main.cpp

00001 #include "mbed.h"
00002 #include "config.h"
00003 #include "moter.h"
00004 #include "PID.h"
00005 #include "encoder.h"
00006 #include "encoder2.h"
00007 #include "Serialservo.h"
00008 #include "XQ_servo.h"
00009 
00010 Serial pc(USBTX, USBRX);
00011 Serial kbtpc(PC_12 ,PD_2);//serial5
00012 I2C master(sda, scl);
00013 DigitalOut led2(LED2);//チェック用
00014 PID S_pid(SP, SI, SD, 0.0);
00015 PID R_pid(RP, RI, RD, 0.0);
00016 PID L_pid(LP, LI, LD, 0.0);
00017 
00018 Encoder Enc_Carry_Y(PA_15,PA_14,PC_1);
00019 Encoder Enc_Carry_X(PA_4,PB_0,PB_7);
00020 Encoder2 Enc_Arm(PF_1,PA_0,PA_1);
00021 
00022 DigitalOut buzzer(PA_10);
00023 DigitalOut lamp(PC_3);
00024 Timer timer;
00025 Serialservo servo1(PC_10, PC_11);//アームの肘
00026 Serialservo servo2(PC_10, PC_11);//回転軸
00027 XQ_servo servo_hand(PB_5);
00028 DigitalOut throwing_relay(PC_9);
00029 DigitalIn distance(PC_2);
00030 DigitalIn redIn(PC_4);
00031 DigitalIn blueIn(PB_2);
00032 DigitalIn micro_switch(PC_0);
00033 DigitalOut air(PB_4);
00034 
00035 DigitalOut motor_dir1(PA_8);
00036 DigitalOut motor_dir2(PA_9);
00037 PwmOut motor_pwm(PB_3);
00038 
00039 PwmOut pwm_pins[] = {
00040     PwmOut( PC_8 ),
00041     PwmOut( PC_6 ),
00042     PwmOut( PB_14 ),
00043     PwmOut( PB_13 )
00044 };
00045 
00046 DigitalOut dir_pins_1[] = {
00047     DigitalOut( PC_5 ),
00048     DigitalOut( PA_7 ),
00049     DigitalOut( PB_6 ),
00050     DigitalOut( PB_1)
00051 };
00052 
00053 DigitalOut dir_pins_2[] = {
00054     DigitalOut( PB_12 ),
00055     DigitalOut( PA_6 ),
00056     DigitalOut( PC_7 ),
00057     DigitalOut( PB_15)
00058 };
00059 
00060 
00061 void linecheck(char *buff ,int data[2]);
00062 void LineCheck(int dmode);
00063 void Linecount(void);
00064 void syokikanomai(void);
00065 void syokikanomai2(void);
00066 void touteki(float armpower, int pos, bool thro_mode);
00067 void yellow_throwing(void);
00068 void Linecount2(void);
00069 
00070 bool set_pos_flag_2 = false;
00071 bool set_pos_flag = false;
00072 bool redthrowing = false;
00073 bool yellow_throw_flag = false;
00074 bool taiki_flag = false;
00075 int crosscount = 0;
00076 bool mode = true;//trueでラジコン、falseでオート
00077 bool stopflag = true;//trueで機体停止
00078 double power = POWER;
00079 int kbtread = 0;
00080 int count = 0;
00081 int counter = 0;
00082 int linedata_1[2] = {0};
00083 int linedata_2[2] = {0};
00084 int linedata_3[2] = {0};
00085 int prelinedata = 0;
00086 double output = 0.0;
00087 char buff1[2];
00088 char buff2[2];
00089 char buff3[2];
00090 float x_dist = 0.0;
00091 float y_dist = 0.0;
00092 float tar_x_dist = 0.0;
00093 float tar_x_dist_2 = 0.0;
00094 float tar_x_dist_3 = 0.0;
00095 float tar_y_dist = 0.0;
00096 bool ontheline = false;
00097 int directmode = STRAIGHT;
00098 int state = START;
00099 int times = 0;
00100 int redcount = 0;
00101 int bluecount = 0;
00102 int yellowcount = 0;
00103 bool syokika_flag=false;
00104 bool set_flag = false;
00105 int encoder_count = 1000;
00106 int linecountcheck = false;
00107 
00108 int main() {
00109     timer.reset();
00110     timer.stop();
00111     throwing_relay=0;
00112     lamp=1;
00113     air=0.0;
00114     buzzer = 0.0;
00115     micro_switch.mode(PullUp);
00116     motor_pwm=0;
00117     motor_dir1=1;
00118     motor_dir2=1;
00119     servo1.init(0);//アーム
00120     servo2.init(1);//回転軸
00121     S_pid.init();
00122     R_pid.init();
00123     L_pid.init();
00124     pwm_pins[0].period(0.00005);
00125     pwm_pins[1].period(0.00005);
00126     pwm_pins[2].period(0.00005);
00127     pwm_pins[3].period(0.00005);
00128     motor_pwm.period(0.00005);
00129 //------通信スピード----------------------------------------------
00130     pc.baud(115200);
00131     kbtpc.baud(9600);
00132     master.frequency(100000);
00133     lamp = 1.0;
00134 //-------初期化-------------------------------------------------
00135     syokikanomai();//初期位置
00136     buzzer = 0;
00137 //-----------メインループ----------------------------------------
00138     while (true) {
00139         if(directmode == STRAIGHT){
00140             master.read(addr1,buff1,2);
00141             linecheck(buff1,linedata_1);
00142         }else if(directmode == RIGHT){
00143             master.read(addr2,buff2,2);
00144             linecheck(buff2,linedata_2);
00145         }else if(directmode == LEFT){
00146             master.read(addr3,buff3,2);
00147             linecheck(buff3,linedata_3);
00148         }
00149         
00150         x_dist = Enc_Carry_X.read_rotate();
00151         y_dist = Enc_Carry_Y.read_rotate();
00152         
00153         //PCからの命令
00154         kbtpc.putc(state);
00155         if(kbtpc.readable()){
00156             kbtread = kbtpc.getc();
00157         }
00158         if(kbtread == 255){
00159             mode = true;//
00160         }else if(kbtread == 150){
00161             mode = false;
00162         }else if(kbtread == 100){
00163             stopflag = true;
00164         }else if(kbtread == 200){
00165             stopflag = false;
00166         }else if(kbtread == STRAIGHT){
00167             directmode = STRAIGHT;
00168         }else if(kbtread == RIGHT){
00169             directmode = RIGHT;
00170         }else if(kbtread == LEFT){
00171             directmode = LEFT;
00172         }else if(kbtread == START){
00173             state = START;
00174         }else if(kbtread == STAND_BY_1){
00175             state = STAND_BY_1;
00176         }else if(kbtread == YELLOW_RECEIVE){
00177             state = YELLOW_RECEIVE;
00178             crosscount = 5;
00179             air = 1.0;
00180         }else if(kbtread == STAND_BY_2){
00181             state = STAND_BY_2;
00182             crosscount = 0;;
00183         }
00184         
00185 //--------------手動--------------------------------------
00186         if(mode == true){
00187             led2 = 1.0;
00188             if(kbtread == STRAIGHT){
00189                 Straight(power, power, pwm_pins, dir_pins_1, dir_pins_2);
00190             }else if(kbtread == BACK){
00191                 Back(power, power, pwm_pins, dir_pins_1, dir_pins_2);
00192             }else if(kbtread == RIGHT){
00193                 Right(power, power, pwm_pins, dir_pins_1, dir_pins_2);
00194             }else if(kbtread == LEFT){
00195                 Left(power, power, pwm_pins, dir_pins_1, dir_pins_2);
00196             }else{
00197                 Stop(pwm_pins, dir_pins_1, dir_pins_2);
00198             }
00199 //--------------自動---------------------------------
00200         }else if(mode == false){
00201             led2 = 0.0;
00202             if(stopflag == true){
00203                 Stop(pwm_pins, dir_pins_1, dir_pins_2);
00204             }else{
00205                 LineCheck(directmode);
00206                 switch(state){
00207 //------------------初期位置から待機位置1------------------------------------------
00208                     case START:
00209                     if(crosscount == 0){
00210                         directmode = LEFT;
00211                         Linecount2();
00212                     }else if(crosscount == 1){
00213                         directmode = STRAIGHT;
00214                     }else if(crosscount == 2){
00215                         if(directmode == STRAIGHT){
00216                             directmode = LEFT;
00217                             prelinedata = 0;
00218                         }else if(directmode == LEFT){
00219                             directmode = LEFT;
00220                             Linecount();
00221                         }
00222                     }else if(crosscount == 3){
00223                         directmode = STOP;
00224                         state = STAND_BY_1;
00225                         crosscount = 0;
00226                         prelinedata = 0;
00227                     }
00228                     break;
00229 //------------------待機位置1----------------------------------------------------
00230                     case STAND_BY_1:
00231                     crosscount = 0;
00232                     directmode = STOP;
00233                     
00234                     if(distance == 1.0){
00235                         if(redthrowing == false){
00236                             if(redIn == 1.0){
00237                                 buzzer = 1.0;
00238                                 redcount++;
00239                             }else {
00240                                 buzzer = 0.0;
00241                             }
00242                         }else if(redthrowing == true){
00243                             if(redIn == 1.0){
00244                                 buzzer = 1.0;
00245                                 bluecount++;
00246                             }else {
00247                                 buzzer = 0.0;
00248                             }
00249                         }
00250                         if(redcount >= 200 ){
00251                             buzzer = 0;
00252                             servo_hand.move(hand_tsukami_degree);
00253                             servo1.move(hiji_tsukami_degree);
00254                             servo1.move(hiji_tsukami_degree);
00255                         }else if(bluecount >= 200){
00256                             servo_hand.move(hand_tsukami_degree);
00257                             servo1.move(hiji_tsukami_degree);
00258                             servo1.move(hiji_tsukami_degree);
00259                         }   
00260                     }                       
00261                     if(distance == 0.0 && redcount >= 200){
00262                         led2 = 1.0;
00263                         servo2.move(koshi_red_nage_degree);
00264                         servo2.move(koshi_red_nage_degree);
00265                         state = RED_RECEIVE;
00266                         directmode = STOP;
00267                         redcount = 0;
00268                         crosscount = 0;
00269                     }else if(distance == 0.0 && bluecount >= 200){
00270                         servo2.move(koshi_blue_nage_degree);
00271                         servo2.move(koshi_blue_nage_degree);
00272                         state = BLUE_RECEIVE_1;
00273                         directmode = STOP;
00274                         bluecount = 0;
00275                         crosscount = 0;
00276                     }
00277                     break;
00278 //------------------待機位置1から投てき位置1----------------------------------------
00279                     case RED_RECEIVE:
00280                     led2 = 1.0;
00281                     if(crosscount == 0){
00282                         directmode = LEFT;
00283                     }else if(crosscount == 1){
00284                         directmode = STOP;
00285                         prelinedata = 0;
00286                         touteki(1.0,RED_TOUTEKI,0);
00287                         //syokikanomai2();
00288                         if(set_flag == false){
00289                             directmode = RIGHT;
00290                             Linecount();
00291                         }
00292                     }else if(crosscount == 2){
00293                         directmode = STOP;
00294                         syokikanomai2();
00295                         if(set_flag == true){
00296                             state = STAND_BY_1;
00297                             //taiki_flag = false;
00298                             crosscount = 0;
00299                             redthrowing = true;
00300                         }
00301                     }
00302                     break;
00303 //------------------待機位置1から投てき位置2----------------------------------------
00304                     case BLUE_RECEIVE_1:
00305                     if(crosscount == 0){
00306                         directmode = RIGHT;
00307                     }else if(crosscount == 1){
00308                         directmode = STRAIGHT;
00309                     }else if(crosscount == 2){
00310                         directmode = LEFT;
00311                         Linecount();
00312                     }else if(crosscount == 3){
00313                         directmode = STOP;
00314                         prelinedata = 0;
00315                         state = BLUE_RECEIVE_2;
00316                         crosscount = 0;
00317                     }
00318                     break;
00319 //------------------待機位置2----------------------------------------------------
00320                     case STAND_BY_2:
00321                     crosscount = 0;
00322                     directmode = STOP;
00323                     if(distance == 1.0){
00324                         if(redIn == 1.0 && micro_switch == 1){
00325                             buzzer = 1.0;
00326                             bluecount++;
00327                         }else if(micro_switch == 0.0){
00328                             buzzer = 1.0;
00329                             yellowcount++;
00330                         }else{
00331                             buzzer = 0.0;
00332                         }
00333                         if(bluecount >= 200){
00334                             servo_hand.move(hand_tsukami_degree);
00335                             servo1.move(hiji_tsukami_degree);
00336                             servo1.move(hiji_tsukami_degree);
00337                         }else if(yellowcount >= 500){
00338                             air = 1.0;
00339                         }
00340                     }else if(distance == 0.0 && bluecount >= 200){
00341                         servo2.move(koshi_blue_nage_degree);
00342                         servo2.move(koshi_blue_nage_degree);
00343                         state = BLUE_RECEIVE_2;
00344                         directmode = STOP;
00345                         bluecount = 0;
00346                         crosscount = 0;
00347                         buzzer = 0.0;
00348                     }
00349                     if(yellowcount >= 1000){
00350                         state = YELLOW_RECEIVE;
00351                         buzzer = 0.0;
00352                         directmode = STOP;
00353                         yellowcount = 0;
00354                         crosscount = 0;
00355                     }
00356                     break;
00357 //------------------投てき位置2---------------------------------------------------
00358                     case BLUE_RECEIVE_2:
00359                     if(crosscount == 0){
00360                         directmode = LEFT;
00361                     }else if(crosscount == 1){
00362                         directmode = STOP;
00363                         prelinedata = 0;
00364                         touteki(1.0,BLUE_TOUTEKI,1);
00365                         //syokikanomai2();
00366                         if(set_flag == false){
00367                             directmode = RIGHT;
00368                             Linecount(); 
00369                         }
00370                     }else if(crosscount == 2){
00371                         directmode = STOP;
00372                         syokikanomai2();
00373                         if(set_flag == true){
00374                             state = STAND_BY_2;
00375                             //taiki_flag = false;
00376                             crosscount = 0;
00377                         }
00378                     }
00379                     break;
00380 //------------------投てき位置3---------------------------------------------------
00381                     case YELLOW_RECEIVE:
00382                     if(crosscount != 5){
00383                         directmode = LEFT;
00384                         servo2.move(koshi_uke_degree);
00385                         power = POWER + 0.1;
00386                     }else{
00387                         directmode = STOP;
00388                         if(yellow_throw_flag == false){
00389                             yellow_throwing();
00390                         }else{
00391                             touteki(1.0,YELLOW_TOUTEKI,1.0);
00392                             syokikanomai2();   
00393                         }
00394                     }
00395                     break;
00396                     default:
00397                     break;
00398                 }
00399 //--------------進行方向---------------------------------------------------------
00400                 switch(directmode){
00401                     case STOP:
00402                     Stop(pwm_pins, dir_pins_1, dir_pins_2);
00403                     break;
00404                     case STRAIGHT:
00405                     output = S_pid.compute((double)linedata_1[0]);
00406                     if(output >= 0){
00407                         Straight(power, power + output, pwm_pins, dir_pins_1, dir_pins_2);
00408                     }else {
00409                         Straight(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2);
00410                     }
00411                     break;
00412                     case RIGHT:
00413                     output = R_pid.compute((double)linedata_2[0]);
00414                     if(output >= 0){
00415                         Right(power, power + output, pwm_pins, dir_pins_1, dir_pins_2);
00416                     }else {
00417                         Right(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2);
00418                     }
00419                     break;
00420                     case LEFT:
00421                     output = L_pid.compute((double)linedata_3[0]);
00422                     if(output >= 0){
00423                         Left(power, power + output, pwm_pins, dir_pins_1, dir_pins_2);
00424                     }else {
00425                         Left(power + (-1 * output), power, pwm_pins, dir_pins_1, dir_pins_2);
00426                     }
00427                     break;
00428                     default:
00429                     break;
00430                 }
00431             }
00432         }
00433         pc.printf("xdist = %f \r",x_dist);
00434         pc.printf("ydist = %f \r",y_dist);
00435         pc.printf("output  = %lf \n" ,output);
00436     }
00437 }
00438 
00439 //---------------初期化----------------------------------------------------------
00440 
00441 void yellow_throwing(){
00442     if(yellow_throw_flag == false){
00443         timer.start();
00444     }
00445     int times = timer.read();
00446     if(times >= 2.0 && times < 3.0){
00447         servo_hand.move(hand_uke_degree);
00448     }else if(times >= 3.0 && times < 4.0){
00449         servo1.move(hiji_yellow_uke_degree);
00450     }else if(times >= 4.0 && times < 5.0){
00451         servo_hand.move(hand_tsukami_degree);
00452     }else if(times >=5.0 && times <5.5){
00453         servo2.move(koshi_nage_degree);
00454     }else if(times >= 5.5){
00455         yellow_throw_flag = true;
00456         timer.stop();
00457         timer.reset();
00458     }
00459 }
00460 
00461 void syokikanomai(void){
00462     syokika_flag = false;
00463     while (set_flag==false) {
00464         encoder_count= Enc_Arm.read_rotate(); 
00465         servo_hand.move(hand_uke_degree);
00466         servo1.move(hiji_nage_degree);//退避
00467         servo2.move(koshi_uke_degree);
00468         servo1.move(hiji_nage_degree);//退避
00469         servo2.move(koshi_uke_degree);
00470         motor_dir1=0;
00471         motor_dir2=1;
00472         motor_pwm=0.12;
00473         if(Enc_Arm.read_z() == 1){
00474             syokika_flag=true;
00475             buzzer = 1.0;
00476         }
00477         
00478         if (syokika_flag==true) {
00479             if(encoder_count == SYOKIITI){
00480                 motor_pwm=0;
00481                 motor_dir1=1;
00482                 motor_dir2=1;
00483                 set_flag=true;  //投てき後，falseにする.
00484             }
00485         }
00486     }
00487     servo1.move(hiji_uke_degree);
00488     servo1.move(hiji_uke_degree);
00489 }
00490 
00491 void syokikanomai2(void){
00492     if(set_flag==false) {
00493         encoder_count= Enc_Arm.read_rotate();
00494         servo_hand.move(hand_uke_degree);
00495         servo1.move(hiji_nage_degree);//退避
00496         servo1.move(hiji_nage_degree);//退避
00497         if(yellow_throw_flag == false){
00498             servo2.move(koshi_uke_degree);
00499             servo2.move(koshi_uke_degree);
00500         }
00501         motor_dir1=0;
00502         motor_dir2=1;
00503         motor_pwm=0.12;
00504         if(Enc_Arm.read_z() == 1) {
00505             syokika_flag = true;
00506             buzzer = 1.0;
00507         }
00508         if(syokika_flag==true) {
00509             int set_pos;
00510             if(yellow_throw_flag == true) set_pos = YELLOW_SYOKIITI;
00511             else set_pos = SYOKIITI;
00512             if(encoder_count == set_pos){
00513                 buzzer = 0.0;
00514                 motor_pwm=0;
00515                 motor_dir1=1;
00516                 motor_dir2=1;
00517                 if(yellow_throw_flag == false){
00518                     servo_hand.move(hand_uke_degree);
00519                     servo1.move(hiji_uke_degree);
00520                     servo1.move(hiji_uke_degree);
00521                     servo1.move(hiji_uke_degree);
00522                     servo1.move(hiji_uke_degree);
00523                 }else{
00524                     servo_hand.move(hand_tsukami_degree);
00525                     servo2.move(koshi_uke_degree);
00526                     servo2.move(koshi_uke_degree);
00527                 }
00528                 set_flag = true;  //投てき後，falseにする.
00529                 taiki_flag = true;
00530                 yellow_throw_flag = false;
00531             }
00532         }
00533     }
00534 }
00535 
00536 void touteki(float armpower ,int pos, bool throwing_mode){
00537     if(set_flag == true){
00538         timer.start();
00539     }
00540     int times = timer.read();
00541     if(times >= 1.0 && times < 4.0){
00542         if(yellow_throw_flag == true){
00543             if(set_pos_flag_2 == false){
00544                 if(Enc_Arm.read_rotate() < 180) {
00545                     motor_dir1 = 0;
00546                     motor_dir2 = 1;
00547                     motor_pwm = 0.15;
00548                 }else{
00549                     motor_dir1=1;
00550                     motor_dir2=1;
00551                     motor_pwm=0;
00552                     set_pos_flag_2 = true;
00553                 }   
00554             }
00555         }
00556     }
00557     if(times >= 4.0 && times < 5.0){
00558     servo_hand.move(hand_uke_degree);
00559     }    
00560     if(times >= 5.0 && times < 6.0){
00561     servo1.move(hiji_nage_degree);
00562     servo1.move(hiji_nage_degree);
00563     }
00564     if(times >= 6.0 && times < 9.0){
00565         lamp = 0.0;
00566         if(set_pos_flag == false){
00567             if(Enc_Arm.read_rotate() < pos) {
00568                 motor_dir1 = 0;
00569                 motor_dir2 = 1;
00570                 motor_pwm = 0.15;
00571             }else{
00572                 motor_dir1=1;
00573                 motor_dir2=1;
00574                 motor_pwm=0;
00575                 set_pos_flag = true;
00576             }   
00577         }
00578     }
00579     
00580 //----投てき-------------------------
00581     if(throwing_mode == 0.0){
00582         if(times >= 9.0 && times < 10.0){
00583             motor_dir1 = 0;
00584             motor_dir2 = 1;
00585             motor_pwm = armpower;
00586         }
00587     }else if(throwing_mode == 1.0){
00588         if(times >= 9.0 && times < 9.1){
00589             throwing_relay = 1.0;
00590         }else{
00591             throwing_relay = 0.0;    
00592         }
00593     }
00594     if(times >= 10.0 && times <11.0){
00595         motor_pwm = 0.0;
00596         motor_dir1 = 1;
00597         motor_dir2 = 1;
00598         buzzer = 0;
00599         lamp = 1.0;
00600         syokika_flag = false;
00601     }else if(times >= 11.0){
00602         set_flag = false;
00603         set_pos_flag = false;
00604         set_pos_flag_2 = false;
00605         timer.reset();
00606         timer.stop();
00607     }
00608 }
00609 
00610 void Linecount(void){
00611     if(directmode == RIGHT){
00612         if(linecountcheck == false){
00613             tar_x_dist_2 = x_dist;
00614             linecountcheck = true;
00615         }else{
00616             if((x_dist - tar_x_dist_2) > X_STOP_DIST_3){
00617                 crosscount++;
00618                 linecountcheck = false;
00619             }
00620         }
00621     }else if(directmode == LEFT){
00622         if(linecountcheck == false){
00623             tar_x_dist_2 = x_dist;
00624             linecountcheck = true;
00625         }else{
00626             if((tar_x_dist_2 - x_dist) >= X_STOP_DIST_2){
00627                 crosscount++;
00628                 linecountcheck = false;
00629             }
00630         }
00631     }
00632 }
00633 
00634 void Linecount2(void){
00635     if(directmode == LEFT){
00636         if(linecountcheck == false){
00637             tar_x_dist_3 = x_dist;
00638             linecountcheck = true;
00639         }else{
00640             if((tar_x_dist_3 - x_dist) >= X_STOP_DIST_4){
00641                 crosscount++;
00642                 linecountcheck = false;
00643             }
00644         }
00645     }
00646 }
00647 void LineCheck(int dmode){
00648     if(dmode == STRAIGHT){
00649         if(linedata_1[1] == 1){
00650             ontheline = true;
00651             tar_y_dist = y_dist;
00652         }
00653         if(ontheline == true){
00654             if((y_dist - tar_y_dist) >= Y_STOP_DIST){
00655                 ontheline = false;
00656                 crosscount++;
00657             }
00658         }
00659     }else if(dmode == RIGHT){
00660         if(linedata_2[1] == 1){
00661             ontheline = true;
00662             tar_x_dist = x_dist;
00663         }
00664         if(ontheline == true){
00665             if((x_dist - tar_x_dist) >= X_STOP_DIST){
00666                 ontheline = false;
00667                 crosscount++;
00668             }
00669         }
00670     }else if(dmode == LEFT){
00671         if(linedata_3[1] == 1){
00672             ontheline = true;
00673             tar_x_dist = x_dist;
00674         }
00675         if(ontheline == true){
00676             if((tar_x_dist - x_dist) >= X_STOP_DIST){
00677                 ontheline = false;
00678                 crosscount++;
00679             }
00680         }
00681     }
00682 }
00683 
00684 void linecheck(char *buff, int data[2]){
00685     if(buff[0] == 24){
00686         data[0] = 0;
00687         data[1] = 0;
00688     }else if(buff[0] == 56){
00689         data[0] = 1;
00690         data[1] = 0;
00691     }else if(buff[0] == 48){
00692         data[0] = 2;
00693         data[1] = 0;
00694     }else if(buff[0] == 112){
00695         data[0] = 3;
00696         data[1] = 0;
00697     }else if(buff[0] == 96){
00698         data[0] = 4;
00699         data[1] = 0;
00700     }else if(buff[0] == 224){
00701         data[0] = 5;
00702         data[1] = 0;
00703     }else if(buff[0] == 192){
00704         data[0] = 6;
00705         data[1] = 0;
00706     }else if(buff[0] == 128){
00707         data[0] = 7;
00708         data[1] = 0;
00709     }else if(buff[0] == 28){
00710         data[0] = -1;
00711         data[1] = 0;
00712     }else if(buff[0] == 12){
00713         data[0] = -2;
00714         data[1] = 0;
00715     }else if(buff[0] == 14){
00716         data[0] = -3;
00717         data[1] = 0;
00718     }else if(buff[0] == 6){
00719         data[0] = -4;
00720         data[1] = 0;
00721     }else if(buff[0] == 7){
00722         data[0] = -5;
00723         data[1] = 0;
00724     }else if(buff[0] == 3){
00725         data[0] = -6;
00726         data[1] = 0;
00727     }else if(buff[0] == 1){
00728         data[0] = -7;
00729         data[1] = 0;
00730     }else if(buff[0] == 255){
00731         data[0] = prelinedata;
00732         data[1] = 1;
00733     }else if(buff[0] == 0){
00734         data[0] = prelinedata;
00735         data[1] = 0;
00736     }else{
00737         data[0] = prelinedata;
00738         data[1] = 0;
00739     }
00740     prelinedata = data[0];
00741 }