File content as of revision 0:4682992b55fa:

void BOU(void const *argument) { // bougyo
 int i=0;    
    while(1) { 

 float a=0.071f;    //sireiti
 float b=0.109f;
 float c=0.126f;
 float max = maxof(henni(homeK,a),henni(homeH,b),henni(homeT,c));
 float t = max / (0.015f / 0.17f * 0.03f); //nannbyou kakeruka 60(0.03duty)/0.17 servo /0.02s
 if(bou==1){
        switch(fei){
        case 1:
        i=i+1;
        Kata = homeK + (a - homeK) / t * i;
        Hiji = homeH + (b - homeH) / t * i;
        Te = homeT + (c - homeT) / t * i;
        wait(0.022);
        if(i>t){
        fei=3;
        }else;
        break;
        
        case 2: 
        i=i-1;
        Kata = homeK + (a - homeK) / t * i;
        Hiji = homeH + (b - homeH) / t * i;
        Te = homeT + (c - homeT) / t * i;
        wait(0.022);
        if(i<0){
            fei=1;
            i=1;
            bou=0;
            dousa=0;
            pc.printf("end1\n");
            }else;
        break;
        
        case 3:
        break;
        }
      }else;
    }
}



//2go-ki bougyo
void BOU2(void const *argument) {
 int i=0;    
    while(1) { 

 float a=0.058f;    //sireiti
 float b=0.118f;
 float c=0.113f;
 
 float max = maxof(henni(homeK2,a),henni(homeH2,b),henni(homeT2,c));
 float t = max / (0.015f / 0.17f * 0.03f); //nannbyou kakeruka 60(0.03duty)/0.17 servo /0.02s
 if(bou2==1){
        switch(fei2){
        case 1:
        i=i+1;
        Kata2 = homeK2 + (a - homeK2) / t * i;
        Hiji2 = homeH2 + (b - homeH2) / t * i;
        Te2 = homeT2 + (c - homeT2) / t * i;
        wait(0.022);
        if(i>t){
        fei2=3;
        }else;
        break;
        
        case 2: 
        i=i-1;
        Kata2 = homeK2 + (a - homeK2) / t * i;
        Hiji2 = homeH2 + (b - homeH2) / t * i;
        Te2 = homeT2 + (c - homeT2) / t * i;
        wait(0.022);
        if(i<0){
            fei2=1;
            i=1;
            bou2=0;
            dousa2=0;
            pc.printf("end2\n");
            }else;
        break;
        
        case 3:
        break;
        }
      }else;
    }
}