Diff: main.cpp

Revision:

8:e2dc708fc3e6

Parent:

7:2b63f0a1b679

Child:

9:f4dbffb78eb8

--- a/main.cpp	Mon Sep 05 07:32:38 2016 +0000
+++ b/main.cpp	Mon Sep 05 11:55:42 2016 +0000
@@ -206,8 +206,12 @@
     }
 }
 
+
+
+
+
 int main(){
-    int team=1,phase=0;
+    int team=1,phase=0,comand,buf;
     setup();
     initmotor();
     team=teamLED();
@@ -236,9 +240,25 @@
         if(phase==2){
             movelength(1200);
             turnccw();
+            movelength(1200-150);
+            turnccw();
+            movelength(1200-100);
+            wait(30);
+        }
+        
+        if(phase==15){
+            buf=15;
+            while(buf>phaseSW()){
+                buf=phaseSW();
+                }
+                //スイッチを上昇させると、上昇前で確定
+            //この時点でbufに現在のスイッチの状態がはいる。
+            
+            movelength(300+75*buf);
+            turnccw();
             movelength(1200);
             turnccw80();
-            movelength(1200-50);
+            movelength(300+75*buf);
             wait(30);
         }
     }