = 100.0*precision;
00447                         motor[c].pwm = 100.0*precision;
00448                     } else {
00449                         motor[a].dir = BRAKE;
00450                         motor[b].dir = BRAKE;
00451                         motor[c].dir = BRAKE;
00452                         motor[a].pwm = 100.0;
00453                         motor[b].pwm = 100.0;
00454                         motor[c].pwm = 100.0;
00455                     }
00456                 }
00457 
00458                 if(b_array[conly][conlx] <0 ) {
00459                     motor[b].pwm = -1*b_array[conly][conlx]*precision;
00460                     motor[b].dir = FOR;
00461                 } else if(b_array[conly][conlx] > 0) {
00462                     motor[b].pwm = b_array[conly][conlx]*precision;
00463                     motor[b].dir = BACK;
00464                 } else if(a_array[conly][conlx] == 0 ) {
00465                     if(conrx < 6 ) {
00466                         motor[a].dir = BACK;
00467                         motor[b].dir = BACK;
00468                         motor[c].dir = BACK;
00469                         motor[a].pwm = 100.0*precision;
00470                         motor[b].pwm = 100.0*precision;
00471                         motor[c].pwm = 100.0*precision;
00472                     } else if(conrx > 8) {
00473                         motor[a].dir = FOR*precision;
00474                         motor[b].dir = FOR*precision;
00475                         motor[c].dir = FOR*precision;
00476                         motor[a].pwm = 100.0*precision;
00477                         motor[b].pwm = 100.0*precision;
00478                         motor[c].pwm = 100.0*precision;
00479                     } else {
00480                         motor[a].dir = BRAKE;
00481                         motor[b].dir = BRAKE;
00482                         motor[c].dir = BRAKE;
00483                         motor[a].pwm = 100.0;
00484                         motor[b].pwm = 100.0;
00485                         motor[c].pwm = 100.0;
00486                     }
00487                 }
00488 
00489 
00490                 if(c_array[conly][conlx] <0 ) {
00491                     motor[c].pwm =-1*c_array[conly][conlx]*precision;
00492                     motor[c].dir = BACK;
00493                 } else if(c_array[conly][conlx] > 0) {
00494                     motor[c].pwm = c_array[conly][conlx]*precision;
00495                     motor[c].dir = FOR;
00496                 } else if(a_array[conly][conlx] == 0 ) {
00497                     if(conrx < 6 ) {
00498                         motor[a].dir = BACK;
00499                         motor[b].dir = BACK;
00500                         motor[c].dir = BACK;
00501                         motor[a].pwm = 100.0*precision;
00502                         motor[b].pwm = 100.0*precision;
00503                         motor[c].pwm = 100.0*precision;
00504                     } else if(conrx > 8) {
00505                         motor[a].dir = FOR;
00506                         motor[b].dir = FOR;
00507                         motor[c].dir = FOR;
00508                         motor[a].pwm = 100.0*precision;
00509                         motor[b].pwm = 100.0*precision;
00510                         motor[c].pwm = 100.0*precision;
00511                     } else {
00512                         motor[a].dir = BRAKE;
00513                         motor[b].dir = BRAKE;
00514                         motor[c].dir = BRAKE;
00515                         motor[a].pwm = 100.0;
00516                         motor[b].pwm = 100.0;
00517                         motor[c].pwm = 100.0;
00518                     }
00519                     //アナログスティック足回り（新村ver）
00520                     /////////////////////////////////////////////////////////////////////////////////////
00521 
00522 
00523 
00524 
00525 
00526 
00527                 }
00528             }
00529 
00530 
00531 
00532 //↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑
00533 
00534 
00535             MOTOR::Motor::Update(motor);
00536         }
00537     }
00538