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大季矢花 / Mbed 2 deprecated 2019_Master_10_2_last

Dependencies: mbed TrapezoidControl QEI

System/Process/Process.cpp@42:4f9689c0a349, 2019-09-30 (annotated)

Committer:: yabahiro
Date:: Mon Sep 30 11:33:22 2019 +0000
Revision:: 42:4f9689c0a349
Parent:: 41:e1dd6d97f17d
Child:: 43:677f7446612e

qq;

Who changed what in which revision?

User	Revision	Line number	New contents of line
kishibekairohan	13:b6e02d6261d7	1
t_yamamoto	0:669ef71cba68	2	#include "mbed.h"
t_yamamoto	0:669ef71cba68	3	#include "Process.h"
7ka884	4:ba9df71868df	4	#include "QEI.h"
t_yamamoto	0:669ef71cba68	5
7ka884	4:ba9df71868df	6	#include "../../CommonLibraries/PID/PID.h"
t_yamamoto	0:669ef71cba68	7	#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
yabahiro	21:1f1e9c585da8	8	#include "../../Communication/RS485/LineHub/LineHub.h"
t_yamamoto	0:669ef71cba68	9	#include "../../Communication/Controller/Controller.h"
t_yamamoto	0:669ef71cba68	10	#include "../../Input/ExternalInt/ExternalInt.h"
t_yamamoto	0:669ef71cba68	11	#include "../../Input/Switch/Switch.h"
t_yamamoto	0:669ef71cba68	12	#include "../../Input/Potentiometer/Potentiometer.h"
kishibekairohan	16:3f2c2d89372b	13	#include "../../Input/Encoder/Encoder.h"
t_yamamoto	0:669ef71cba68	14	#include "../../LED/LED.h"
t_yamamoto	0:669ef71cba68	15	#include "../../Safty/Safty.h"
t_yamamoto	0:669ef71cba68	16	#include "../Using.h"
t_yamamoto	0:669ef71cba68	17
t_yamamoto	0:669ef71cba68	18	using namespace SWITCH;
7ka884	4:ba9df71868df	19	using namespace PID_SPACE;
kishibekairohan	16:3f2c2d89372b	20	using namespace ENCODER;
yabahiro	21:1f1e9c585da8	21	using namespace LINEHUB;
t_yamamoto	0:669ef71cba68	22
t_yamamoto	0:669ef71cba68	23	static CONTROLLER::ControllerData *controller;
t_yamamoto	0:669ef71cba68	24	ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto	0:669ef71cba68	25	ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto	0:669ef71cba68	26
t_yamamoto	0:669ef71cba68	27	static bool lock;
t_yamamoto	0:669ef71cba68	28	static bool processChangeComp;
t_yamamoto	0:669ef71cba68	29	static int current;
t_yamamoto	0:669ef71cba68	30
t_yamamoto	0:669ef71cba68	31	static void AllActuatorReset();
t_yamamoto	0:669ef71cba68	32
t_yamamoto	0:669ef71cba68	33	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	34	static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto	0:669ef71cba68	35	#endif
t_yamamoto	0:669ef71cba68	36
t_yamamoto	0:669ef71cba68	37	#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	38
t_yamamoto	0:669ef71cba68	39	/Replace here with the definition code of your variables./
t_yamamoto	0:669ef71cba68	40
kishibekairohan	2:c015739085d3	41	Serial pc(USBTX, USBRX);
kishibekairohan	2:c015739085d3	42
kishibekairohan	16:3f2c2d89372b	43	//************Encoder*************
kishibekairohan	16:3f2c2d89372b	44	const int PerRev = 256;
kishibekairohan	16:3f2c2d89372b	45	QEI ECD_0(ECD_A_0,ECD_B_0,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	46	QEI ECD_1(ECD_A_1,ECD_B_1,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	47	QEI ECD_2(ECD_A_2,ECD_B_2,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	48	QEI ECD_3(ECD_A_3,ECD_B_3,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	49	//************Encoder*************
kishibekairohan	7:e88c5d47a3be	50
kishibekairohan	16:3f2c2d89372b	51	//************Buzzer**************
kishibekairohan	11:028a150943b5	52	//DigitalOut buzzer(BUZZER_PIN);
kishibekairohan	9:f93fc79a49ea	53	void BuzzerTimer_func();
kishibekairohan	9:f93fc79a49ea	54	Ticker BuzzerTimer;
kishibekairohan	16:3f2c2d89372b	55	bool EMGflag = false;
yabahiro	21:1f1e9c585da8	56	//PWMOut buzzer(BUZZER_PIN);
kishibekairohan	16:3f2c2d89372b	57	//************Buzzer**************
kishibekairohan	11:028a150943b5	58
kishibekairohan	11:028a150943b5	59	//**********TapeLed***************
kishibekairohan	11:028a150943b5	60	void TapeLedEms_func();
kishibekairohan	11:028a150943b5	61	TapeLedData tapeLED;
kishibekairohan	11:028a150943b5	62	TapeLedData sendLedData;
kishibekairohan	11:028a150943b5	63	TapeLED_Mode ledMode = Normal;
kishibekairohan	11:028a150943b5	64	Ticker tapeLedTimer;
kishibekairohan	11:028a150943b5	65	//**********TapaLed***************
kishibekairohan	16:3f2c2d89372b	66
M_souta	18:c694bae76e51	67	float tireProRPM[4];
M_souta	18:c694bae76e51	68	float tireTarRPM[4];
yabahiro	21:1f1e9c585da8	69	float tirepwm[4];
yabahiro	21:1f1e9c585da8	70
yabahiro	21:1f1e9c585da8	71	const int omni[15][15] = {
yabahiro	21:1f1e9c585da8	72	{ 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
yabahiro	21:1f1e9c585da8	73	{ -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
yabahiro	21:1f1e9c585da8	74	{ -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 },
yabahiro	21:1f1e9c585da8	75	{ -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 },
yabahiro	21:1f1e9c585da8	76	{ -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 },
yabahiro	21:1f1e9c585da8	77	{ -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 },
yabahiro	21:1f1e9c585da8	78	{ -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 },
yabahiro	21:1f1e9c585da8	79	{ -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 },
yabahiro	21:1f1e9c585da8	80	{ -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 },
yabahiro	21:1f1e9c585da8	81	{ -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 },
yabahiro	21:1f1e9c585da8	82	{ -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 },
yabahiro	21:1f1e9c585da8	83	{ -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 },
yabahiro	21:1f1e9c585da8	84	{ -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 },
yabahiro	21:1f1e9c585da8	85	{ -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 },
yabahiro	21:1f1e9c585da8	86	{ -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 }
yabahiro	21:1f1e9c585da8	87	};
yabahiro	21:1f1e9c585da8	88
yabahiro	21:1f1e9c585da8	89	const int curve[15] = { -152, -98, -54, -18, 0, 0, 0, 0, 0, 0, 0, 18, 54, 98, 152 };
yabahiro	21:1f1e9c585da8	90	//{-200,-146,-102,-66,-36,-16,0,0,0,16,36,66,102,146,200}
yabahiro	21:1f1e9c585da8	91
yabahiro	21:1f1e9c585da8	92	uint8_t SetStatus(int);
yabahiro	21:1f1e9c585da8	93	uint8_t SetStatus(int pwmVal)
yabahiro	21:1f1e9c585da8	94	{
yabahiro	21:1f1e9c585da8	95	if (pwmVal < 0) return BACK;
yabahiro	21:1f1e9c585da8	96	else if (pwmVal > 0) return FOR;
yabahiro	21:1f1e9c585da8	97	else if (pwmVal == 0) return BRAKE;
yabahiro	21:1f1e9c585da8	98	else return BRAKE;
yabahiro	21:1f1e9c585da8	99	}
yabahiro	21:1f1e9c585da8	100	uint8_t Setpwm(int);
yabahiro	21:1f1e9c585da8	101	uint8_t Setpwm(int pwmVal)
yabahiro	21:1f1e9c585da8	102	{
yabahiro	21:1f1e9c585da8	103	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
yabahiro	21:1f1e9c585da8	104	else return abs(pwmVal);
yabahiro	21:1f1e9c585da8	105	}
M_souta	18:c694bae76e51	106
yabahiro	42:4f9689c0a349	107	int selectnum[16][4]= {
yabahiro	42:4f9689c0a349	108	//1,2,4,8
yabahiro	42:4f9689c0a349	109	{0,0,0,0},
yabahiro	42:4f9689c0a349	110	{1,0,0,0},
yabahiro	42:4f9689c0a349	111	{0,1,0,0},
yabahiro	42:4f9689c0a349	112	{1,1,0,0},
yabahiro	42:4f9689c0a349	113	{0,0,1,0},
yabahiro	42:4f9689c0a349	114	{1,0,1,0},
yabahiro	42:4f9689c0a349	115	{0,1,1,0},
yabahiro	42:4f9689c0a349	116	{1,1,1,0},
yabahiro	42:4f9689c0a349	117	{0,0,0,1},
yabahiro	42:4f9689c0a349	118	{1,0,0,1},
yabahiro	42:4f9689c0a349	119	{0,1,0,1},
yabahiro	42:4f9689c0a349	120	{1,1,0,1},
yabahiro	42:4f9689c0a349	121	{0,0,1,1},
yabahiro	42:4f9689c0a349	122	{1,0,1,1},
yabahiro	42:4f9689c0a349	123	{0,1,1,1},
yabahiro	42:4f9689c0a349	124	{1,1,1,1}
yabahiro	42:4f9689c0a349	125	};
yabahiro	42:4f9689c0a349	126
yabahiro	42:4f9689c0a349	127	void LedMode(int num)
yabahiro	35:94f026ab4d30	128	{
yabahiro	42:4f9689c0a349	129	POTENTIOMETER::dio[0]= selectnum[num][0];
yabahiro	42:4f9689c0a349	130	POTENTIOMETER::dio[1]= selectnum[num][1];;
yabahiro	42:4f9689c0a349	131	POTENTIOMETER::dio[2]= selectnum[num][2];;
yabahiro	42:4f9689c0a349	132	POTENTIOMETER::dio[3]= selectnum[num][3];;
yabahiro	35:94f026ab4d30	133
yabahiro	35:94f026ab4d30	134	}
yabahiro	31:45f97698857b	135	int Twsh;
yabahiro	31:45f97698857b	136	bool UP_flag = false;
yabahiro	35:94f026ab4d30	137	bool SW_flag = false;
yabahiro	31:45f97698857b	138	bool Air_flag = false;
yabahiro	35:94f026ab4d30	139	bool zyouge;
yabahiro	39:f89166d7411c	140	bool zyougedo;
yabahiro	31:45f97698857b	141	bool dz1=true;
yabahiro	31:45f97698857b	142	bool dz1i=false;
yabahiro	31:45f97698857b	143	bool dz2=true;
yabahiro	31:45f97698857b	144	bool dz2i=false;
yabahiro	31:45f97698857b	145	bool dz3=true;
yabahiro	31:45f97698857b	146	bool dz3i=false;
yabahiro	31:45f97698857b	147	bool dz4=true;
yabahiro	31:45f97698857b	148	bool dz4i=false;
yabahiro	31:45f97698857b	149	bool zone;
yabahiro	31:45f97698857b	150	bool through=false;
yabahiro	35:94f026ab4d30	151	bool counts=false;
yabahiro	36:788274604650	152	bool mtc=false;
yabahiro	36:788274604650	153	bool mtc2 = false;
yabahiro	31:45f97698857b	154
yabahiro	41:e1dd6d97f17d	155	bool start_flag = true;
yabahiro	41:e1dd6d97f17d	156
yabahiro	42:4f9689c0a349	157	int mode =0;
yabahiro	31:45f97698857b	158	int cross=0;//十字数える用
yabahiro	35:94f026ab4d30	159	int cros=0;
yabahiro	31:45f97698857b	160	int count=100000;//wait代替え
kishibekairohan	33:656aa14904a5	161
kishibekairohan	33:656aa14904a5	162	///*******PWM調整用*******///
yabahiro	40:7f93984e8ba1	163	int fast =60;
yabahiro	40:7f93984e8ba1	164	int normal = 40;
yabahiro	40:7f93984e8ba1	165	int slow = 20;
yabahiro	31:45f97698857b	166
t_yamamoto	0:669ef71cba68	167	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	168
t_yamamoto	0:669ef71cba68	169	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	170	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	171	static void Process0(void);
t_yamamoto	0:669ef71cba68	172	#endif
t_yamamoto	0:669ef71cba68	173	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	174	static void Process1(void);
t_yamamoto	0:669ef71cba68	175	#endif
t_yamamoto	0:669ef71cba68	176	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	177	static void Process2(void);
t_yamamoto	0:669ef71cba68	178	#endif
t_yamamoto	0:669ef71cba68	179	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	180	static void Process3(void);
t_yamamoto	0:669ef71cba68	181	#endif
t_yamamoto	0:669ef71cba68	182	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	183	static void Process4(void);
t_yamamoto	0:669ef71cba68	184	#endif
t_yamamoto	0:669ef71cba68	185	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	186	static void Process5(void);
t_yamamoto	0:669ef71cba68	187	#endif
t_yamamoto	0:669ef71cba68	188	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	189	static void Process6(void);
t_yamamoto	0:669ef71cba68	190	#endif
t_yamamoto	0:669ef71cba68	191	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	192	static void Process7(void);
t_yamamoto	0:669ef71cba68	193	#endif
t_yamamoto	0:669ef71cba68	194	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	195	static void Process8(void);
t_yamamoto	0:669ef71cba68	196	#endif
t_yamamoto	0:669ef71cba68	197	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	198	static void Process9(void);
t_yamamoto	0:669ef71cba68	199	#endif
t_yamamoto	0:669ef71cba68	200	#endif
t_yamamoto	0:669ef71cba68	201
t_yamamoto	0:669ef71cba68	202	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	203	{
yabahiro	21:1f1e9c585da8	204	#pragma region USER-DEFINED_VARIABLE_INIT
yabahiro	21:1f1e9c585da8	205	/Replace here with the initialization code of your variables./
yabahiro	21:1f1e9c585da8	206	#pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto	0:669ef71cba68	207
yabahiro	21:1f1e9c585da8	208	lock = true;
yabahiro	21:1f1e9c585da8	209	processChangeComp = true;
yabahiro	21:1f1e9c585da8	210	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	211
yabahiro	21:1f1e9c585da8	212	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	213	#if USE_PROCESS_NUM>0
yabahiro	21:1f1e9c585da8	214	Process[0] = Process0;
yabahiro	21:1f1e9c585da8	215	#endif
yabahiro	21:1f1e9c585da8	216	#if USE_PROCESS_NUM>1
yabahiro	21:1f1e9c585da8	217	Process[1] = Process1;
yabahiro	21:1f1e9c585da8	218	#endif
yabahiro	21:1f1e9c585da8	219	#if USE_PROCESS_NUM>2
yabahiro	21:1f1e9c585da8	220	Process[2] = Process2;
yabahiro	21:1f1e9c585da8	221	#endif
yabahiro	21:1f1e9c585da8	222	#if USE_PROCESS_NUM>3
yabahiro	21:1f1e9c585da8	223	Process[3] = Process3;
yabahiro	21:1f1e9c585da8	224	#endif
yabahiro	21:1f1e9c585da8	225	#if USE_PROCESS_NUM>4
yabahiro	21:1f1e9c585da8	226	Process[4] = Process4;
yabahiro	21:1f1e9c585da8	227	#endif
yabahiro	21:1f1e9c585da8	228	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	229	Process[5] = Process5;
yabahiro	21:1f1e9c585da8	230	#endif
yabahiro	21:1f1e9c585da8	231	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	232	Process[6] = Process6;
yabahiro	21:1f1e9c585da8	233	#endif
yabahiro	21:1f1e9c585da8	234	#if USE_PROCESS_NUM>7
yabahiro	21:1f1e9c585da8	235	Process[7] = Process7;
yabahiro	21:1f1e9c585da8	236	#endif
yabahiro	21:1f1e9c585da8	237	#if USE_PROCESS_NUM>8
yabahiro	21:1f1e9c585da8	238	Process[8] = Process8;
yabahiro	21:1f1e9c585da8	239	#endif
yabahiro	21:1f1e9c585da8	240	#if USE_PROCESS_NUM>9
yabahiro	21:1f1e9c585da8	241	Process[9] = Process9;
yabahiro	21:1f1e9c585da8	242	#endif
yabahiro	21:1f1e9c585da8	243	#endif
t_yamamoto	0:669ef71cba68	244	}
t_yamamoto	0:669ef71cba68	245
t_yamamoto	0:669ef71cba68	246	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	247	{
yabahiro	21:1f1e9c585da8	248	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	249	if(controller->Button.HOME) lock = false;
yabahiro	21:1f1e9c585da8	250
yabahiro	21:1f1e9c585da8	251	if(controller->Button.START && processChangeComp) {
yabahiro	21:1f1e9c585da8	252	current++;
yabahiro	21:1f1e9c585da8	253	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
yabahiro	21:1f1e9c585da8	254	processChangeComp = false;
yabahiro	21:1f1e9c585da8	255	} else if(controller->Button.SELECT && processChangeComp) {
yabahiro	21:1f1e9c585da8	256	current--;
yabahiro	21:1f1e9c585da8	257	if (current < 0) current = 0;
yabahiro	21:1f1e9c585da8	258	processChangeComp = false;
yabahiro	21:1f1e9c585da8	259	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
yabahiro	21:1f1e9c585da8	260	#endif
yabahiro	21:1f1e9c585da8	261
yabahiro	21:1f1e9c585da8	262	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	263	ACTUATORHUB::MOTOR::Motor::Update(motor);
yabahiro	21:1f1e9c585da8	264	#endif
yabahiro	21:1f1e9c585da8	265
yabahiro	21:1f1e9c585da8	266	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	267	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
yabahiro	21:1f1e9c585da8	268	#endif
yabahiro	21:1f1e9c585da8	269
yabahiro	21:1f1e9c585da8	270	#ifdef USE_RS485
yabahiro	21:1f1e9c585da8	271	ACTUATORHUB::ActuatorHub::Update();
yabahiro	21:1f1e9c585da8	272	#endif
yabahiro	21:1f1e9c585da8	273
yabahiro	21:1f1e9c585da8	274	}
yabahiro	21:1f1e9c585da8	275
yabahiro	21:1f1e9c585da8	276	int g[8];
yabahiro	21:1f1e9c585da8	277
yabahiro	21:1f1e9c585da8	278	void SystemProcess()
yabahiro	21:1f1e9c585da8	279	{
yabahiro	21:1f1e9c585da8	280	SystemProcessInitialize();
yabahiro	21:1f1e9c585da8	281
yabahiro	21:1f1e9c585da8	282	while(1) {
yabahiro	42:4f9689c0a349	283	if(mode==0) {
yabahiro	42:4f9689c0a349	284	if(ZoneSW) {
yabahiro	42:4f9689c0a349	285	LedMode(1);
yabahiro	42:4f9689c0a349	286	} else {
yabahiro	42:4f9689c0a349	287	LedMode(2);
yabahiro	42:4f9689c0a349	288	}
yabahiro	42:4f9689c0a349	289	}
yabahiro	21:1f1e9c585da8	290	for(int i = 0; i < 8; i++) {
yabahiro	21:1f1e9c585da8	291	g[i] = LineHub::GetPara(i);
yabahiro	21:1f1e9c585da8	292	}
yabahiro	41:e1dd6d97f17d	293	if(ThSW) {
yabahiro	41:e1dd6d97f17d	294	Twsh=1;
yabahiro	41:e1dd6d97f17d	295	} else {
yabahiro	41:e1dd6d97f17d	296	Twsh=2;
yabahiro	41:e1dd6d97f17d	297	}
yabahiro	42:4f9689c0a349	298
yabahiro	41:e1dd6d97f17d	299	if(StertSW && start_flag) {
yabahiro	42:4f9689c0a349	300	start_flag = false;
yabahiro	42:4f9689c0a349	301	lock = false;
yabahiro	42:4f9689c0a349	302	if(ZoneSW) {
yabahiro	42:4f9689c0a349	303	mode=1;
yabahiro	42:4f9689c0a349	304	current = 2;
yabahiro	42:4f9689c0a349	305	} else {
yabahiro	42:4f9689c0a349	306	mode=1;
yabahiro	42:4f9689c0a349	307	current = 5;
yabahiro	41:e1dd6d97f17d	308	}
yabahiro	42:4f9689c0a349	309	}
yabahiro	41:e1dd6d97f17d	310	if(DWSW\|\|DOSW) {
yabahiro	41:e1dd6d97f17d	311	if(DWSW) {
yabahiro	41:e1dd6d97f17d	312	zyouge=true;
yabahiro	41:e1dd6d97f17d	313	}
yabahiro	41:e1dd6d97f17d	314	if(DOSW) {
yabahiro	41:e1dd6d97f17d	315	if(DOLS) {
yabahiro	41:e1dd6d97f17d	316	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	317	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	318	} else {
yabahiro	41:e1dd6d97f17d	319	motor[MOTOR_0].pwm = 50;
yabahiro	41:e1dd6d97f17d	320	motor[MOTOR_0].dir = BACK;
yabahiro	41:e1dd6d97f17d	321	}
yabahiro	41:e1dd6d97f17d	322	}
yabahiro	42:4f9689c0a349	323	} else if(zyouge==false) {
yabahiro	41:e1dd6d97f17d	324	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	325	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	326	}
yabahiro	41:e1dd6d97f17d	327	if(zyouge) {
yabahiro	41:e1dd6d97f17d	328	if(Twsh==1) {
yabahiro	41:e1dd6d97f17d	329	motor[MOTOR_0].pwm = 220;
yabahiro	41:e1dd6d97f17d	330	motor[MOTOR_0].dir = FOR;
yabahiro	41:e1dd6d97f17d	331	if(UPLS) {
yabahiro	41:e1dd6d97f17d	332	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	333	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	334	zyouge=false;
yabahiro	41:e1dd6d97f17d	335	}
yabahiro	41:e1dd6d97f17d	336	}
yabahiro	41:e1dd6d97f17d	337	if(Twsh==2) {
yabahiro	41:e1dd6d97f17d	338	motor[MOTOR_0].pwm = 230;
yabahiro	41:e1dd6d97f17d	339	motor[MOTOR_0].dir = FOR;
yabahiro	41:e1dd6d97f17d	340	if(UPLS2) {
yabahiro	41:e1dd6d97f17d	341	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	342	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	343	zyouge=false;
yabahiro	41:e1dd6d97f17d	344	}
yabahiro	41:e1dd6d97f17d	345	}
yabahiro	41:e1dd6d97f17d	346	}
yabahiro	41:e1dd6d97f17d	347	if(AIRSW) {
yabahiro	41:e1dd6d97f17d	348	if(SW_flag==false) {
yabahiro	41:e1dd6d97f17d	349	if(Air_flag==false) {
yabahiro	41:e1dd6d97f17d	350	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	41:e1dd6d97f17d	351	Air_flag=true;
yabahiro	41:e1dd6d97f17d	352	SW_flag=true;
yabahiro	41:e1dd6d97f17d	353	} else {
yabahiro	41:e1dd6d97f17d	354	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	41:e1dd6d97f17d	355	Air_flag=false;
yabahiro	41:e1dd6d97f17d	356	SW_flag=true;
yabahiro	41:e1dd6d97f17d	357	}
yabahiro	41:e1dd6d97f17d	358	}
yabahiro	41:e1dd6d97f17d	359	} else {
yabahiro	42:4f9689c0a349	360	if( SW_flag==true) {
yabahiro	42:4f9689c0a349	361	count++;
yabahiro	42:4f9689c0a349	362	if(count>=5000) {
yabahiro	42:4f9689c0a349	363	SW_flag=false;
yabahiro	42:4f9689c0a349	364	count=0;
yabahiro	42:4f9689c0a349	365	}
yabahiro	42:4f9689c0a349	366	}
yabahiro	41:e1dd6d97f17d	367	}
yabahiro	35:94f026ab4d30	368
yabahiro	36:788274604650	369	//printf("0:%d 1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 9:%d\n\r",g[0],g[1],g[2],g[3],g[4],g[5],g[6],g[7]);
yabahiro	35:94f026ab4d30	370
yabahiro	21:1f1e9c585da8	371	#ifdef USE_MU
yabahiro	21:1f1e9c585da8	372	controller = CONTROLLER::Controller::GetData();
yabahiro	21:1f1e9c585da8	373	#endif
yabahiro	21:1f1e9c585da8	374
yabahiro	21:1f1e9c585da8	375	#ifdef USE_ERRORCHECK
yabahiro	41:e1dd6d97f17d	376	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) { //& start_flag
yabahiro	21:1f1e9c585da8	377	CONTROLLER::Controller::DataReset();
yabahiro	21:1f1e9c585da8	378	AllActuatorReset();
yabahiro	21:1f1e9c585da8	379	lock = true;
yabahiro	21:1f1e9c585da8	380	} else
yabahiro	21:1f1e9c585da8	381	#endif
yabahiro	21:1f1e9c585da8	382	{
yabahiro	21:1f1e9c585da8	383
yabahiro	21:1f1e9c585da8	384	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	385	if(!lock) {
yabahiro	21:1f1e9c585da8	386	Process[current]();
yabahiro	21:1f1e9c585da8	387	} else
yabahiro	21:1f1e9c585da8	388	#endif
yabahiro	21:1f1e9c585da8	389	{
yabahiro	21:1f1e9c585da8	390	//ロック時の処理
yabahiro	21:1f1e9c585da8	391	}
yabahiro	21:1f1e9c585da8	392	}
yabahiro	21:1f1e9c585da8	393	/*
yabahiro	21:1f1e9c585da8	394	//Emergency!
yabahiro	21:1f1e9c585da8	395	if(!EMG_0 && !EMG_1 && !EMGflag) {
yabahiro	21:1f1e9c585da8	396	buzzer = 0;
yabahiro	21:1f1e9c585da8	397	BuzzerTimer.attach(BuzzerTimer_func, 1);
yabahiro	21:1f1e9c585da8	398	EMGflag = true;
yabahiro	21:1f1e9c585da8	399	LED_DEBUG0 = 1;
yabahiro	21:1f1e9c585da8	400	}
yabahiro	21:1f1e9c585da8	401	if(EMG_0 && EMG_1 && EMGflag) {
yabahiro	21:1f1e9c585da8	402	buzzer = 1;
yabahiro	21:1f1e9c585da8	403	BuzzerTimer.detach();
yabahiro	21:1f1e9c585da8	404	EMGflag = false;
yabahiro	21:1f1e9c585da8	405	}
yabahiro	21:1f1e9c585da8	406	*/
yabahiro	21:1f1e9c585da8	407	SystemProcessUpdate();
yabahiro	21:1f1e9c585da8	408	}
t_yamamoto	0:669ef71cba68	409	}
t_yamamoto	0:669ef71cba68	410
t_yamamoto	0:669ef71cba68	411	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	412	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	413	#if USE_PROCESS_NUM>0
yabahiro	21:1f1e9c585da8	414	static void Process0()
yabahiro	21:1f1e9c585da8	415	{
yabahiro	42:4f9689c0a349	416	/*
yabahiro	36:788274604650	417	mode=1;
yabahiro	36:788274604650	418	LedMode(1);
yabahiro	35:94f026ab4d30	419	if(ThSW) {
yabahiro	35:94f026ab4d30	420	Twsh=1;
yabahiro	35:94f026ab4d30	421	} else {
yabahiro	35:94f026ab4d30	422	Twsh=2;
yabahiro	31:45f97698857b	423	}
yabahiro	36:788274604650	424
yabahiro	25:38d4964e8aad	425	if(StertSW) {
yabahiro	41:e1dd6d97f17d	426	//start_flag == false;
yabahiro	41:e1dd6d97f17d	427	//lock = false;
yabahiro	36:788274604650	428	if(ZoneSW) {
yabahiro	31:45f97698857b	429	mode=1;
yabahiro	31:45f97698857b	430	current = 2;
yabahiro	31:45f97698857b	431	} else {
yabahiro	31:45f97698857b	432	mode=1;
yabahiro	40:7f93984e8ba1	433	current = 5;
yabahiro	31:45f97698857b	434	}
yabahiro	25:38d4964e8aad	435	}
yabahiro	35:94f026ab4d30	436	if(DWSW) {
yabahiro	35:94f026ab4d30	437	zyouge=true;
yabahiro	35:94f026ab4d30	438	}
yabahiro	39:f89166d7411c	439	if(DOSW) {
yabahiro	39:f89166d7411c	440	zyougedo=true;
yabahiro	39:f89166d7411c	441	}
yabahiro	35:94f026ab4d30	442	if(AIRSW) {
yabahiro	35:94f026ab4d30	443	if(SW_flag==false) {
yabahiro	35:94f026ab4d30	444	if(Air_flag==false) {
yabahiro	35:94f026ab4d30	445	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	35:94f026ab4d30	446	Air_flag=true;
yabahiro	35:94f026ab4d30	447	SW_flag=true;
yabahiro	35:94f026ab4d30	448	} else {
yabahiro	35:94f026ab4d30	449	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	35:94f026ab4d30	450	Air_flag=false;
yabahiro	35:94f026ab4d30	451	SW_flag=true;
yabahiro	35:94f026ab4d30	452	}
yabahiro	35:94f026ab4d30	453	}
yabahiro	35:94f026ab4d30	454	} else {
yabahiro	35:94f026ab4d30	455	SW_flag=false;
yabahiro	31:45f97698857b	456	}
yabahiro	31:45f97698857b	457
yabahiro	35:94f026ab4d30	458	if(zyouge) {
yabahiro	35:94f026ab4d30	459	if(Twsh==1) {
yabahiro	35:94f026ab4d30	460	motor[MOTOR_0].pwm = 220;
yabahiro	35:94f026ab4d30	461	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	462	if(UPLS) {
yabahiro	35:94f026ab4d30	463	motor[MOTOR_0].pwm = 100;
yabahiro	35:94f026ab4d30	464	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	465	zyouge=false;
yabahiro	35:94f026ab4d30	466	}
yabahiro	35:94f026ab4d30	467	}
yabahiro	35:94f026ab4d30	468	if(Twsh==2) {
yabahiro	37:7cfa39c41245	469	motor[MOTOR_0].pwm = 230;
yabahiro	35:94f026ab4d30	470	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	471	if(UPLS2) {
yabahiro	35:94f026ab4d30	472	motor[MOTOR_0].pwm = 100;
yabahiro	35:94f026ab4d30	473	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	474	zyouge=false;
yabahiro	35:94f026ab4d30	475	}
yabahiro	31:45f97698857b	476	}
yabahiro	39:f89166d7411c	477	}
yabahiro	39:f89166d7411c	478	if(zyougedo) {
yabahiro	39:f89166d7411c	479	motor[MOTOR_0].pwm = 50;
yabahiro	39:f89166d7411c	480	motor[MOTOR_0].dir = BACK;
yabahiro	39:f89166d7411c	481	if(DOLS) {
yabahiro	39:f89166d7411c	482	motor[MOTOR_0].pwm = 100;
yabahiro	39:f89166d7411c	483	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:f89166d7411c	484	zyougedo=false;
yabahiro	39:f89166d7411c	485	}
yabahiro	31:45f97698857b	486	}
yabahiro	42:4f9689c0a349	487	*/
yabahiro	35:94f026ab4d30	488	}
yabahiro	31:45f97698857b	489
t_yamamoto	0:669ef71cba68	490	#endif
t_yamamoto	0:669ef71cba68	491
t_yamamoto	0:669ef71cba68	492	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	493	static void Process1()
t_yamamoto	0:669ef71cba68	494	{
yabahiro	42:4f9689c0a349	495	LedMode(6);
yabahiro	41:e1dd6d97f17d	496	start_flag = true;
yabahiro	36:788274604650	497	mtc=false;
yabahiro	36:788274604650	498	mtc2 = false;
yabahiro	31:45f97698857b	499	mode=1;
yabahiro	27:545148741493	500	cross=0;
yabahiro	35:94f026ab4d30	501	Twsh=1;
yabahiro	21:1f1e9c585da8	502	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	503	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	504	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	505	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	506
yabahiro	21:1f1e9c585da8	507	motor[TIRE_FR].pwm = Setpwm(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	508	motor[TIRE_FL].pwm = Setpwm(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	509	motor[TIRE_BR].pwm = Setpwm(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	510	motor[TIRE_BL].pwm = Setpwm(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	511
yabahiro	21:1f1e9c585da8	512	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	513
yabahiro	21:1f1e9c585da8	514	if(controller->Button.UP) {
yabahiro	35:94f026ab4d30	515	motor[MOTOR_0].pwm =200;
yabahiro	21:1f1e9c585da8	516	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	517	if(UPLS) {
yabahiro	35:94f026ab4d30	518	motor[MOTOR_0].pwm = 0;
yabahiro	35:94f026ab4d30	519	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	520	}
yabahiro	21:1f1e9c585da8	521	}
yabahiro	21:1f1e9c585da8	522	if(controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	523	motor[MOTOR_0].pwm = 50;
yabahiro	21:1f1e9c585da8	524	motor[MOTOR_0].dir = BACK;
yabahiro	21:1f1e9c585da8	525	}
yabahiro	21:1f1e9c585da8	526	} else {
yabahiro	21:1f1e9c585da8	527	motor[MOTOR_0].pwm = 0;
yabahiro	21:1f1e9c585da8	528	motor[MOTOR_0].dir = BRAKE;
yabahiro	21:1f1e9c585da8	529	}
yabahiro	21:1f1e9c585da8	530
yabahiro	21:1f1e9c585da8	531	if(controller->Button.Y) {
yabahiro	21:1f1e9c585da8	532	if(dz2==true) {
yabahiro	21:1f1e9c585da8	533	if(dz2i==false) {
yabahiro	21:1f1e9c585da8	534	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	535	dz2i=true;
yabahiro	21:1f1e9c585da8	536	} else {
yabahiro	21:1f1e9c585da8	537	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	538	dz2i=false;
yabahiro	21:1f1e9c585da8	539	}
yabahiro	21:1f1e9c585da8	540	dz2=false;
yabahiro	21:1f1e9c585da8	541	}
yabahiro	21:1f1e9c585da8	542	} else {
yabahiro	21:1f1e9c585da8	543	dz2=true;
yabahiro	21:1f1e9c585da8	544	}
yabahiro	21:1f1e9c585da8	545
yabahiro	21:1f1e9c585da8	546	if(controller->Button.A) {
yabahiro	21:1f1e9c585da8	547	if(dz3==true) {
yabahiro	21:1f1e9c585da8	548	if(dz3i==false) {
yabahiro	30:9450dc1d53cc	549
yabahiro	21:1f1e9c585da8	550	dz3i=true;
yabahiro	21:1f1e9c585da8	551	} else {
yabahiro	21:1f1e9c585da8	552	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	553	dz3i=false;
yabahiro	21:1f1e9c585da8	554	}
yabahiro	21:1f1e9c585da8	555	dz3=false;
yabahiro	21:1f1e9c585da8	556	}
yabahiro	21:1f1e9c585da8	557	} else {
yabahiro	21:1f1e9c585da8	558	dz3=true;
yabahiro	21:1f1e9c585da8	559	}
yabahiro	21:1f1e9c585da8	560
yabahiro	21:1f1e9c585da8	561	if(controller->Button.B) {
yabahiro	21:1f1e9c585da8	562	if(dz4==true) {
yabahiro	21:1f1e9c585da8	563	if(dz4i==false) {
yabahiro	21:1f1e9c585da8	564	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	565	dz4i=true;
yabahiro	21:1f1e9c585da8	566	} else {
yabahiro	21:1f1e9c585da8	567	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	568	dz4i=false;
yabahiro	21:1f1e9c585da8	569	}
yabahiro	21:1f1e9c585da8	570	dz4=false;
yabahiro	21:1f1e9c585da8	571	}
yabahiro	21:1f1e9c585da8	572	} else {
yabahiro	21:1f1e9c585da8	573	dz4=true;
yabahiro	21:1f1e9c585da8	574	}
yabahiro	21:1f1e9c585da8	575	/*
yabahiro	21:1f1e9c585da8	576	if(controller->Button.RIGHT){
yabahiro	21:1f1e9c585da8	577	motor[MOTOR_1].dir = FOR;
yabahiro	21:1f1e9c585da8	578	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	579	if (ARM_1){
yabahiro	21:1f1e9c585da8	580	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	581	}
yabahiro	21:1f1e9c585da8	582	}
yabahiro	21:1f1e9c585da8	583	else if(controller->Button.LEFT){
yabahiro	21:1f1e9c585da8	584	motor[MOTOR_1].dir = BACK;
yabahiro	21:1f1e9c585da8	585	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	586	if (ARM_0){
yabahiro	21:1f1e9c585da8	587	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	588	}
yabahiro	21:1f1e9c585da8	589	}
yabahiro	21:1f1e9c585da8	590	*/
t_yamamoto	0:669ef71cba68	591	}
t_yamamoto	0:669ef71cba68	592	#endif
t_yamamoto	0:669ef71cba68	593
t_yamamoto	0:669ef71cba68	594	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	595	static void Process2()
yabahiro	21:1f1e9c585da8	596	{
yabahiro	42:4f9689c0a349	597	// printf("1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 7:%d 8:%d\n\r",g[0],g[1],g[2],g[3],g[4],g[5],g[6],g[7]);
yabahiro	36:788274604650	598	LedMode(3);
yabahiro	31:45f97698857b	599	count++;
yabahiro	31:45f97698857b	600	if(mode==1) {//スタートゾーンから白線検知
yabahiro	42:4f9689c0a349	601	fast=40;
yabahiro	42:4f9689c0a349	602	normal=30;
yabahiro	42:4f9689c0a349	603	slow=20;
kishibekairohan	33:656aa14904a5	604	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	605	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	606	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	607	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	608	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	609	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	610	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	611	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	612	if(g[2]==0) {
yabahiro	31:45f97698857b	613	count=100000;
yabahiro	31:45f97698857b	614	cross=0;
yabahiro	31:45f97698857b	615	mode=3;
yabahiro	31:45f97698857b	616	}
yabahiro	31:45f97698857b	617	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	31:45f97698857b	618	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	619	motor[TIRE_FR].dir = FREE;
yabahiro	42:4f9689c0a349	620	motor[TIRE_FL].pwm = 25;
yabahiro	31:45f97698857b	621	motor[TIRE_FL].dir = FOR;
yabahiro	42:4f9689c0a349	622	motor[TIRE_BR].pwm = 25;
yabahiro	31:45f97698857b	623	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	624	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	625	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	626	if(g[0]==0) {
yabahiro	35:94f026ab4d30	627	mode=10;
yabahiro	35:94f026ab4d30	628	count=100000;
yabahiro	31:45f97698857b	629	}
yabahiro	35:94f026ab4d30	630	} else if(mode==10) { //縦ライントレース
yabahiro	35:94f026ab4d30	631
yabahiro	35:94f026ab4d30	632	if(counts==false&&g[2]==0) {
yabahiro	35:94f026ab4d30	633	cros++;
yabahiro	35:94f026ab4d30	634	counts=true;
yabahiro	31:45f97698857b	635	}
yabahiro	35:94f026ab4d30	636	if(counts==true&&g[2]==99) {
yabahiro	35:94f026ab4d30	637	counts=false;
yabahiro	35:94f026ab4d30	638	}
yabahiro	35:94f026ab4d30	639
yabahiro	35:94f026ab4d30	640	if(cros==Twsh) {
yabahiro	35:94f026ab4d30	641	mode=11;
yabahiro	31:45f97698857b	642	count=0;
yabahiro	35:94f026ab4d30	643	cros=0;
yabahiro	35:94f026ab4d30	644	}//ゆっくりモードに入れなかった時の保険
yabahiro	31:45f97698857b	645	switch(g[0]) {
yabahiro	31:45f97698857b	646	case 98:
kishibekairohan	33:656aa14904a5	647	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	648	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	649	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	650	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	651	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	652	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	653	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	654	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	655	mtc=true;
yabahiro	35:94f026ab4d30	656	if(count>80000) {
yabahiro	31:45f97698857b	657	cross++;
yabahiro	31:45f97698857b	658	count=0;
yabahiro	31:45f97698857b	659	}
yabahiro	31:45f97698857b	660	if(cross==Twsh) {
yabahiro	31:45f97698857b	661	mode=11;
yabahiro	31:45f97698857b	662	count=0;
yabahiro	35:94f026ab4d30	663	cross=0;
yabahiro	31:45f97698857b	664	}
yabahiro	31:45f97698857b	665	break;
yabahiro	31:45f97698857b	666	case 0:
kishibekairohan	33:656aa14904a5	667	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	668	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	669	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	670	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	671	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	672	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	673	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	674	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	675	mtc=true;
yabahiro	31:45f97698857b	676	break;
yabahiro	31:45f97698857b	677	case 255:
kishibekairohan	33:656aa14904a5	678	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	679	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	680	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	681	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	682	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	683	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	684	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	685	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	686	mtc=true;
yabahiro	31:45f97698857b	687	break;
yabahiro	31:45f97698857b	688	case 253:
kishibekairohan	33:656aa14904a5	689	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	690	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	691	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	692	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	693	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	694	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	695	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	696	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	697	mtc=true;
yabahiro	31:45f97698857b	698	break;
yabahiro	31:45f97698857b	699	case 254:
kishibekairohan	33:656aa14904a5	700	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	701	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	702	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	703	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	704	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	705	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	706	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	707	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	708	mtc=true;
yabahiro	31:45f97698857b	709	break;
yabahiro	31:45f97698857b	710	case 1:
kishibekairohan	33:656aa14904a5	711	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	712	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	713	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	714	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	715	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	716	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	717	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	718	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	719	mtc=true;
yabahiro	31:45f97698857b	720	break;
yabahiro	31:45f97698857b	721	case 3:
yabahiro	31:45f97698857b	722	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	723	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	724	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	725	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	726	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	727	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	728	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	729	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	730	mtc=true;
yabahiro	31:45f97698857b	731	break;
yabahiro	31:45f97698857b	732	case 2:
yabahiro	31:45f97698857b	733	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	734	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	735	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	736	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	737	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	738	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	739	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	740	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	741	mtc=true;
yabahiro	31:45f97698857b	742	break;
yabahiro	31:45f97698857b	743	}
yabahiro	31:45f97698857b	744	if(g[0]!=98&&mtc==true) {
yabahiro	31:45f97698857b	745	switch(g[1]) {
yabahiro	31:45f97698857b	746	case 0:
yabahiro	31:45f97698857b	747	mtc=false;
yabahiro	31:45f97698857b	748	break;
yabahiro	31:45f97698857b	749	case 255:
yabahiro	31:45f97698857b	750	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	751	mtc=false;
yabahiro	31:45f97698857b	752	break;
yabahiro	31:45f97698857b	753	case 253:
yabahiro	31:45f97698857b	754	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	755	mtc=false;
yabahiro	31:45f97698857b	756	break;
yabahiro	31:45f97698857b	757	case 254:
yabahiro	31:45f97698857b	758	motor[TIRE_BR].pwm += 20;
yabahiro	31:45f97698857b	759	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	760	mtc=false;
yabahiro	31:45f97698857b	761	break;
yabahiro	31:45f97698857b	762	case 1:
yabahiro	31:45f97698857b	763	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	764	mtc=false;
yabahiro	31:45f97698857b	765	break;
yabahiro	31:45f97698857b	766	case 3:
yabahiro	31:45f97698857b	767	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	768	mtc=false;
yabahiro	31:45f97698857b	769	break;
yabahiro	31:45f97698857b	770	case 2:
yabahiro	31:45f97698857b	771	motor[TIRE_BL].pwm += 20;
yabahiro	31:45f97698857b	772	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	773	mtc=false;
yabahiro	31:45f97698857b	774	break;
yabahiro	21:1f1e9c585da8	775	}
yabahiro	31:45f97698857b	776	}
yabahiro	31:45f97698857b	777	} else if(mode==11) {
yabahiro	31:45f97698857b	778	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	779	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	780	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	781	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	782	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	783	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	784	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	785	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	786	if(g[2]==0) {
yabahiro	31:45f97698857b	787	count=0;
yabahiro	31:45f97698857b	788	cross=0;
yabahiro	31:45f97698857b	789	mode=20;
yabahiro	31:45f97698857b	790	}
yabahiro	31:45f97698857b	791	} else if(mode==20) {
yabahiro	35:94f026ab4d30	792
yabahiro	38:391a0c8e4c16	793	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	794	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	38:391a0c8e4c16	795	}
yabahiro	35:94f026ab4d30	796	if(counts==false&&g[0]==0) {
yabahiro	35:94f026ab4d30	797	cros++;
yabahiro	35:94f026ab4d30	798	counts=true;
yabahiro	35:94f026ab4d30	799	}
yabahiro	35:94f026ab4d30	800	if(counts==true&&g[0]==99) {
yabahiro	35:94f026ab4d30	801	counts=false;
yabahiro	35:94f026ab4d30	802	}
yabahiro	35:94f026ab4d30	803
yabahiro	35:94f026ab4d30	804	if(cros==2) {
yabahiro	37:7cfa39c41245	805
yabahiro	37:7cfa39c41245	806	// mode=21;
yabahiro	37:7cfa39c41245	807	// count=0;
yabahiro	37:7cfa39c41245	808	// cros=0;
yabahiro	35:94f026ab4d30	809	}//ゆっくりモードに入れなかった時の保険
yabahiro	35:94f026ab4d30	810
yabahiro	31:45f97698857b	811	switch(g[2]) {
yabahiro	31:45f97698857b	812	case 98:
kishibekairohan	33:656aa14904a5	813	motor[TIRE_FR].pwm = normal;
kishibekairohan	22:c47f29caded6	814	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	815	motor[TIRE_FL].pwm = normal;
kishibekairohan	22:c47f29caded6	816	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	817	motor[TIRE_BR].pwm = normal;
kishibekairohan	22:c47f29caded6	818	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	819	motor[TIRE_BL].pwm = normal;
kishibekairohan	22:c47f29caded6	820	motor[TIRE_BL].dir = BACK;
yabahiro	42:4f9689c0a349	821	if(count>50000) {
yabahiro	31:45f97698857b	822	cross++;
yabahiro	31:45f97698857b	823	count=0;
yabahiro	31:45f97698857b	824	}
yabahiro	31:45f97698857b	825	mtc2=true;
yabahiro	42:4f9689c0a349	826	if(cross==1) {
yabahiro	31:45f97698857b	827	mode=21;
yabahiro	31:45f97698857b	828	count=0;
yabahiro	31:45f97698857b	829	cross=0;
yabahiro	31:45f97698857b	830	}
yabahiro	31:45f97698857b	831	break;
yabahiro	31:45f97698857b	832	case 0:
kishibekairohan	33:656aa14904a5	833	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	834	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	835	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	836	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	837	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	838	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	839	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	840	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	841	mtc2=true;
yabahiro	31:45f97698857b	842	break;
yabahiro	31:45f97698857b	843	case 255:
kishibekairohan	33:656aa14904a5	844	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	845	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	846	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	847	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	848	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	849	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	850	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	851	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	852	mtc2=true;
yabahiro	31:45f97698857b	853	break;
yabahiro	31:45f97698857b	854	case 253:
yabahiro	31:45f97698857b	855	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	856	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	857	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	858	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	859	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	860	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	861	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	862	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	863	mtc2=true;
yabahiro	31:45f97698857b	864	break;
yabahiro	31:45f97698857b	865	case 254:
yabahiro	31:45f97698857b	866	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	867	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	868	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	869	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	870	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	871	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	872	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	873	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	874	mtc2=true;
yabahiro	31:45f97698857b	875	break;
yabahiro	31:45f97698857b	876	case 1:
kishibekairohan	33:656aa14904a5	877	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	878	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	879	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	880	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	881	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	882	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	883	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	884	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	885	mtc2=true;
yabahiro	31:45f97698857b	886	break;
yabahiro	31:45f97698857b	887	case 3:
kishibekairohan	33:656aa14904a5	888	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	889	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	890	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	891	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	892	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	893	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	894	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	895	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	896	mtc2=true;
yabahiro	31:45f97698857b	897	break;
yabahiro	31:45f97698857b	898	case 2:
kishibekairohan	33:656aa14904a5	899	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	900	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	901	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	902	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	903	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	904	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	905	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	906	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	907	mtc2=true;
yabahiro	31:45f97698857b	908	break;
yabahiro	31:45f97698857b	909	}
yabahiro	31:45f97698857b	910	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	911	switch(g[3]) {
yabahiro	29:c78a46f51209	912	case 0:
yabahiro	31:45f97698857b	913	mtc2=false;
yabahiro	29:c78a46f51209	914	break;
yabahiro	29:c78a46f51209	915	case 255:
yabahiro	31:45f97698857b	916	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	917	mtc2=false;
yabahiro	29:c78a46f51209	918	break;
yabahiro	29:c78a46f51209	919	case 253:
yabahiro	31:45f97698857b	920	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	921	mtc2=false;
yabahiro	29:c78a46f51209	922	break;
yabahiro	29:c78a46f51209	923	case 254:
yabahiro	31:45f97698857b	924	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	925	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	926	mtc2=false;
yabahiro	29:c78a46f51209	927	break;
yabahiro	29:c78a46f51209	928	case 1:
yabahiro	31:45f97698857b	929	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	930	mtc2=false;
yabahiro	29:c78a46f51209	931	break;
yabahiro	29:c78a46f51209	932	case 3:
yabahiro	31:45f97698857b	933	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	934	mtc2=false;
yabahiro	29:c78a46f51209	935	break;
yabahiro	29:c78a46f51209	936	case 2:
yabahiro	31:45f97698857b	937	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	938	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	939	mtc2=false;
yabahiro	29:c78a46f51209	940	break;
yabahiro	29:c78a46f51209	941	}
yabahiro	31:45f97698857b	942	}
yabahiro	31:45f97698857b	943	} else if(mode==21) {
yabahiro	42:4f9689c0a349	944	motor[TIRE_FR].pwm = 26;
yabahiro	42:4f9689c0a349	945	motor[TIRE_FR].dir = FOR;
yabahiro	42:4f9689c0a349	946	motor[TIRE_FL].pwm = 30;
yabahiro	42:4f9689c0a349	947	motor[TIRE_FL].dir = FOR;
yabahiro	42:4f9689c0a349	948	motor[TIRE_BR].pwm = 26;
yabahiro	42:4f9689c0a349	949	motor[TIRE_BR].dir = BACK;
yabahiro	42:4f9689c0a349	950	motor[TIRE_BL].pwm = 30;
yabahiro	42:4f9689c0a349	951	motor[TIRE_BL].dir = BACK;
yabahiro	42:4f9689c0a349	952	if(g[2]==98&&count>=10000) {
yabahiro	42:4f9689c0a349	953	mode=22;
yabahiro	42:4f9689c0a349	954	count=0;
yabahiro	42:4f9689c0a349	955	}
yabahiro	42:4f9689c0a349	956	} else if(mode==22) {
yabahiro	42:4f9689c0a349	957	motor[TIRE_FR].pwm = 20;
yabahiro	42:4f9689c0a349	958	motor[TIRE_FR].dir = BACK;
yabahiro	42:4f9689c0a349	959	motor[TIRE_FL].pwm = 20;
yabahiro	42:4f9689c0a349	960	motor[TIRE_FL].dir = BACK;
yabahiro	42:4f9689c0a349	961	motor[TIRE_BR].pwm = 20;
yabahiro	42:4f9689c0a349	962	motor[TIRE_BR].dir = FOR;
yabahiro	42:4f9689c0a349	963	motor[TIRE_BL].pwm = 20;
yabahiro	42:4f9689c0a349	964	motor[TIRE_BL].dir = FOR;
yabahiro	42:4f9689c0a349	965	if(g[2]!=98) {
yabahiro	42:4f9689c0a349	966	count=0;
yabahiro	42:4f9689c0a349	967	mode=23;
yabahiro	42:4f9689c0a349	968	}
yabahiro	42:4f9689c0a349	969	} else if(mode==23) {
yabahiro	42:4f9689c0a349	970	motor[TIRE_FR].pwm = 10;
yabahiro	42:4f9689c0a349	971	motor[TIRE_FR].dir = BRAKE;
yabahiro	42:4f9689c0a349	972	motor[TIRE_FL].pwm = 10;
yabahiro	42:4f9689c0a349	973	motor[TIRE_FL].dir = BRAKE;
yabahiro	42:4f9689c0a349	974	motor[TIRE_BR].pwm = 10;
yabahiro	42:4f9689c0a349	975	motor[TIRE_BR].dir = BRAKE;
yabahiro	42:4f9689c0a349	976	motor[TIRE_BL].pwm = 10;
yabahiro	42:4f9689c0a349	977	motor[TIRE_BL].dir = BRAKE;
yabahiro	42:4f9689c0a349	978	if(count<=100000) {
yabahiro	42:4f9689c0a349	979	mode=30;
yabahiro	42:4f9689c0a349	980	}
yabahiro	42:4f9689c0a349	981	} else if(mode==24) {
yabahiro	31:45f97698857b	982	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	983	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	984	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	985	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	986	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	987	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	988	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	989	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	990	if(g[0]==0) {
yabahiro	31:45f97698857b	991	mode=30;
yabahiro	35:94f026ab4d30	992	cros=0;
yabahiro	31:45f97698857b	993	}
yabahiro	31:45f97698857b	994	} else if(mode==30) {
yabahiro	42:4f9689c0a349	995	motor[TIRE_FR].pwm = 63;
yabahiro	38:391a0c8e4c16	996	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	997	motor[TIRE_FL].pwm = 60;
yabahiro	38:391a0c8e4c16	998	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	999	motor[TIRE_BR].pwm = 60;
yabahiro	38:391a0c8e4c16	1000	motor[TIRE_BR].dir = BACK;
yabahiro	42:4f9689c0a349	1001	motor[TIRE_BL].pwm = 60;
yabahiro	38:391a0c8e4c16	1002	motor[TIRE_BL].dir = FOR;
yabahiro	38:391a0c8e4c16	1003	if(g[0]==98) {
yabahiro	35:94f026ab4d30	1004	mode=31;
yabahiro	38:391a0c8e4c16	1005	count=0;
yabahiro	38:391a0c8e4c16	1006	}
yabahiro	38:391a0c8e4c16	1007	} else if(mode==31) {
yabahiro	42:4f9689c0a349	1008	motor[TIRE_FR].pwm = 0;
yabahiro	42:4f9689c0a349	1009	motor[TIRE_FR].dir = FREE;
yabahiro	42:4f9689c0a349	1010	motor[TIRE_FL].pwm = 0;
yabahiro	42:4f9689c0a349	1011	motor[TIRE_FL].dir = FREE;
yabahiro	42:4f9689c0a349	1012	motor[TIRE_BR].pwm = 0;
yabahiro	42:4f9689c0a349	1013	motor[TIRE_BR].dir = FREE;
yabahiro	42:4f9689c0a349	1014	motor[TIRE_BL].pwm = 0;
yabahiro	42:4f9689c0a349	1015	motor[TIRE_BL].dir = FREE;
yabahiro	42:4f9689c0a349	1016	if(count>=5000) {
yabahiro	38:391a0c8e4c16	1017	count=0;
yabahiro	38:391a0c8e4c16	1018	mode=32;
yabahiro	38:391a0c8e4c16	1019	}
yabahiro	38:391a0c8e4c16	1020	} else if(mode==32) {
yabahiro	42:4f9689c0a349	1021	motor[TIRE_FR].pwm = 10;
yabahiro	42:4f9689c0a349	1022	motor[TIRE_FR].dir = BRAKE;
yabahiro	42:4f9689c0a349	1023	motor[TIRE_FL].pwm = 10;
yabahiro	42:4f9689c0a349	1024	motor[TIRE_FL].dir = BRAKE;
yabahiro	42:4f9689c0a349	1025	motor[TIRE_BR].pwm = 10;
yabahiro	42:4f9689c0a349	1026	motor[TIRE_BR].dir = BRAKE;
yabahiro	42:4f9689c0a349	1027	motor[TIRE_BL].pwm = 10;
yabahiro	42:4f9689c0a349	1028	motor[TIRE_BL].dir = BRAKE;
yabahiro	42:4f9689c0a349	1029	if(count>=40000) {
yabahiro	42:4f9689c0a349	1030	mode=33;
yabahiro	42:4f9689c0a349	1031	count=0;
yabahiro	42:4f9689c0a349	1032	}
yabahiro	42:4f9689c0a349	1033	} else if(mode==33) {
yabahiro	38:391a0c8e4c16	1034	motor[TIRE_FR].pwm = 30;
yabahiro	42:4f9689c0a349	1035	motor[TIRE_FR].dir = BACK;
yabahiro	42:4f9689c0a349	1036	motor[TIRE_FL].pwm = 0;
yabahiro	38:391a0c8e4c16	1037	motor[TIRE_FL].dir = BACK;
yabahiro	42:4f9689c0a349	1038	motor[TIRE_BR].pwm = 0;
yabahiro	38:391a0c8e4c16	1039	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1040	motor[TIRE_BL].pwm = 30;
yabahiro	42:4f9689c0a349	1041	motor[TIRE_BL].dir = FOR;
yabahiro	38:391a0c8e4c16	1042	if(g[3]==0) {
yabahiro	38:391a0c8e4c16	1043	count=0;
yabahiro	39:f89166d7411c	1044	if(Twsh==2) {
yabahiro	39:f89166d7411c	1045	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	39:f89166d7411c	1046	}
yabahiro	38:391a0c8e4c16	1047	mode=40;
yabahiro	38:391a0c8e4c16	1048	}
yabahiro	31:45f97698857b	1049	} else if(mode==40) {
yabahiro	38:391a0c8e4c16	1050	if(LIB) {
yabahiro	38:391a0c8e4c16	1051	mode=42;
yabahiro	38:391a0c8e4c16	1052	}
yabahiro	35:94f026ab4d30	1053	if(counts==false&&g[0]==0) {
yabahiro	35:94f026ab4d30	1054	cros++;
yabahiro	35:94f026ab4d30	1055	counts=true;
yabahiro	35:94f026ab4d30	1056	}
yabahiro	35:94f026ab4d30	1057	if(counts==true&&g[0]==99) {
yabahiro	35:94f026ab4d30	1058	counts=false;
yabahiro	35:94f026ab4d30	1059	}
yabahiro	35:94f026ab4d30	1060
yabahiro	38:391a0c8e4c16	1061	if(cros==1) {
yabahiro	36:788274604650	1062	// mode=41;
yabahiro	35:94f026ab4d30	1063	//count=0;
yabahiro	35:94f026ab4d30	1064	//cros=0;
yabahiro	35:94f026ab4d30	1065	}//ゆっくりモードに入れなかった時の保険
yabahiro	35:94f026ab4d30	1066
yabahiro	31:45f97698857b	1067	switch(g[3]) {
yabahiro	31:45f97698857b	1068	case 98:
kishibekairohan	33:656aa14904a5	1069	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1070	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1071	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1072	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1073	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1074	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1075	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1076	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	1077	if(count>20000) {
yabahiro	31:45f97698857b	1078	cross++;
yabahiro	31:45f97698857b	1079	count=0;
yabahiro	31:45f97698857b	1080	}
yabahiro	31:45f97698857b	1081	mtc2=true;
yabahiro	42:4f9689c0a349	1082	if(cross==1) {
yabahiro	31:45f97698857b	1083	mode=41;
yabahiro	31:45f97698857b	1084	count=0;
yabahiro	31:45f97698857b	1085	cross=0;
kishibekairohan	22:c47f29caded6	1086	}
yabahiro	31:45f97698857b	1087	break;
yabahiro	31:45f97698857b	1088	case 0:
kishibekairohan	33:656aa14904a5	1089	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1090	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1091	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1092	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1093	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1094	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1095	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1096	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1097	mtc2=true;
yabahiro	31:45f97698857b	1098	break;
yabahiro	31:45f97698857b	1099	case 255:
kishibekairohan	33:656aa14904a5	1100	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1101	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1102	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1103	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1104	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1105	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1106	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1107	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1108	mtc2=true;
yabahiro	31:45f97698857b	1109	break;
yabahiro	31:45f97698857b	1110	case 253:
yabahiro	31:45f97698857b	1111	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1112	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1113	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1114	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1115	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1116	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1117	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1118	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1119	mtc2=true;
yabahiro	31:45f97698857b	1120	break;
yabahiro	31:45f97698857b	1121	case 254:
yabahiro	31:45f97698857b	1122	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1123	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1124	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1125	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1126	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1127	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1128	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1129	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1130	mtc2=true;
yabahiro	31:45f97698857b	1131	break;
yabahiro	31:45f97698857b	1132	case 1:
kishibekairohan	33:656aa14904a5	1133	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1134	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1135	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1136	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1137	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1138	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1139	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1140	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1141	mtc2=true;
yabahiro	31:45f97698857b	1142	break;
yabahiro	31:45f97698857b	1143	case 3:
kishibekairohan	33:656aa14904a5	1144	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1145	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1146	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1147	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1148	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1149	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1150	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1151	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1152	mtc2=true;
yabahiro	31:45f97698857b	1153	break;
yabahiro	31:45f97698857b	1154	case 2:
kishibekairohan	33:656aa14904a5	1155	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1156	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1157	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1158	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1159	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1160	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1161	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1162	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1163	mtc2=true;
yabahiro	31:45f97698857b	1164	break;
yabahiro	31:45f97698857b	1165	}
yabahiro	31:45f97698857b	1166	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1167	switch(g[2]) {
yabahiro	29:c78a46f51209	1168	case 0:
yabahiro	31:45f97698857b	1169	mtc2=false;
yabahiro	29:c78a46f51209	1170	break;
yabahiro	29:c78a46f51209	1171	case 255:
yabahiro	31:45f97698857b	1172	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1173	mtc2=false;
yabahiro	29:c78a46f51209	1174	break;
yabahiro	29:c78a46f51209	1175	case 253:
yabahiro	31:45f97698857b	1176	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1177	mtc2=false;
yabahiro	29:c78a46f51209	1178	break;
yabahiro	29:c78a46f51209	1179	case 254:
yabahiro	31:45f97698857b	1180	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	1181	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1182	mtc2=false;
yabahiro	29:c78a46f51209	1183	break;
yabahiro	29:c78a46f51209	1184	case 1:
yabahiro	31:45f97698857b	1185	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1186	mtc2=false;
yabahiro	29:c78a46f51209	1187	break;
yabahiro	29:c78a46f51209	1188	case 3:
yabahiro	31:45f97698857b	1189	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1190	mtc2=false;
yabahiro	29:c78a46f51209	1191	break;
yabahiro	29:c78a46f51209	1192	case 2:
yabahiro	31:45f97698857b	1193	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1194	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1195	mtc2=false;
yabahiro	29:c78a46f51209	1196	break;
yabahiro	29:c78a46f51209	1197	}
yabahiro	31:45f97698857b	1198	}
yabahiro	31:45f97698857b	1199	} else if(mode==41) {
yabahiro	42:4f9689c0a349	1200	if(LIF\|\|LIB) {
yabahiro	42:4f9689c0a349	1201	mode=42;
yabahiro	42:4f9689c0a349	1202	}
yabahiro	31:45f97698857b	1203	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1204	motor[TIRE_FR].dir = FREE;
yabahiro	35:94f026ab4d30	1205	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1206	motor[TIRE_FL].dir = BACK;
yabahiro	35:94f026ab4d30	1207	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1208	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1209	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1210	motor[TIRE_BL].dir = FREE;
yabahiro	35:94f026ab4d30	1211	if(g[1]==0) {
yabahiro	31:45f97698857b	1212	count=0;
yabahiro	31:45f97698857b	1213	mode=70;
yabahiro	31:45f97698857b	1214	}
yabahiro	38:391a0c8e4c16	1215	} else if(mode==42) {
yabahiro	38:391a0c8e4c16	1216	motor[TIRE_FR].pwm = 20;
yabahiro	38:391a0c8e4c16	1217	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1218	motor[TIRE_FL].pwm = 0;
yabahiro	38:391a0c8e4c16	1219	motor[TIRE_FL].dir = FREE;
yabahiro	38:391a0c8e4c16	1220	motor[TIRE_BR].pwm = 0;
yabahiro	38:391a0c8e4c16	1221	motor[TIRE_BR].dir = FREE;
yabahiro	38:391a0c8e4c16	1222	motor[TIRE_BL].pwm = 20;
yabahiro	38:391a0c8e4c16	1223	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1224	if(g[1]==0) {
yabahiro	38:391a0c8e4c16	1225	count=0;
yabahiro	38:391a0c8e4c16	1226	mode=70;
yabahiro	38:391a0c8e4c16	1227	}
yabahiro	31:45f97698857b	1228	} else if(mode==70) {
yabahiro	31:45f97698857b	1229	switch(g[1]) {
yabahiro	31:45f97698857b	1230	case 99:
yabahiro	31:45f97698857b	1231	if(count>=100000) {
yabahiro	31:45f97698857b	1232	mode=100;
yabahiro	29:c78a46f51209	1233	}
yabahiro	31:45f97698857b	1234	break;
yabahiro	31:45f97698857b	1235	case 98:
kishibekairohan	33:656aa14904a5	1236	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1237	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1238	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1239	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1240	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1241	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1242	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1243	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1244	break;
yabahiro	31:45f97698857b	1245	case 0:
yabahiro	38:391a0c8e4c16	1246	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	1247	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1248	motor[TIRE_FL].pwm = 80;
yabahiro	31:45f97698857b	1249	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1250	motor[TIRE_BR].pwm = 80;
yabahiro	31:45f97698857b	1251	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1252	motor[TIRE_BL].pwm = 80;
yabahiro	31:45f97698857b	1253	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1254	mtc=true;
yabahiro	31:45f97698857b	1255	break;
yabahiro	31:45f97698857b	1256	case 255:
kishibekairohan	33:656aa14904a5	1257	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1258	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1259	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1260	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1261	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1262	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1263	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1264	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1265	mtc=true;
yabahiro	31:45f97698857b	1266	break;
yabahiro	31:45f97698857b	1267	case 253:
kishibekairohan	33:656aa14904a5	1268	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1269	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1270	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1271	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1272	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1273	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1274	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1275	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1276	mtc=true;
yabahiro	31:45f97698857b	1277	break;
yabahiro	31:45f97698857b	1278	case 254:
kishibekairohan	33:656aa14904a5	1279	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1280	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1281	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1282	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1283	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1284	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1285	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1286	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1287	mtc=true;
yabahiro	31:45f97698857b	1288	break;
yabahiro	31:45f97698857b	1289	case 1:
kishibekairohan	33:656aa14904a5	1290	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1291	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1292	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1293	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1294	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1295	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1296	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1297	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1298	mtc=true;
yabahiro	31:45f97698857b	1299	break;
yabahiro	31:45f97698857b	1300	case 3:
yabahiro	31:45f97698857b	1301	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1302	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1303	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1304	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1305	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1306	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1307	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1308	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1309	mtc=true;
yabahiro	31:45f97698857b	1310	break;
yabahiro	31:45f97698857b	1311	case 2:
yabahiro	31:45f97698857b	1312	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1313	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1314	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1315	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1316	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1317	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1318	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1319	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1320	mtc=true;
yabahiro	31:45f97698857b	1321	break;
yabahiro	31:45f97698857b	1322	}
yabahiro	31:45f97698857b	1323	if(g[1]!=98&&mtc==true) {
yabahiro	31:45f97698857b	1324	switch(g[0]) {
yabahiro	29:c78a46f51209	1325	case 0:
yabahiro	31:45f97698857b	1326	mtc=false;
yabahiro	29:c78a46f51209	1327	break;
yabahiro	29:c78a46f51209	1328	case 255:
yabahiro	31:45f97698857b	1329	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1330	mtc=false;
yabahiro	29:c78a46f51209	1331	break;
yabahiro	29:c78a46f51209	1332	case 253:
yabahiro	31:45f97698857b	1333	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1334	mtc=false;
yabahiro	29:c78a46f51209	1335	break;
yabahiro	29:c78a46f51209	1336	case 254:
yabahiro	31:45f97698857b	1337	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1338	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1339	mtc=false;
yabahiro	29:c78a46f51209	1340	break;
yabahiro	29:c78a46f51209	1341	case 1:
yabahiro	31:45f97698857b	1342	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1343	mtc=false;
yabahiro	29:c78a46f51209	1344	break;
yabahiro	29:c78a46f51209	1345	case 3:
yabahiro	31:45f97698857b	1346	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1347	mtc=false;
yabahiro	29:c78a46f51209	1348	break;
yabahiro	29:c78a46f51209	1349	case 2:
yabahiro	31:45f97698857b	1350	motor[TIRE_FR].pwm += 20;
yabahiro	31:45f97698857b	1351	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1352	mtc=false;
yabahiro	29:c78a46f51209	1353	break;
yabahiro	29:c78a46f51209	1354	}
yabahiro	31:45f97698857b	1355	}
yabahiro	31:45f97698857b	1356	} else if(mode==100) {
yabahiro	35:94f026ab4d30	1357	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1358	motor[TIRE_FR].dir = FOR;
yabahiro	35:94f026ab4d30	1359	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1360	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1361	motor[TIRE_BR].pwm = 23;
yabahiro	31:45f97698857b	1362	motor[TIRE_BR].dir = FOR;
yabahiro	35:94f026ab4d30	1363	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1364	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1365	} else {
yabahiro	31:45f97698857b	1366	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1367	motor[TIRE_FR].dir = BRAKE;
yabahiro	31:45f97698857b	1368	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1369	motor[TIRE_FL].dir = BRAKE;
yabahiro	31:45f97698857b	1370	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1371	motor[TIRE_BR].dir = BRAKE;
yabahiro	31:45f97698857b	1372	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1373	motor[TIRE_BL].dir = BRAKE;
yabahiro	31:45f97698857b	1374	}
yabahiro	31:45f97698857b	1375	}
yabahiro	31:45f97698857b	1376	#endif
yabahiro	31:45f97698857b	1377
yabahiro	31:45f97698857b	1378	#if USE_PROCESS_NUM>3
yabahiro	31:45f97698857b	1379	static void Process3()
yabahiro	31:45f97698857b	1380	{
yabahiro	39:f89166d7411c	1381
yabahiro	36:788274604650	1382	}
yabahiro	36:788274604650	1383	#endif
yabahiro	36:788274604650	1384
yabahiro	36:788274604650	1385	#if USE_PROCESS_NUM>4
yabahiro	36:788274604650	1386	static void Process4()
yabahiro	36:788274604650	1387	{
yabahiro	36:788274604650	1388	LedMode(4);
yabahiro	36:788274604650	1389	count++;
yabahiro	31:45f97698857b	1390	if(mode==1) {//スタートゾーンから白線検知
yabahiro	39:f89166d7411c	1391	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1392	motor[TIRE_FR].dir = FOR;
yabahiro	39:f89166d7411c	1393	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1394	motor[TIRE_FL].dir = BACK;
yabahiro	39:f89166d7411c	1395	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1396	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	1397	motor[TIRE_BL].pwm = 45;
yabahiro	31:45f97698857b	1398	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1399	if(g[2]==0) {
yabahiro	31:45f97698857b	1400	count=100000;
yabahiro	31:45f97698857b	1401	cross=0;
yabahiro	36:788274604650	1402	mode=3;
yabahiro	31:45f97698857b	1403	}
yabahiro	36:788274604650	1404	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	39:f89166d7411c	1405	motor[TIRE_FR].pwm = 40;
kishibekairohan	32:90f018b10ad6	1406	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1407	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1408	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1409	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1410	motor[TIRE_BR].dir = FREE;
yabahiro	39:f89166d7411c	1411	motor[TIRE_BL].pwm = 40;
kishibekairohan	32:90f018b10ad6	1412	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1413	if(g[0]==0) {
yabahiro	36:788274604650	1414	mode=10;
yabahiro	36:788274604650	1415	count=100000;
yabahiro	36:788274604650	1416	}
yabahiro	36:788274604650	1417	} else if(mode==10) { //縦ライントレース
yabahiro	36:788274604650	1418
yabahiro	36:788274604650	1419	if(counts==false&&g[2]==0) {
yabahiro	36:788274604650	1420	cros++;
yabahiro	36:788274604650	1421	counts=true;
yabahiro	36:788274604650	1422	}
yabahiro	36:788274604650	1423	if(counts==true&&g[2]==99) {
yabahiro	36:788274604650	1424	counts=false;
yabahiro	36:788274604650	1425	}
yabahiro	36:788274604650	1426
yabahiro	36:788274604650	1427	if(cros==Twsh) {
yabahiro	36:788274604650	1428	mode=11;
yabahiro	31:45f97698857b	1429	count=0;
yabahiro	36:788274604650	1430	cros=0;
yabahiro	36:788274604650	1431	}//ゆっくりモードに入れなかった時の保険
kishibekairohan	32:90f018b10ad6	1432	switch(g[1]) {
yabahiro	31:45f97698857b	1433	case 98:
kishibekairohan	33:656aa14904a5	1434	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1435	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1436	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1437	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1438	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1439	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1440	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1441	motor[TIRE_BL].dir = BACK;
yabahiro	36:788274604650	1442	mtc=true;
yabahiro	36:788274604650	1443	if(count>80000) {
yabahiro	31:45f97698857b	1444	cross++;
yabahiro	31:45f97698857b	1445	count=0;
yabahiro	31:45f97698857b	1446	}
yabahiro	31:45f97698857b	1447	if(cross==Twsh) {
yabahiro	31:45f97698857b	1448	mode=11;
yabahiro	31:45f97698857b	1449	count=0;
yabahiro	36:788274604650	1450	cross=0;
yabahiro	31:45f97698857b	1451	}
yabahiro	31:45f97698857b	1452	break;
yabahiro	31:45f97698857b	1453	case 0:
kishibekairohan	33:656aa14904a5	1454	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1455	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1456	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1457	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1458	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1459	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1460	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1461	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1462	mtc=true;
yabahiro	31:45f97698857b	1463	break;
yabahiro	31:45f97698857b	1464	case 255:
kishibekairohan	33:656aa14904a5	1465	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1466	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1467	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1468	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1469	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1470	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1471	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1472	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1473	mtc=true;
yabahiro	31:45f97698857b	1474	break;
yabahiro	31:45f97698857b	1475	case 253:
kishibekairohan	33:656aa14904a5	1476	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1477	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1478	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1479	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1480	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1481	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1482	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1483	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1484	mtc=true;
yabahiro	31:45f97698857b	1485	break;
yabahiro	31:45f97698857b	1486	case 254:
kishibekairohan	33:656aa14904a5	1487	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1488	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1489	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1490	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1491	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1492	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1493	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1494	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1495	mtc=true;
yabahiro	31:45f97698857b	1496	break;
yabahiro	31:45f97698857b	1497	case 1:
kishibekairohan	33:656aa14904a5	1498	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1499	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1500	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1501	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1502	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1503	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1504	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1505	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1506	mtc=true;
yabahiro	31:45f97698857b	1507	break;
yabahiro	31:45f97698857b	1508	case 3:
yabahiro	31:45f97698857b	1509	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1510	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1511	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1512	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1513	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1514	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1515	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1516	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1517	mtc=true;
yabahiro	31:45f97698857b	1518	break;
yabahiro	31:45f97698857b	1519	case 2:
yabahiro	31:45f97698857b	1520	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1521	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1522	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1523	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1524	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1525	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1526	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1527	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1528	mtc=true;
yabahiro	31:45f97698857b	1529	break;
yabahiro	31:45f97698857b	1530	}
yabahiro	36:788274604650	1531	if(g[0]!=98&&mtc==true) {
yabahiro	39:f89166d7411c	1532	switch(g[0]) {
yabahiro	31:45f97698857b	1533	case 0:
yabahiro	31:45f97698857b	1534	mtc=false;
yabahiro	31:45f97698857b	1535	break;
yabahiro	31:45f97698857b	1536	case 255:
kishibekairohan	32:90f018b10ad6	1537	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1538	mtc=false;
yabahiro	31:45f97698857b	1539	break;
yabahiro	31:45f97698857b	1540	case 253:
kishibekairohan	32:90f018b10ad6	1541	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1542	mtc=false;
yabahiro	31:45f97698857b	1543	break;
yabahiro	31:45f97698857b	1544	case 254:
kishibekairohan	32:90f018b10ad6	1545	motor[TIRE_FL].pwm += 20;
kishibekairohan	32:90f018b10ad6	1546	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1547	mtc=false;
yabahiro	31:45f97698857b	1548	break;
yabahiro	31:45f97698857b	1549	case 1:
kishibekairohan	32:90f018b10ad6	1550	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1551	mtc=false;
yabahiro	31:45f97698857b	1552	break;
yabahiro	31:45f97698857b	1553	case 3:
kishibekairohan	32:90f018b10ad6	1554	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1555	mtc=false;
yabahiro	31:45f97698857b	1556	break;
yabahiro	31:45f97698857b	1557	case 2:
kishibekairohan	32:90f018b10ad6	1558	motor[TIRE_FR].pwm += 20;
kishibekairohan	32:90f018b10ad6	1559	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1560	mtc=false;
yabahiro	31:45f97698857b	1561	break;
yabahiro	29:c78a46f51209	1562	}
yabahiro	31:45f97698857b	1563	}
yabahiro	31:45f97698857b	1564	} else if(mode==11) {
yabahiro	36:788274604650	1565	motor[TIRE_FR].pwm = normal;
kishibekairohan	32:90f018b10ad6	1566	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1567	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1568	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1569	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1570	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1571	motor[TIRE_BL].pwm = normal;
kishibekairohan	32:90f018b10ad6	1572	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1573	if(g[2]==0) {
yabahiro	31:45f97698857b	1574	count=0;
yabahiro	36:788274604650	1575	cross=0;
yabahiro	31:45f97698857b	1576	mode=20;
yabahiro	39:f89166d7411c	1577	fast=40;
yabahiro	39:f89166d7411c	1578	normal=30;
yabahiro	39:f89166d7411c	1579	slow=20;
yabahiro	31:45f97698857b	1580	}
yabahiro	31:45f97698857b	1581	} else if(mode==20) {
yabahiro	36:788274604650	1582
yabahiro	38:391a0c8e4c16	1583	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	1584	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	38:391a0c8e4c16	1585	}
yabahiro	38:391a0c8e4c16	1586
yabahiro	36:788274604650	1587	if(counts==false&&g[1]==0) {
yabahiro	36:788274604650	1588	cros++;
yabahiro	36:788274604650	1589	counts=true;
yabahiro	36:788274604650	1590	}
yabahiro	36:788274604650	1591	if(counts==true&&g[1]==99) {
yabahiro	36:788274604650	1592	counts=false;
yabahiro	36:788274604650	1593	}
yabahiro	36:788274604650	1594
yabahiro	36:788274604650	1595	if(cros==2) {
yabahiro	38:391a0c8e4c16	1596	//mode=21;
yabahiro	38:391a0c8e4c16	1597	//count=0;
yabahiro	38:391a0c8e4c16	1598	//cros=0;
yabahiro	36:788274604650	1599	}//ゆっくりモードに入れなかった時の保険
yabahiro	36:788274604650	1600
yabahiro	31:45f97698857b	1601	switch(g[2]) {
yabahiro	31:45f97698857b	1602	case 98:
kishibekairohan	33:656aa14904a5	1603	motor[TIRE_FR].pwm = normal;
kishibekairohan	22:c47f29caded6	1604	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1605	motor[TIRE_FL].pwm = normal;
yabahiro	23:694ecfa97839	1606	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1607	motor[TIRE_BR].pwm = normal;
yabahiro	23:694ecfa97839	1608	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1609	motor[TIRE_BL].pwm = normal;
yabahiro	29:c78a46f51209	1610	motor[TIRE_BL].dir = BACK;
yabahiro	36:788274604650	1611	if(count>80000) {
yabahiro	31:45f97698857b	1612	cross++;
yabahiro	31:45f97698857b	1613	count=0;
yabahiro	31:45f97698857b	1614	}
yabahiro	31:45f97698857b	1615	mtc2=true;
yabahiro	36:788274604650	1616	if(cross==2) {
yabahiro	31:45f97698857b	1617	mode=21;
yabahiro	31:45f97698857b	1618	count=0;
yabahiro	31:45f97698857b	1619	cross=0;
yabahiro	31:45f97698857b	1620	}
yabahiro	31:45f97698857b	1621	break;
yabahiro	31:45f97698857b	1622	case 0:
kishibekairohan	33:656aa14904a5	1623	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1624	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1625	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1626	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1627	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1628	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1629	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1630	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1631	mtc2=true;
yabahiro	31:45f97698857b	1632	break;
yabahiro	31:45f97698857b	1633	case 255:
yabahiro	36:788274604650	1634	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1635	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1636	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1637	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1638	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1639	motor[TIRE_BR].dir = BACK;
yabahiro	36:788274604650	1640	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1641	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1642	mtc2=true;
yabahiro	31:45f97698857b	1643	break;
yabahiro	31:45f97698857b	1644	case 253:
yabahiro	31:45f97698857b	1645	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1646	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1647	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1648	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1649	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1650	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1651	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1652	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1653	mtc2=true;
yabahiro	31:45f97698857b	1654	break;
yabahiro	31:45f97698857b	1655	case 254:
yabahiro	31:45f97698857b	1656	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1657	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1658	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1659	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1660	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1661	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1662	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1663	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1664	mtc2=true;
yabahiro	31:45f97698857b	1665	break;
yabahiro	31:45f97698857b	1666	case 1:
kishibekairohan	33:656aa14904a5	1667	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1668	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1669	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1670	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1671	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1672	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1673	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1674	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1675	mtc2=true;
yabahiro	31:45f97698857b	1676	break;
yabahiro	31:45f97698857b	1677	case 3:
kishibekairohan	33:656aa14904a5	1678	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1679	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1680	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1681	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1682	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1683	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1684	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1685	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1686	mtc2=true;
yabahiro	31:45f97698857b	1687	break;
yabahiro	31:45f97698857b	1688	case 2:
kishibekairohan	33:656aa14904a5	1689	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1690	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1691	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1692	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1693	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1694	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1695	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1696	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1697	mtc2=true;
yabahiro	31:45f97698857b	1698	break;
yabahiro	31:45f97698857b	1699	}
yabahiro	31:45f97698857b	1700	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1701	switch(g[3]) {
yabahiro	23:694ecfa97839	1702	case 0:
yabahiro	31:45f97698857b	1703	mtc2=false;
yabahiro	23:694ecfa97839	1704	break;
yabahiro	23:694ecfa97839	1705	case 255:
yabahiro	31:45f97698857b	1706	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1707	mtc2=false;
yabahiro	23:694ecfa97839	1708	break;
yabahiro	23:694ecfa97839	1709	case 253:
yabahiro	31:45f97698857b	1710	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1711	mtc2=false;
yabahiro	23:694ecfa97839	1712	break;
yabahiro	23:694ecfa97839	1713	case 254:
yabahiro	31:45f97698857b	1714	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1715	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1716	mtc2=false;
yabahiro	23:694ecfa97839	1717	break;
yabahiro	23:694ecfa97839	1718	case 1:
yabahiro	31:45f97698857b	1719	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1720	mtc2=false;
yabahiro	23:694ecfa97839	1721	break;
yabahiro	23:694ecfa97839	1722	case 3:
yabahiro	31:45f97698857b	1723	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1724	mtc2=false;
yabahiro	23:694ecfa97839	1725	break;
yabahiro	23:694ecfa97839	1726	case 2:
yabahiro	31:45f97698857b	1727	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1728	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1729	mtc2=false;
yabahiro	29:c78a46f51209	1730	break;
yabahiro	29:c78a46f51209	1731	}
yabahiro	31:45f97698857b	1732	}
yabahiro	31:45f97698857b	1733	} else if(mode==21) {
yabahiro	36:788274604650	1734	motor[TIRE_FR].pwm = normal;
kishibekairohan	32:90f018b10ad6	1735	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1736	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1737	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1738	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1739	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1740	motor[TIRE_BL].pwm = normal;
kishibekairohan	32:90f018b10ad6	1741	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1742	if(g[1]==0) {
yabahiro	31:45f97698857b	1743	mode=30;
yabahiro	36:788274604650	1744	cros=0;
yabahiro	36:788274604650	1745	zyouge=true;
yabahiro	39:f89166d7411c	1746	fast=80;
yabahiro	39:f89166d7411c	1747	normal=60;
yabahiro	39:f89166d7411c	1748	slow=40;
yabahiro	31:45f97698857b	1749	}
yabahiro	31:45f97698857b	1750	} else if(mode==30) {
yabahiro	38:391a0c8e4c16	1751	motor[TIRE_FR].pwm = 60;
yabahiro	38:391a0c8e4c16	1752	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1753	motor[TIRE_FL].pwm = 60;
yabahiro	38:391a0c8e4c16	1754	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1755	motor[TIRE_BR].pwm = 60;
yabahiro	38:391a0c8e4c16	1756	motor[TIRE_BR].dir = FOR;
yabahiro	39:f89166d7411c	1757	motor[TIRE_BL].pwm = 50;
yabahiro	38:391a0c8e4c16	1758	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1759	if(g[1]==98) {
yabahiro	38:391a0c8e4c16	1760	mode=31;
yabahiro	38:391a0c8e4c16	1761	}
yabahiro	39:f89166d7411c	1762	if(g[3]==0) {
yabahiro	39:f89166d7411c	1763	mode=32;
yabahiro	36:788274604650	1764	count=0;
yabahiro	36:788274604650	1765	cros=0;
yabahiro	36:788274604650	1766	}//ゆっくりモードに入れなかった時の保険
yabahiro	38:391a0c8e4c16	1767	/*
kishibekairohan	32:90f018b10ad6	1768	switch(g[1]) {
yabahiro	31:45f97698857b	1769	case 98:
yabahiro	36:788274604650	1770	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1771	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1772	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1773	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1774	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1775	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1776	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1777	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1778	if(count>100000) {
yabahiro	31:45f97698857b	1779	cross++;
yabahiro	31:45f97698857b	1780	count=0;
yabahiro	31:45f97698857b	1781	}
yabahiro	31:45f97698857b	1782	mtc=true;
yabahiro	31:45f97698857b	1783	if(cross==1) {
yabahiro	36:788274604650	1784	if(Twsh==2) {
yabahiro	36:788274604650	1785	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	36:788274604650	1786	}
yabahiro	31:45f97698857b	1787	mode=31;
yabahiro	31:45f97698857b	1788	count=0;
yabahiro	29:c78a46f51209	1789	}
yabahiro	31:45f97698857b	1790	break;
yabahiro	31:45f97698857b	1791	case 0:
yabahiro	36:788274604650	1792	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1793	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1794	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1795	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1796	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1797	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1798	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1799	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1800	mtc=true;
yabahiro	31:45f97698857b	1801	break;
yabahiro	31:45f97698857b	1802	case 255:
yabahiro	36:788274604650	1803	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1804	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1805	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1806	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1807	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1808	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1809	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1810	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1811	mtc=true;
yabahiro	31:45f97698857b	1812	break;
yabahiro	31:45f97698857b	1813	case 253:
yabahiro	36:788274604650	1814	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1815	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1816	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1817	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1818	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1819	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1820	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1821	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1822	mtc=true;
yabahiro	31:45f97698857b	1823	break;
yabahiro	31:45f97698857b	1824	case 254:
yabahiro	36:788274604650	1825	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1826	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1827	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1828	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1829	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1830	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1831	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1832	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1833	mtc=true;
yabahiro	31:45f97698857b	1834	break;
yabahiro	31:45f97698857b	1835	case 1:
yabahiro	36:788274604650	1836	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1837	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1838	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1839	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1840	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1841	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1842	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1843	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1844	mtc=true;
yabahiro	31:45f97698857b	1845	break;
yabahiro	31:45f97698857b	1846	case 3:
yabahiro	31:45f97698857b	1847	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1848	motor[TIRE_FR].dir = FREE;
yabahiro	36:788274604650	1849	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1850	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1851	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1852	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1853	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1854	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1855	mtc=true;
yabahiro	31:45f97698857b	1856	break;
yabahiro	31:45f97698857b	1857	case 2:
yabahiro	31:45f97698857b	1858	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1859	motor[TIRE_FR].dir = FREE;
yabahiro	36:788274604650	1860	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1861	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1862	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1863	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1864	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1865	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1866	mtc=true;
yabahiro	31:45f97698857b	1867	break;
yabahiro	31:45f97698857b	1868	}
kishibekairohan	32:90f018b10ad6	1869	if(g[1]!=98&&mtc==true) {
kishibekairohan	32:90f018b10ad6	1870	switch(g[0]) {
yabahiro	29:c78a46f51209	1871	case 0:
yabahiro	31:45f97698857b	1872	mtc=false;
yabahiro	29:c78a46f51209	1873	break;
yabahiro	29:c78a46f51209	1874	case 255:
kishibekairohan	34:cef6c124a52d	1875	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1876	mtc=false;
yabahiro	29:c78a46f51209	1877	break;
yabahiro	29:c78a46f51209	1878	case 253:
kishibekairohan	34:cef6c124a52d	1879	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1880	mtc=false;
yabahiro	29:c78a46f51209	1881	break;
yabahiro	29:c78a46f51209	1882	case 254:
kishibekairohan	34:cef6c124a52d	1883	motor[TIRE_FL].pwm += 20;
kishibekairohan	34:cef6c124a52d	1884	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1885	mtc=false;
yabahiro	29:c78a46f51209	1886	break;
yabahiro	29:c78a46f51209	1887	case 1:
kishibekairohan	34:cef6c124a52d	1888	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1889	mtc=false;
yabahiro	29:c78a46f51209	1890	break;
yabahiro	29:c78a46f51209	1891	case 3:
kishibekairohan	34:cef6c124a52d	1892	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1893	mtc=false;
yabahiro	29:c78a46f51209	1894	break;
yabahiro	29:c78a46f51209	1895	case 2:
kishibekairohan	34:cef6c124a52d	1896	motor[TIRE_FR].pwm += 20;
kishibekairohan	34:cef6c124a52d	1897	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1898	mtc=false;
yabahiro	23:694ecfa97839	1899	break;
yabahiro	23:694ecfa97839	1900	}
yabahiro	31:45f97698857b	1901	}
yabahiro	38:391a0c8e4c16	1902	*/
yabahiro	31:45f97698857b	1903	} else if(mode==31) {
yabahiro	39:f89166d7411c	1904	motor[TIRE_FR].pwm = 15;
yabahiro	39:f89166d7411c	1905	motor[TIRE_FR].dir = FOR;
yabahiro	39:f89166d7411c	1906	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	1907	motor[TIRE_FL].dir = BACK;
yabahiro	39:f89166d7411c	1908	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	1909	motor[TIRE_BR].dir = FOR;
yabahiro	39:f89166d7411c	1910	motor[TIRE_BL].pwm = 15;
yabahiro	39:f89166d7411c	1911	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1912	if(g[3]==0) {
yabahiro	31:45f97698857b	1913	count=0;
yabahiro	39:f89166d7411c	1914	mode=32;
yabahiro	39:f89166d7411c	1915	}
yabahiro	39:f89166d7411c	1916	} else if(mode==32) {
yabahiro	39:f89166d7411c	1917	motor[TIRE_FR].pwm = 30;
yabahiro	39:f89166d7411c	1918	motor[TIRE_FR].dir = BACK;
yabahiro	39:f89166d7411c	1919	motor[TIRE_FL].pwm = 30;
yabahiro	39:f89166d7411c	1920	motor[TIRE_FL].dir = FOR;
yabahiro	39:f89166d7411c	1921	motor[TIRE_BR].pwm = 30;
yabahiro	39:f89166d7411c	1922	motor[TIRE_BR].dir = BACK;
yabahiro	39:f89166d7411c	1923	motor[TIRE_BL].pwm = 30;
yabahiro	39:f89166d7411c	1924	motor[TIRE_BL].dir = FOR;
yabahiro	39:f89166d7411c	1925	if(g[3]==0) {
yabahiro	39:f89166d7411c	1926	count=0;
yabahiro	39:f89166d7411c	1927	if(Twsh==2) {
yabahiro	39:f89166d7411c	1928	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	39:f89166d7411c	1929	}
yabahiro	31:45f97698857b	1930	mode=40;
yabahiro	31:45f97698857b	1931	}
yabahiro	31:45f97698857b	1932	} else if(mode==40) {
yabahiro	36:788274604650	1933
yabahiro	39:f89166d7411c	1934	if(LIF) {
yabahiro	38:391a0c8e4c16	1935	mode=42;
yabahiro	38:391a0c8e4c16	1936	}
yabahiro	38:391a0c8e4c16	1937
yabahiro	36:788274604650	1938	if(counts==false&&g[0]==0) {
yabahiro	36:788274604650	1939	cros++;
yabahiro	36:788274604650	1940	counts=true;
yabahiro	36:788274604650	1941	}
yabahiro	36:788274604650	1942	if(counts==true&&g[0]==99) {
yabahiro	36:788274604650	1943	counts=false;
yabahiro	36:788274604650	1944	}
yabahiro	36:788274604650	1945
yabahiro	40:7f93984e8ba1	1946	if(cros==1) {
yabahiro	36:788274604650	1947	// mode=41;
yabahiro	36:788274604650	1948	//count=0;
yabahiro	36:788274604650	1949	//cros=0;
yabahiro	36:788274604650	1950	}//ゆっくりモードに入れなかった時の保険
yabahiro	36:788274604650	1951
yabahiro	31:45f97698857b	1952	switch(g[3]) {
yabahiro	31:45f97698857b	1953	case 98:
kishibekairohan	33:656aa14904a5	1954	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1955	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1956	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1957	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1958	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1959	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1960	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1961	motor[TIRE_BL].dir = FOR;
yabahiro	36:788274604650	1962	if(count>20000) {
yabahiro	31:45f97698857b	1963	cross++;
yabahiro	31:45f97698857b	1964	count=0;
yabahiro	31:45f97698857b	1965	}
yabahiro	31:45f97698857b	1966	mtc2=true;
yabahiro	39:f89166d7411c	1967	if(cross==2) {
yabahiro	31:45f97698857b	1968	mode=41;
yabahiro	31:45f97698857b	1969	count=0;
yabahiro	31:45f97698857b	1970	cross=0;
yabahiro	24:41c23c9a5058	1971	}
yabahiro	31:45f97698857b	1972	break;
yabahiro	31:45f97698857b	1973	case 0:
kishibekairohan	33:656aa14904a5	1974	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1975	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1976	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1977	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1978	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1979	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1980	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1981	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1982	mtc2=true;
yabahiro	31:45f97698857b	1983	break;
yabahiro	31:45f97698857b	1984	case 255:
kishibekairohan	33:656aa14904a5	1985	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1986	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1987	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1988	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1989	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1990	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1991	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1992	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1993	mtc2=true;
yabahiro	31:45f97698857b	1994	break;
yabahiro	31:45f97698857b	1995	case 253:
yabahiro	31:45f97698857b	1996	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1997	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1998	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1999	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2000	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2001	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2002	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2003	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2004	mtc2=true;
yabahiro	31:45f97698857b	2005	break;
yabahiro	31:45f97698857b	2006	case 254:
yabahiro	31:45f97698857b	2007	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2008	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2009	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2010	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2011	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2012	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2013	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2014	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2015	mtc2=true;
yabahiro	31:45f97698857b	2016	break;
yabahiro	31:45f97698857b	2017	case 1:
kishibekairohan	33:656aa14904a5	2018	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2019	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2020	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2021	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2022	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2023	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2024	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2025	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2026	mtc2=true;
yabahiro	31:45f97698857b	2027	break;
yabahiro	31:45f97698857b	2028	case 3:
kishibekairohan	33:656aa14904a5	2029	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2030	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2031	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2032	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2033	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2034	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2035	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2036	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2037	mtc2=true;
yabahiro	31:45f97698857b	2038	break;
yabahiro	31:45f97698857b	2039	case 2:
kishibekairohan	33:656aa14904a5	2040	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2041	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2042	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2043	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2044	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2045	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2046	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2047	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2048	mtc2=true;
yabahiro	31:45f97698857b	2049	break;
yabahiro	31:45f97698857b	2050	}
yabahiro	31:45f97698857b	2051	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	2052	switch(g[2]) {
yabahiro	23:694ecfa97839	2053	case 0:
yabahiro	31:45f97698857b	2054	mtc2=false;
yabahiro	23:694ecfa97839	2055	break;
yabahiro	23:694ecfa97839	2056	case 255:
yabahiro	39:f89166d7411c	2057	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	2058	mtc2=false;
yabahiro	23:694ecfa97839	2059	break;
yabahiro	23:694ecfa97839	2060	case 253:
yabahiro	39:f89166d7411c	2061	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	2062	mtc2=false;
yabahiro	23:694ecfa97839	2063	break;
yabahiro	23:694ecfa97839	2064	case 254:
yabahiro	39:f89166d7411c	2065	motor[TIRE_FR].pwm += 20;
yabahiro	39:f89166d7411c	2066	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2067	mtc2=false;
yabahiro	23:694ecfa97839	2068	break;
yabahiro	23:694ecfa97839	2069	case 1:
yabahiro	39:f89166d7411c	2070	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	2071	mtc2=false;
yabahiro	23:694ecfa97839	2072	break;
yabahiro	23:694ecfa97839	2073	case 3:
yabahiro	39:f89166d7411c	2074	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	2075	mtc2=false;
yabahiro	23:694ecfa97839	2076	break;
yabahiro	23:694ecfa97839	2077	case 2:
yabahiro	39:f89166d7411c	2078	motor[TIRE_BR].pwm += 20;
yabahiro	39:f89166d7411c	2079	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2080	mtc2=false;
yabahiro	29:c78a46f51209	2081	break;
yabahiro	29:c78a46f51209	2082	}
yabahiro	31:45f97698857b	2083	}
yabahiro	31:45f97698857b	2084	} else if(mode==41) {
yabahiro	39:f89166d7411c	2085	motor[TIRE_FR].pwm = 30;
kishibekairohan	32:90f018b10ad6	2086	motor[TIRE_FR].dir = BACK;
yabahiro	36:788274604650	2087	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2088	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	2089	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2090	motor[TIRE_BR].dir = FREE;
yabahiro	39:f89166d7411c	2091	motor[TIRE_BL].pwm = 30;
kishibekairohan	32:90f018b10ad6	2092	motor[TIRE_BL].dir = FOR;
yabahiro	36:788274604650	2093	if(g[1]==0) {
yabahiro	31:45f97698857b	2094	count=0;
yabahiro	31:45f97698857b	2095	mode=70;
yabahiro	39:f89166d7411c	2096	normal=60;
yabahiro	39:f89166d7411c	2097	fast=80;
yabahiro	39:f89166d7411c	2098	slow=40;
yabahiro	31:45f97698857b	2099	}
yabahiro	36:788274604650	2100	} else if(mode==70)
kishibekairohan	32:90f018b10ad6	2101	switch(g[0]) {
yabahiro	31:45f97698857b	2102	case 99:
yabahiro	31:45f97698857b	2103	if(count>=100000) {
yabahiro	39:f89166d7411c	2104	cross++;
yabahiro	39:f89166d7411c	2105	mode=100;
yabahiro	39:f89166d7411c	2106	count=0;
yabahiro	39:f89166d7411c	2107	}
yabahiro	39:f89166d7411c	2108	if(cross==3) {
yabahiro	39:f89166d7411c	2109	cross=0;
yabahiro	31:45f97698857b	2110	mode=100;
yabahiro	28:9cd36721cf83	2111	}
yabahiro	31:45f97698857b	2112	break;
yabahiro	31:45f97698857b	2113	case 98:
kishibekairohan	33:656aa14904a5	2114	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2115	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2116	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2117	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2118	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2119	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2120	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2121	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2122	break;
yabahiro	31:45f97698857b	2123	case 0:
kishibekairohan	33:656aa14904a5	2124	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2125	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2126	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2127	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2128	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2129	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2130	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2131	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2132	mtc=true;
yabahiro	31:45f97698857b	2133	break;
yabahiro	31:45f97698857b	2134	case 255:
kishibekairohan	33:656aa14904a5	2135	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2136	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2137	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2138	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2139	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2140	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2141	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2142	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2143	mtc=true;
yabahiro	31:45f97698857b	2144	break;
yabahiro	31:45f97698857b	2145	case 253:
kishibekairohan	33:656aa14904a5	2146	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2147	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2148	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2149	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2150	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2151	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2152	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2153	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2154	mtc=true;
yabahiro	31:45f97698857b	2155	break;
yabahiro	31:45f97698857b	2156	case 254:
kishibekairohan	33:656aa14904a5	2157	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2158	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2159	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2160	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2161	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2162	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2163	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2164	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2165	mtc=true;
yabahiro	31:45f97698857b	2166	break;
yabahiro	31:45f97698857b	2167	case 1:
kishibekairohan	33:656aa14904a5	2168	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2169	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2170	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2171	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2172	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2173	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2174	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2175	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2176	mtc=true;
yabahiro	31:45f97698857b	2177	break;
yabahiro	31:45f97698857b	2178	case 3:
yabahiro	31:45f97698857b	2179	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2180	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2181	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2182	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2183	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2184	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2185	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2186	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2187	mtc=true;
yabahiro	31:45f97698857b	2188	break;
yabahiro	31:45f97698857b	2189	case 2:
yabahiro	31:45f97698857b	2190	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2191	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2192	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2193	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2194	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2195	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2196	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2197	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2198	mtc=true;
yabahiro	31:45f97698857b	2199	break;
yabahiro	31:45f97698857b	2200	}
yabahiro	36:788274604650	2201	if(g[1]!=98&&mtc==true) {
yabahiro	39:f89166d7411c	2202	switch(g[1]) {
yabahiro	36:788274604650	2203	case 0:
yabahiro	36:788274604650	2204	mtc=false;
yabahiro	36:788274604650	2205	break;
yabahiro	36:788274604650	2206	case 255:
yabahiro	36:788274604650	2207	motor[TIRE_BR].pwm += 5;
yabahiro	36:788274604650	2208	mtc=false;
yabahiro	36:788274604650	2209	break;
yabahiro	36:788274604650	2210	case 253:
yabahiro	36:788274604650	2211	motor[TIRE_BR].pwm += 10;
yabahiro	36:788274604650	2212	mtc=false;
yabahiro	36:788274604650	2213	break;
yabahiro	36:788274604650	2214	case 254:
yabahiro	36:788274604650	2215	motor[TIRE_BR].pwm += 20;
yabahiro	36:788274604650	2216	motor[TIRE_BL].pwm = 0;
yabahiro	36:788274604650	2217	mtc=false;
yabahiro	36:788274604650	2218	break;
yabahiro	36:788274604650	2219	case 1:
yabahiro	36:788274604650	2220	motor[TIRE_BL].pwm += 5;
yabahiro	36:788274604650	2221	mtc=false;
yabahiro	36:788274604650	2222	break;
yabahiro	36:788274604650	2223	case 3:
yabahiro	36:788274604650	2224	motor[TIRE_BL].pwm += 10;
yabahiro	36:788274604650	2225	mtc=false;
yabahiro	36:788274604650	2226	break;
yabahiro	36:788274604650	2227	case 2:
yabahiro	36:788274604650	2228	motor[TIRE_BL].pwm += 20;
yabahiro	36:788274604650	2229	motor[TIRE_BR].pwm = 0;
yabahiro	36:788274604650	2230	mtc=false;
yabahiro	36:788274604650	2231	break;
yabahiro	24:41c23c9a5058	2232	}
yabahiro	31:45f97698857b	2233	} else if(mode==100) {
yabahiro	36:788274604650	2234	motor[TIRE_FR].pwm = 20;
kishibekairohan	32:90f018b10ad6	2235	motor[TIRE_FR].dir = BACK;
yabahiro	36:788274604650	2236	motor[TIRE_FL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2237	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2238	motor[TIRE_BR].pwm = 23;
kishibekairohan	32:90f018b10ad6	2239	motor[TIRE_BR].dir = BACK;
yabahiro	36:788274604650	2240	motor[TIRE_BL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2241	motor[TIRE_BL].dir = FOR;
yabahiro	39:f89166d7411c	2242	if(StertSW) {
yabahiro	39:f89166d7411c	2243	SW_flag = true;
yabahiro	39:f89166d7411c	2244	}
yabahiro	40:7f93984e8ba1	2245	if(SW_flag ==true) {
yabahiro	39:f89166d7411c	2246	motor[TIRE_FR].pwm = 100;
yabahiro	40:7f93984e8ba1	2247	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2248	motor[TIRE_FL].pwm = 100;
yabahiro	40:7f93984e8ba1	2249	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2250	motor[TIRE_BR].pwm = 100;
yabahiro	40:7f93984e8ba1	2251	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2252	motor[TIRE_BL].pwm = 100;
yabahiro	40:7f93984e8ba1	2253	motor[TIRE_BL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2254	fast=60;
yabahiro	40:7f93984e8ba1	2255	normal=40;
yabahiro	40:7f93984e8ba1	2256	slow=20;
yabahiro	40:7f93984e8ba1	2257	mode =1;
yabahiro	40:7f93984e8ba1	2258	cross=0;//十字数える用
yabahiro	40:7f93984e8ba1	2259	cros=0;
yabahiro	40:7f93984e8ba1	2260	count=100000;//wait代替え
yabahiro	40:7f93984e8ba1	2261	UP_flag = false;
yabahiro	39:f89166d7411c	2262	SW_flag = false;
yabahiro	40:7f93984e8ba1	2263	Air_flag = false;
yabahiro	40:7f93984e8ba1	2264	zyouge=false;
yabahiro	40:7f93984e8ba1	2265	zyougedo=false;
yabahiro	40:7f93984e8ba1	2266	dz1=true;
yabahiro	40:7f93984e8ba1	2267	dz1i=false;
yabahiro	40:7f93984e8ba1	2268	dz2=true;
yabahiro	40:7f93984e8ba1	2269	dz2i=false;
yabahiro	40:7f93984e8ba1	2270	dz3=true;
yabahiro	40:7f93984e8ba1	2271	dz3i=false;
yabahiro	40:7f93984e8ba1	2272	dz4=true;
yabahiro	40:7f93984e8ba1	2273	dz4i=false;
yabahiro	40:7f93984e8ba1	2274	through=false;
yabahiro	40:7f93984e8ba1	2275	counts=false;
yabahiro	40:7f93984e8ba1	2276	mtc=false;
yabahiro	40:7f93984e8ba1	2277	mtc2 = false;
yabahiro	40:7f93984e8ba1	2278	current = 0;
yabahiro	40:7f93984e8ba1	2279	if(StertSW==false) {
yabahiro	40:7f93984e8ba1	2280	SW_flag = false;
yabahiro	40:7f93984e8ba1	2281	}
yabahiro	39:f89166d7411c	2282	}
yabahiro	21:1f1e9c585da8	2283	}
yabahiro	40:7f93984e8ba1	2284
yabahiro	40:7f93984e8ba1	2285
kishibekairohan	13:b6e02d6261d7	2286	}
kishibekairohan	13:b6e02d6261d7	2287	#endif
kishibekairohan	13:b6e02d6261d7	2288
kishibekairohan	13:b6e02d6261d7	2289	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	2290	static void Process5()
yabahiro	21:1f1e9c585da8	2291	{
yabahiro	42:4f9689c0a349	2292	LedMode(4);
yabahiro	40:7f93984e8ba1	2293	count++;
yabahiro	40:7f93984e8ba1	2294	if(mode==1) {//スタートゾーンから白線検知
yabahiro	41:e1dd6d97f17d	2295	fast=50;
yabahiro	40:7f93984e8ba1	2296	normal=30;
yabahiro	40:7f93984e8ba1	2297	slow=20;
yabahiro	41:e1dd6d97f17d	2298	motor[TIRE_FR].pwm = 35;
yabahiro	40:7f93984e8ba1	2299	motor[TIRE_FR].dir = FOR;
yabahiro	41:e1dd6d97f17d	2300	motor[TIRE_FL].pwm = 35;
yabahiro	40:7f93984e8ba1	2301	motor[TIRE_FL].dir = BACK;
yabahiro	41:e1dd6d97f17d	2302	motor[TIRE_BR].pwm = 35;
yabahiro	40:7f93984e8ba1	2303	motor[TIRE_BR].dir = FOR;
yabahiro	41:e1dd6d97f17d	2304	motor[TIRE_BL].pwm = 32;
yabahiro	40:7f93984e8ba1	2305	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2306	if(g[2]==0) {
yabahiro	40:7f93984e8ba1	2307	count=100000;
yabahiro	40:7f93984e8ba1	2308	cross=0;
yabahiro	40:7f93984e8ba1	2309	mode=3;
yabahiro	40:7f93984e8ba1	2310	}
yabahiro	40:7f93984e8ba1	2311	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	41:e1dd6d97f17d	2312	motor[TIRE_FR].pwm = 27;
yabahiro	40:7f93984e8ba1	2313	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2314	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2315	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2316	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2317	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2318	motor[TIRE_BL].pwm = 25;
yabahiro	40:7f93984e8ba1	2319	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2320	if(g[0]==0) {
yabahiro	40:7f93984e8ba1	2321	mode=10;
yabahiro	40:7f93984e8ba1	2322	count=100000;
yabahiro	40:7f93984e8ba1	2323	}
yabahiro	40:7f93984e8ba1	2324	} else if(mode==10) { //縦ライントレース
yabahiro	40:7f93984e8ba1	2325
yabahiro	40:7f93984e8ba1	2326	if(counts==false&&g[2]==0) {
yabahiro	40:7f93984e8ba1	2327	cros++;
yabahiro	40:7f93984e8ba1	2328	counts=true;
yabahiro	40:7f93984e8ba1	2329	}
yabahiro	40:7f93984e8ba1	2330	if(counts==true&&g[2]==99) {
yabahiro	40:7f93984e8ba1	2331	counts=false;
yabahiro	40:7f93984e8ba1	2332	}
yabahiro	40:7f93984e8ba1	2333
yabahiro	40:7f93984e8ba1	2334	if(cros==Twsh) {
yabahiro	40:7f93984e8ba1	2335	mode=11;
yabahiro	40:7f93984e8ba1	2336	count=0;
yabahiro	40:7f93984e8ba1	2337	cros=0;
yabahiro	40:7f93984e8ba1	2338	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2339	switch(g[1]) {
yabahiro	40:7f93984e8ba1	2340	case 98:
yabahiro	40:7f93984e8ba1	2341	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2342	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2343	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2344	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2345	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2346	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2347	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2348	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2349	mtc=true;
yabahiro	40:7f93984e8ba1	2350	if(count>80000) {
yabahiro	40:7f93984e8ba1	2351	cross++;
yabahiro	40:7f93984e8ba1	2352	count=0;
yabahiro	40:7f93984e8ba1	2353	}
yabahiro	40:7f93984e8ba1	2354	if(cross==Twsh) {
yabahiro	40:7f93984e8ba1	2355	mode=11;
yabahiro	40:7f93984e8ba1	2356	count=0;
yabahiro	40:7f93984e8ba1	2357	cross=0;
yabahiro	40:7f93984e8ba1	2358	}
yabahiro	40:7f93984e8ba1	2359	break;
yabahiro	40:7f93984e8ba1	2360	case 0:
yabahiro	40:7f93984e8ba1	2361	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2362	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2363	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2364	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2365	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2366	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2367	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2368	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2369	mtc=true;
yabahiro	40:7f93984e8ba1	2370	break;
yabahiro	40:7f93984e8ba1	2371	case 255:
yabahiro	40:7f93984e8ba1	2372	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2373	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2374	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2375	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2376	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2377	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2378	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2379	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2380	mtc=true;
yabahiro	40:7f93984e8ba1	2381	break;
yabahiro	40:7f93984e8ba1	2382	case 253:
yabahiro	40:7f93984e8ba1	2383	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2384	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2385	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2386	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2387	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2388	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2389	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2390	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2391	mtc=true;
yabahiro	40:7f93984e8ba1	2392	break;
yabahiro	40:7f93984e8ba1	2393	case 254:
yabahiro	40:7f93984e8ba1	2394	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2395	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2396	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2397	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2398	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2399	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2400	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2401	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2402	mtc=true;
yabahiro	40:7f93984e8ba1	2403	break;
yabahiro	40:7f93984e8ba1	2404	case 1:
yabahiro	40:7f93984e8ba1	2405	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2406	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2407	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2408	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2409	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2410	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2411	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2412	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2413	mtc=true;
yabahiro	40:7f93984e8ba1	2414	break;
yabahiro	40:7f93984e8ba1	2415	case 3:
yabahiro	40:7f93984e8ba1	2416	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2417	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2418	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2419	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2420	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2421	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2422	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2423	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2424	mtc=true;
yabahiro	40:7f93984e8ba1	2425	break;
yabahiro	40:7f93984e8ba1	2426	case 2:
yabahiro	40:7f93984e8ba1	2427	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2428	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2429	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2430	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2431	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2432	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2433	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2434	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2435	mtc=true;
yabahiro	40:7f93984e8ba1	2436	break;
yabahiro	40:7f93984e8ba1	2437	}
yabahiro	40:7f93984e8ba1	2438	if(g[0]!=98&&mtc==true) {
yabahiro	40:7f93984e8ba1	2439	switch(g[0]) {
yabahiro	40:7f93984e8ba1	2440	case 0:
yabahiro	40:7f93984e8ba1	2441	mtc=false;
yabahiro	40:7f93984e8ba1	2442	break;
yabahiro	40:7f93984e8ba1	2443	case 255:
yabahiro	40:7f93984e8ba1	2444	motor[TIRE_FL].pwm += 5;
yabahiro	40:7f93984e8ba1	2445	mtc=false;
yabahiro	40:7f93984e8ba1	2446	break;
yabahiro	40:7f93984e8ba1	2447	case 253:
yabahiro	40:7f93984e8ba1	2448	motor[TIRE_FL].pwm += 10;
yabahiro	40:7f93984e8ba1	2449	mtc=false;
yabahiro	40:7f93984e8ba1	2450	break;
yabahiro	40:7f93984e8ba1	2451	case 254:
yabahiro	40:7f93984e8ba1	2452	motor[TIRE_FL].pwm += 20;
yabahiro	40:7f93984e8ba1	2453	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2454	mtc=false;
yabahiro	40:7f93984e8ba1	2455	break;
yabahiro	40:7f93984e8ba1	2456	case 1:
yabahiro	40:7f93984e8ba1	2457	motor[TIRE_FR].pwm += 5;
yabahiro	40:7f93984e8ba1	2458	mtc=false;
yabahiro	40:7f93984e8ba1	2459	break;
yabahiro	40:7f93984e8ba1	2460	case 3:
yabahiro	40:7f93984e8ba1	2461	motor[TIRE_FR].pwm += 10;
yabahiro	40:7f93984e8ba1	2462	mtc=false;
yabahiro	40:7f93984e8ba1	2463	break;
yabahiro	40:7f93984e8ba1	2464	case 2:
yabahiro	40:7f93984e8ba1	2465	motor[TIRE_FR].pwm += 20;
yabahiro	40:7f93984e8ba1	2466	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2467	mtc=false;
yabahiro	40:7f93984e8ba1	2468	break;
yabahiro	40:7f93984e8ba1	2469	}
yabahiro	40:7f93984e8ba1	2470	}
yabahiro	40:7f93984e8ba1	2471	} else if(mode==11) {
yabahiro	40:7f93984e8ba1	2472	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2473	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2474	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2475	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2476	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2477	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2478	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2479	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2480	if(g[2]==0) {
yabahiro	40:7f93984e8ba1	2481	count=0;
yabahiro	40:7f93984e8ba1	2482	cross=0;
yabahiro	40:7f93984e8ba1	2483	mode=20;
yabahiro	40:7f93984e8ba1	2484	}
yabahiro	40:7f93984e8ba1	2485	} else if(mode==20) {
yabahiro	40:7f93984e8ba1	2486
yabahiro	40:7f93984e8ba1	2487	if(Twsh==2) {
yabahiro	40:7f93984e8ba1	2488	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	40:7f93984e8ba1	2489	}
yabahiro	40:7f93984e8ba1	2490
yabahiro	40:7f93984e8ba1	2491	if(counts==false&&g[1]==0) {
yabahiro	40:7f93984e8ba1	2492	cros++;
yabahiro	40:7f93984e8ba1	2493	counts=true;
yabahiro	40:7f93984e8ba1	2494	}
yabahiro	40:7f93984e8ba1	2495	if(counts==true&&g[1]==99) {
yabahiro	40:7f93984e8ba1	2496	counts=false;
yabahiro	40:7f93984e8ba1	2497	}
yabahiro	40:7f93984e8ba1	2498
yabahiro	40:7f93984e8ba1	2499	if(cros==2) {
yabahiro	40:7f93984e8ba1	2500	//mode=21;
yabahiro	40:7f93984e8ba1	2501	//count=0;
yabahiro	40:7f93984e8ba1	2502	//cros=0;
yabahiro	40:7f93984e8ba1	2503	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2504
yabahiro	40:7f93984e8ba1	2505	switch(g[2]) {
yabahiro	40:7f93984e8ba1	2506	case 98:
yabahiro	40:7f93984e8ba1	2507	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2508	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2509	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2510	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2511	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2512	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2513	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2514	motor[TIRE_BL].dir = BACK;
yabahiro	41:e1dd6d97f17d	2515	if(count>50000) {
yabahiro	40:7f93984e8ba1	2516	cross++;
yabahiro	40:7f93984e8ba1	2517	count=0;
yabahiro	40:7f93984e8ba1	2518	}
yabahiro	40:7f93984e8ba1	2519	mtc2=true;
yabahiro	40:7f93984e8ba1	2520	if(cross==1) {
yabahiro	40:7f93984e8ba1	2521	fast=30;
yabahiro	40:7f93984e8ba1	2522	normal=20;
yabahiro	40:7f93984e8ba1	2523	slow=20;
yabahiro	40:7f93984e8ba1	2524	}
yabahiro	40:7f93984e8ba1	2525	if(cross==2) {
yabahiro	40:7f93984e8ba1	2526	mode=21;
yabahiro	40:7f93984e8ba1	2527	cross=0;
yabahiro	41:e1dd6d97f17d	2528	count=0;
yabahiro	40:7f93984e8ba1	2529	}
yabahiro	40:7f93984e8ba1	2530	break;
yabahiro	40:7f93984e8ba1	2531	case 0:
yabahiro	40:7f93984e8ba1	2532	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2533	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2534	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2535	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2536	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2537	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2538	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2539	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2540	mtc2=true;
yabahiro	40:7f93984e8ba1	2541	break;
yabahiro	40:7f93984e8ba1	2542	case 255:
yabahiro	40:7f93984e8ba1	2543	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2544	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2545	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2546	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2547	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2548	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2549	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2550	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2551	mtc2=true;
yabahiro	40:7f93984e8ba1	2552	break;
yabahiro	40:7f93984e8ba1	2553	case 253:
yabahiro	40:7f93984e8ba1	2554	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2555	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2556	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2557	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2558	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2559	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2560	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2561	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2562	mtc2=true;
yabahiro	40:7f93984e8ba1	2563	break;
yabahiro	40:7f93984e8ba1	2564	case 254:
yabahiro	40:7f93984e8ba1	2565	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2566	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2567	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2568	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2569	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2570	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2571	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2572	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2573	mtc2=true;
yabahiro	40:7f93984e8ba1	2574	break;
yabahiro	40:7f93984e8ba1	2575	case 1:
yabahiro	40:7f93984e8ba1	2576	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2577	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2578	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2579	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2580	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2581	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2582	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2583	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2584	mtc2=true;
yabahiro	40:7f93984e8ba1	2585	break;
yabahiro	40:7f93984e8ba1	2586	case 3:
yabahiro	40:7f93984e8ba1	2587	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2588	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2589	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2590	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2591	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2592	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2593	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2594	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2595	mtc2=true;
yabahiro	40:7f93984e8ba1	2596	break;
yabahiro	40:7f93984e8ba1	2597	case 2:
yabahiro	40:7f93984e8ba1	2598	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2599	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2600	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2601	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2602	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2603	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2604	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2605	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2606	mtc2=true;
yabahiro	40:7f93984e8ba1	2607	break;
yabahiro	40:7f93984e8ba1	2608	}
yabahiro	40:7f93984e8ba1	2609	if(g[2]!=98&&mtc2==true) {
yabahiro	40:7f93984e8ba1	2610	switch(g[3]) {
yabahiro	40:7f93984e8ba1	2611	case 0:
yabahiro	40:7f93984e8ba1	2612	mtc2=false;
yabahiro	40:7f93984e8ba1	2613	break;
yabahiro	40:7f93984e8ba1	2614	case 255:
yabahiro	40:7f93984e8ba1	2615	motor[TIRE_BL].pwm += 5;
yabahiro	40:7f93984e8ba1	2616	mtc2=false;
yabahiro	40:7f93984e8ba1	2617	break;
yabahiro	40:7f93984e8ba1	2618	case 253:
yabahiro	40:7f93984e8ba1	2619	motor[TIRE_BL].pwm += 10;
yabahiro	40:7f93984e8ba1	2620	mtc2=false;
yabahiro	40:7f93984e8ba1	2621	break;
yabahiro	40:7f93984e8ba1	2622	case 254:
yabahiro	40:7f93984e8ba1	2623	motor[TIRE_BL].pwm += 20;
yabahiro	40:7f93984e8ba1	2624	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2625	mtc2=false;
yabahiro	40:7f93984e8ba1	2626	break;
yabahiro	40:7f93984e8ba1	2627	case 1:
yabahiro	40:7f93984e8ba1	2628	motor[TIRE_FL].pwm += 5;
yabahiro	40:7f93984e8ba1	2629	mtc2=false;
yabahiro	40:7f93984e8ba1	2630	break;
yabahiro	40:7f93984e8ba1	2631	case 3:
yabahiro	40:7f93984e8ba1	2632	motor[TIRE_FL].pwm += 10;
yabahiro	40:7f93984e8ba1	2633	mtc2=false;
yabahiro	40:7f93984e8ba1	2634	break;
yabahiro	40:7f93984e8ba1	2635	case 2:
yabahiro	40:7f93984e8ba1	2636	motor[TIRE_FL].pwm += 20;
yabahiro	40:7f93984e8ba1	2637	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2638	mtc2=false;
yabahiro	40:7f93984e8ba1	2639	break;
yabahiro	40:7f93984e8ba1	2640	}
yabahiro	40:7f93984e8ba1	2641	}
yabahiro	42:4f9689c0a349	2642
yabahiro	40:7f93984e8ba1	2643	} else if(mode==21) {
yabahiro	40:7f93984e8ba1	2644	motor[TIRE_FR].pwm = 20;
yabahiro	41:e1dd6d97f17d	2645	motor[TIRE_FR].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2646	motor[TIRE_FL].pwm = 20;
yabahiro	41:e1dd6d97f17d	2647	motor[TIRE_FL].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2648	motor[TIRE_BR].pwm = 20;
yabahiro	41:e1dd6d97f17d	2649	motor[TIRE_BR].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2650	motor[TIRE_BL].pwm = 20;
yabahiro	41:e1dd6d97f17d	2651	motor[TIRE_BL].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2652	if(count<=100000) {
yabahiro	41:e1dd6d97f17d	2653	mode=22;
yabahiro	41:e1dd6d97f17d	2654	}
yabahiro	42:4f9689c0a349	2655	}
yabahiro	42:4f9689c0a349	2656	if(YELLOW) {
yabahiro	42:4f9689c0a349	2657	if(mode==22) {
yabahiro	42:4f9689c0a349	2658	motor[TIRE_FR].pwm = 20;
yabahiro	42:4f9689c0a349	2659	motor[TIRE_FR].dir = BACK;
yabahiro	42:4f9689c0a349	2660	motor[TIRE_FL].pwm = 20;
yabahiro	42:4f9689c0a349	2661	motor[TIRE_FL].dir = BACK;
yabahiro	42:4f9689c0a349	2662	motor[TIRE_BR].pwm = 20;
yabahiro	42:4f9689c0a349	2663	motor[TIRE_BR].dir = FOR;
yabahiro	42:4f9689c0a349	2664	motor[TIRE_BL].pwm = 20;
yabahiro	42:4f9689c0a349	2665	motor[TIRE_BL].dir = FOR;
yabahiro	42:4f9689c0a349	2666	if(g[2]!=98) {
yabahiro	42:4f9689c0a349	2667	mode=30;
yabahiro	42:4f9689c0a349	2668	}
yabahiro	40:7f93984e8ba1	2669	}
yabahiro	42:4f9689c0a349	2670
yabahiro	42:4f9689c0a349	2671	} else {
yabahiro	42:4f9689c0a349	2672	if(mode==22) {
yabahiro	42:4f9689c0a349	2673	motor[TIRE_FR].pwm = normal;
yabahiro	42:4f9689c0a349	2674	motor[TIRE_FR].dir = FOR;
yabahiro	42:4f9689c0a349	2675	motor[TIRE_FL].pwm = 0;
yabahiro	42:4f9689c0a349	2676	motor[TIRE_FL].dir = FREE;
yabahiro	42:4f9689c0a349	2677	motor[TIRE_BR].pwm = 0;
yabahiro	42:4f9689c0a349	2678	motor[TIRE_BR].dir = FREE;
yabahiro	42:4f9689c0a349	2679	motor[TIRE_BL].pwm = normal;
yabahiro	42:4f9689c0a349	2680	motor[TIRE_BL].dir = BACK;
yabahiro	42:4f9689c0a349	2681	if(g[1]==0) {
yabahiro	42:4f9689c0a349	2682	count=0;
yabahiro	42:4f9689c0a349	2683	cross=0;
yabahiro	42:4f9689c0a349	2684	mode=30;
yabahiro	42:4f9689c0a349	2685	}
yabahiro	42:4f9689c0a349	2686	}
yabahiro	42:4f9689c0a349	2687	}
yabahiro	42:4f9689c0a349	2688	if(mode==30) {
yabahiro	41:e1dd6d97f17d	2689	motor[TIRE_FR].pwm = 64;
yabahiro	40:7f93984e8ba1	2690	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2691	motor[TIRE_FL].pwm = 60;
yabahiro	40:7f93984e8ba1	2692	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2693	motor[TIRE_BR].pwm = 60;
yabahiro	40:7f93984e8ba1	2694	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2695	motor[TIRE_BL].pwm = 60;
yabahiro	40:7f93984e8ba1	2696	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2697	if(g[1]==98) {
yabahiro	40:7f93984e8ba1	2698	mode=31;
yabahiro	41:e1dd6d97f17d	2699	count=0;
yabahiro	40:7f93984e8ba1	2700	}
yabahiro	40:7f93984e8ba1	2701	} else if(mode==31) {
yabahiro	42:4f9689c0a349	2702	motor[TIRE_FR].pwm = 0;
yabahiro	41:e1dd6d97f17d	2703	motor[TIRE_FR].dir = FREE;
yabahiro	42:4f9689c0a349	2704	motor[TIRE_FL].pwm = 0;
yabahiro	41:e1dd6d97f17d	2705	motor[TIRE_FL].dir = FREE;
yabahiro	42:4f9689c0a349	2706	motor[TIRE_BR].pwm = 0;
yabahiro	41:e1dd6d97f17d	2707	motor[TIRE_BR].dir = FREE;
yabahiro	42:4f9689c0a349	2708	motor[TIRE_BL].pwm = 0;
yabahiro	41:e1dd6d97f17d	2709	motor[TIRE_BL].dir = FREE;
yabahiro	42:4f9689c0a349	2710	if(count>=5000) {
yabahiro	41:e1dd6d97f17d	2711	mode=32;
yabahiro	40:7f93984e8ba1	2712	count=0;
yabahiro	40:7f93984e8ba1	2713	}
yabahiro	40:7f93984e8ba1	2714	} else if(mode==32) {
yabahiro	42:4f9689c0a349	2715	motor[TIRE_FR].pwm = 10;
yabahiro	41:e1dd6d97f17d	2716	motor[TIRE_FR].dir = BRAKE;
yabahiro	42:4f9689c0a349	2717	motor[TIRE_FL].pwm = 10;
yabahiro	41:e1dd6d97f17d	2718	motor[TIRE_FL].dir = BRAKE;
yabahiro	42:4f9689c0a349	2719	motor[TIRE_BR].pwm = 10;
yabahiro	41:e1dd6d97f17d	2720	motor[TIRE_BR].dir = BRAKE;
yabahiro	42:4f9689c0a349	2721	motor[TIRE_BL].pwm = 10;
yabahiro	41:e1dd6d97f17d	2722	motor[TIRE_BL].dir = BRAKE;
yabahiro	42:4f9689c0a349	2723	if(count>=30000) {
yabahiro	41:e1dd6d97f17d	2724	mode=33;
yabahiro	41:e1dd6d97f17d	2725	count=0;
yabahiro	41:e1dd6d97f17d	2726	}
yabahiro	41:e1dd6d97f17d	2727	} else if(mode==33) {
yabahiro	41:e1dd6d97f17d	2728	motor[TIRE_FR].pwm = 0;
yabahiro	41:e1dd6d97f17d	2729	motor[TIRE_FR].dir = FREE;
yabahiro	41:e1dd6d97f17d	2730	motor[TIRE_FL].pwm = 25;
yabahiro	41:e1dd6d97f17d	2731	motor[TIRE_FL].dir = BACK;
yabahiro	41:e1dd6d97f17d	2732	motor[TIRE_BR].pwm = 25;
yabahiro	41:e1dd6d97f17d	2733	motor[TIRE_BR].dir = FOR;
yabahiro	41:e1dd6d97f17d	2734	motor[TIRE_BL].pwm = 0;
yabahiro	41:e1dd6d97f17d	2735	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2736	if(g[3]==0) {
yabahiro	40:7f93984e8ba1	2737	count=0;
yabahiro	40:7f93984e8ba1	2738	if(Twsh==2) {
yabahiro	40:7f93984e8ba1	2739	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	40:7f93984e8ba1	2740	}
yabahiro	40:7f93984e8ba1	2741	mode=40;
yabahiro	40:7f93984e8ba1	2742	}
yabahiro	40:7f93984e8ba1	2743	} else if(mode==40) {
yabahiro	41:e1dd6d97f17d	2744	if(LIF\|\|LIB) {
yabahiro	40:7f93984e8ba1	2745	mode=42;
yabahiro	40:7f93984e8ba1	2746	}
yabahiro	40:7f93984e8ba1	2747
yabahiro	40:7f93984e8ba1	2748	if(counts==false&&g[0]==0) {
yabahiro	40:7f93984e8ba1	2749	cros++;
yabahiro	40:7f93984e8ba1	2750	counts=true;
yabahiro	40:7f93984e8ba1	2751	}
yabahiro	40:7f93984e8ba1	2752	if(counts==true&&g[0]==99) {
yabahiro	40:7f93984e8ba1	2753	counts=false;
yabahiro	40:7f93984e8ba1	2754	}
yabahiro	40:7f93984e8ba1	2755
yabahiro	40:7f93984e8ba1	2756	if(cros==2) {
yabahiro	40:7f93984e8ba1	2757	// mode=41;
yabahiro	40:7f93984e8ba1	2758	//count=0;
yabahiro	40:7f93984e8ba1	2759	//cros=0;
yabahiro	40:7f93984e8ba1	2760	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2761
yabahiro	40:7f93984e8ba1	2762	switch(g[3]) {
yabahiro	40:7f93984e8ba1	2763	case 98:
yabahiro	40:7f93984e8ba1	2764	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2765	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2766	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2767	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2768	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2769	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2770	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2771	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2772	if(count>20000) {
yabahiro	40:7f93984e8ba1	2773	cross++;
yabahiro	40:7f93984e8ba1	2774	count=0;
yabahiro	40:7f93984e8ba1	2775	}
yabahiro	40:7f93984e8ba1	2776	mtc2=true;
yabahiro	40:7f93984e8ba1	2777	if(cross==1) {
yabahiro	40:7f93984e8ba1	2778	mode=41;
yabahiro	40:7f93984e8ba1	2779	count=0;
yabahiro	40:7f93984e8ba1	2780	cross=0;
yabahiro	40:7f93984e8ba1	2781	}
yabahiro	40:7f93984e8ba1	2782	break;
yabahiro	40:7f93984e8ba1	2783	case 0:
yabahiro	40:7f93984e8ba1	2784	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2785	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2786	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2787	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2788	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2789	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2790	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2791	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2792	mtc2=true;
yabahiro	40:7f93984e8ba1	2793	break;
yabahiro	40:7f93984e8ba1	2794	case 255:
yabahiro	40:7f93984e8ba1	2795	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2796	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2797	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2798	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2799	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2800	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2801	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2802	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2803	mtc2=true;
yabahiro	40:7f93984e8ba1	2804	break;
yabahiro	40:7f93984e8ba1	2805	case 253:
yabahiro	40:7f93984e8ba1	2806	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2807	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2808	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2809	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2810	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2811	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2812	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2813	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2814	mtc2=true;
yabahiro	40:7f93984e8ba1	2815	break;
yabahiro	40:7f93984e8ba1	2816	case 254:
yabahiro	40:7f93984e8ba1	2817	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2818	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2819	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2820	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2821	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2822	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2823	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2824	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2825	mtc2=true;
yabahiro	40:7f93984e8ba1	2826	break;
yabahiro	40:7f93984e8ba1	2827	case 1:
yabahiro	40:7f93984e8ba1	2828	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2829	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2830	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2831	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2832	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2833	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2834	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2835	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2836	mtc2=true;
yabahiro	40:7f93984e8ba1	2837	break;
yabahiro	40:7f93984e8ba1	2838	case 3:
yabahiro	40:7f93984e8ba1	2839	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2840	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2841	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2842	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2843	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2844	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2845	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2846	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2847	mtc2=true;
yabahiro	40:7f93984e8ba1	2848	break;
yabahiro	40:7f93984e8ba1	2849	case 2:
yabahiro	40:7f93984e8ba1	2850	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2851	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2852	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2853	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2854	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2855	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2856	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2857	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2858	mtc2=true;
yabahiro	40:7f93984e8ba1	2859	break;
yabahiro	40:7f93984e8ba1	2860	}
yabahiro	40:7f93984e8ba1	2861	if(g[2]!=98&&mtc2==true) {
yabahiro	40:7f93984e8ba1	2862	switch(g[2]) {
yabahiro	40:7f93984e8ba1	2863	case 0:
yabahiro	40:7f93984e8ba1	2864	mtc2=false;
yabahiro	40:7f93984e8ba1	2865	break;
yabahiro	40:7f93984e8ba1	2866	case 255:
yabahiro	40:7f93984e8ba1	2867	motor[TIRE_FR].pwm += 5;
yabahiro	40:7f93984e8ba1	2868	mtc2=false;
yabahiro	40:7f93984e8ba1	2869	break;
yabahiro	40:7f93984e8ba1	2870	case 253:
yabahiro	40:7f93984e8ba1	2871	motor[TIRE_FR].pwm += 10;
yabahiro	40:7f93984e8ba1	2872	mtc2=false;
yabahiro	40:7f93984e8ba1	2873	break;
yabahiro	40:7f93984e8ba1	2874	case 254:
yabahiro	40:7f93984e8ba1	2875	motor[TIRE_FR].pwm += 20;
yabahiro	40:7f93984e8ba1	2876	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2877	mtc2=false;
yabahiro	40:7f93984e8ba1	2878	break;
yabahiro	40:7f93984e8ba1	2879	case 1:
yabahiro	40:7f93984e8ba1	2880	motor[TIRE_BR].pwm += 5;
yabahiro	40:7f93984e8ba1	2881	mtc2=false;
yabahiro	40:7f93984e8ba1	2882	break;
yabahiro	40:7f93984e8ba1	2883	case 3:
yabahiro	40:7f93984e8ba1	2884	motor[TIRE_BR].pwm += 10;
yabahiro	40:7f93984e8ba1	2885	mtc2=false;
yabahiro	40:7f93984e8ba1	2886	break;
yabahiro	40:7f93984e8ba1	2887	case 2:
yabahiro	40:7f93984e8ba1	2888	motor[TIRE_BR].pwm += 20;
yabahiro	40:7f93984e8ba1	2889	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2890	mtc2=false;
yabahiro	40:7f93984e8ba1	2891	break;
yabahiro	40:7f93984e8ba1	2892	}
yabahiro	40:7f93984e8ba1	2893	}
yabahiro	40:7f93984e8ba1	2894	} else if(mode==41) {
yabahiro	41:e1dd6d97f17d	2895	if(LIF\|\|LIB) {
yabahiro	41:e1dd6d97f17d	2896	mode=42;
yabahiro	41:e1dd6d97f17d	2897	}
yabahiro	40:7f93984e8ba1	2898	motor[TIRE_FR].pwm = 30;
yabahiro	40:7f93984e8ba1	2899	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2900	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2901	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2902	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2903	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2904	motor[TIRE_BL].pwm = 30;
yabahiro	40:7f93984e8ba1	2905	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2906	if(g[1]==0) {
yabahiro	40:7f93984e8ba1	2907	count=0;
yabahiro	40:7f93984e8ba1	2908	mode=70;
yabahiro	40:7f93984e8ba1	2909	normal=60;
yabahiro	40:7f93984e8ba1	2910	fast=80;
yabahiro	40:7f93984e8ba1	2911	slow=40;
yabahiro	40:7f93984e8ba1	2912	}
yabahiro	40:7f93984e8ba1	2913	} else if(mode==42) {
yabahiro	41:e1dd6d97f17d	2914	motor[TIRE_FR].pwm = 0;
yabahiro	41:e1dd6d97f17d	2915	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2916	motor[TIRE_FL].pwm = 30;
yabahiro	40:7f93984e8ba1	2917	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2918	motor[TIRE_BR].pwm = 30;
yabahiro	40:7f93984e8ba1	2919	motor[TIRE_BR].dir = BACK;
yabahiro	41:e1dd6d97f17d	2920	motor[TIRE_BL].pwm = 0;
yabahiro	41:e1dd6d97f17d	2921	motor[TIRE_BL].dir = FREE;
yabahiro	41:e1dd6d97f17d	2922	if(g[0]==0) {
yabahiro	40:7f93984e8ba1	2923	count=0;
yabahiro	40:7f93984e8ba1	2924	mode=70;
yabahiro	40:7f93984e8ba1	2925	normal=60;
yabahiro	40:7f93984e8ba1	2926	fast=80;
yabahiro	40:7f93984e8ba1	2927	slow=40;
yabahiro	40:7f93984e8ba1	2928	}
yabahiro	40:7f93984e8ba1	2929
yabahiro	40:7f93984e8ba1	2930	} else if(mode==70)
yabahiro	40:7f93984e8ba1	2931	switch(g[0]) {
yabahiro	40:7f93984e8ba1	2932	case 99:
yabahiro	40:7f93984e8ba1	2933	if(count>=100000) {
yabahiro	40:7f93984e8ba1	2934	cross++;
yabahiro	40:7f93984e8ba1	2935	mode=100;
yabahiro	40:7f93984e8ba1	2936	count=0;
yabahiro	40:7f93984e8ba1	2937	}
yabahiro	41:e1dd6d97f17d	2938	if(cross==2) {
yabahiro	40:7f93984e8ba1	2939	cross=0;
yabahiro	40:7f93984e8ba1	2940	mode=100;
yabahiro	40:7f93984e8ba1	2941	}
yabahiro	40:7f93984e8ba1	2942	break;
yabahiro	40:7f93984e8ba1	2943	case 98:
yabahiro	40:7f93984e8ba1	2944	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2945	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2946	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2947	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2948	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2949	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2950	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2951	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2952	break;
yabahiro	40:7f93984e8ba1	2953	case 0:
yabahiro	40:7f93984e8ba1	2954	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2955	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2956	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2957	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2958	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2959	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2960	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2961	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2962	mtc=true;
yabahiro	40:7f93984e8ba1	2963	break;
yabahiro	40:7f93984e8ba1	2964	case 255:
yabahiro	40:7f93984e8ba1	2965	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2966	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2967	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2968	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2969	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2970	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2971	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2972	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2973	mtc=true;
yabahiro	40:7f93984e8ba1	2974	break;
yabahiro	40:7f93984e8ba1	2975	case 253:
yabahiro	40:7f93984e8ba1	2976	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2977	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2978	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2979	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2980	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2981	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2982	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2983	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2984	mtc=true;
yabahiro	40:7f93984e8ba1	2985	break;
yabahiro	40:7f93984e8ba1	2986	case 254:
yabahiro	40:7f93984e8ba1	2987	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2988	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2989	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2990	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2991	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2992	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2993	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2994	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2995	mtc=true;
yabahiro	40:7f93984e8ba1	2996	break;
yabahiro	40:7f93984e8ba1	2997	case 1:
yabahiro	40:7f93984e8ba1	2998	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2999	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3000	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	3001	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3002	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	3003	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3004	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	3005	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3006	mtc=true;
yabahiro	40:7f93984e8ba1	3007	break;
yabahiro	40:7f93984e8ba1	3008	case 3:
yabahiro	40:7f93984e8ba1	3009	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	3010	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	3011	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	3012	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3013	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	3014	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3015	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3016	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	3017	mtc=true;
yabahiro	40:7f93984e8ba1	3018	break;
yabahiro	40:7f93984e8ba1	3019	case 2:
yabahiro	40:7f93984e8ba1	3020	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	3021	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	3022	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	3023	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3024	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	3025	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3026	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3027	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	3028	mtc=true;
yabahiro	40:7f93984e8ba1	3029	break;
yabahiro	40:7f93984e8ba1	3030	}
yabahiro	40:7f93984e8ba1	3031	if(g[1]!=98&&mtc==true) {
yabahiro	40:7f93984e8ba1	3032	switch(g[1]) {
yabahiro	40:7f93984e8ba1	3033	case 0:
yabahiro	40:7f93984e8ba1	3034	mtc=false;
yabahiro	40:7f93984e8ba1	3035	break;
yabahiro	40:7f93984e8ba1	3036	case 255:
yabahiro	40:7f93984e8ba1	3037	motor[TIRE_BR].pwm += 5;
yabahiro	40:7f93984e8ba1	3038	mtc=false;
yabahiro	40:7f93984e8ba1	3039	break;
yabahiro	40:7f93984e8ba1	3040	case 253:
yabahiro	40:7f93984e8ba1	3041	motor[TIRE_BR].pwm += 10;
yabahiro	40:7f93984e8ba1	3042	mtc=false;
yabahiro	40:7f93984e8ba1	3043	break;
yabahiro	40:7f93984e8ba1	3044	case 254:
yabahiro	40:7f93984e8ba1	3045	motor[TIRE_BR].pwm += 20;
yabahiro	40:7f93984e8ba1	3046	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3047	mtc=false;
yabahiro	40:7f93984e8ba1	3048	break;
yabahiro	40:7f93984e8ba1	3049	case 1:
yabahiro	40:7f93984e8ba1	3050	motor[TIRE_BL].pwm += 5;
yabahiro	40:7f93984e8ba1	3051	mtc=false;
yabahiro	40:7f93984e8ba1	3052	break;
yabahiro	40:7f93984e8ba1	3053	case 3:
yabahiro	40:7f93984e8ba1	3054	motor[TIRE_BL].pwm += 10;
yabahiro	40:7f93984e8ba1	3055	mtc=false;
yabahiro	40:7f93984e8ba1	3056	break;
yabahiro	40:7f93984e8ba1	3057	case 2:
yabahiro	40:7f93984e8ba1	3058	motor[TIRE_BL].pwm += 20;
yabahiro	40:7f93984e8ba1	3059	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3060	mtc=false;
yabahiro	40:7f93984e8ba1	3061	break;
yabahiro	40:7f93984e8ba1	3062	}
yabahiro	40:7f93984e8ba1	3063	} else if(mode==100) {
yabahiro	40:7f93984e8ba1	3064	motor[TIRE_FR].pwm = 20;
yabahiro	40:7f93984e8ba1	3065	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3066	motor[TIRE_FL].pwm = 20;
yabahiro	40:7f93984e8ba1	3067	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3068	motor[TIRE_BR].pwm = 23;
yabahiro	40:7f93984e8ba1	3069	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3070	motor[TIRE_BL].pwm = 20;
yabahiro	40:7f93984e8ba1	3071	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3072	if(StertSW) {
yabahiro	40:7f93984e8ba1	3073	SW_flag = true;
yabahiro	40:7f93984e8ba1	3074	}
yabahiro	40:7f93984e8ba1	3075	if(SW_flag ==true) {
yabahiro	40:7f93984e8ba1	3076	motor[TIRE_FR].pwm = 100;
yabahiro	40:7f93984e8ba1	3077	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3078	motor[TIRE_FL].pwm = 100;
yabahiro	40:7f93984e8ba1	3079	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3080	motor[TIRE_BR].pwm = 100;
yabahiro	40:7f93984e8ba1	3081	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3082	motor[TIRE_BL].pwm = 100;
yabahiro	40:7f93984e8ba1	3083	motor[TIRE_BL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3084	fast=60;
yabahiro	40:7f93984e8ba1	3085	normal=40;
yabahiro	40:7f93984e8ba1	3086	slow=20;
yabahiro	40:7f93984e8ba1	3087	mode =1;
yabahiro	40:7f93984e8ba1	3088	cross=0;//十字数える用
yabahiro	40:7f93984e8ba1	3089	cros=0;
yabahiro	40:7f93984e8ba1	3090	count=100000;//wait代替え
yabahiro	40:7f93984e8ba1	3091	UP_flag = false;
yabahiro	40:7f93984e8ba1	3092	SW_flag = false;
yabahiro	40:7f93984e8ba1	3093	Air_flag = false;
yabahiro	40:7f93984e8ba1	3094	zyouge=false;
yabahiro	40:7f93984e8ba1	3095	zyougedo=false;
yabahiro	40:7f93984e8ba1	3096	dz1=true;
yabahiro	40:7f93984e8ba1	3097	dz1i=false;
yabahiro	40:7f93984e8ba1	3098	dz2=true;
yabahiro	40:7f93984e8ba1	3099	dz2i=false;
yabahiro	40:7f93984e8ba1	3100	dz3=true;
yabahiro	40:7f93984e8ba1	3101	dz3i=false;
yabahiro	40:7f93984e8ba1	3102	dz4=true;
yabahiro	40:7f93984e8ba1	3103	dz4i=false;
yabahiro	40:7f93984e8ba1	3104	through=false;
yabahiro	40:7f93984e8ba1	3105	counts=false;
yabahiro	40:7f93984e8ba1	3106	mtc=false;
yabahiro	40:7f93984e8ba1	3107	mtc2 = false;
yabahiro	40:7f93984e8ba1	3108	current = 0;
yabahiro	40:7f93984e8ba1	3109	if(StertSW==false) {
yabahiro	40:7f93984e8ba1	3110	SW_flag = false;
yabahiro	40:7f93984e8ba1	3111	}
yabahiro	40:7f93984e8ba1	3112	}
yabahiro	40:7f93984e8ba1	3113	}
yabahiro	40:7f93984e8ba1	3114
yabahiro	40:7f93984e8ba1	3115
yabahiro	21:1f1e9c585da8	3116
kishibekairohan	13:b6e02d6261d7	3117	}
kishibekairohan	13:b6e02d6261d7	3118	#endif
kishibekairohan	13:b6e02d6261d7	3119
kishibekairohan	13:b6e02d6261d7	3120	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	3121	static void Process6()
kishibekairohan	13:b6e02d6261d7	3122	{
yabahiro	21:1f1e9c585da8	3123
kishibekairohan	13:b6e02d6261d7	3124	}
kishibekairohan	13:b6e02d6261d7	3125	#endif
kishibekairohan	13:b6e02d6261d7	3126
kishibekairohan	13:b6e02d6261d7	3127	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	3128	static void Process7()
kishibekairohan	13:b6e02d6261d7	3129	{
yabahiro	21:1f1e9c585da8	3130
kishibekairohan	12:c09b3e08a316	3131	}
kishibekairohan	12:c09b3e08a316	3132	#endif
kishibekairohan	12:c09b3e08a316	3133
yabahiro	21:1f1e9c585da8	3134	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	3135	static void Process8()
kishibekairohan	12:c09b3e08a316	3136	{
yabahiro	21:1f1e9c585da8	3137
kishibekairohan	12:c09b3e08a316	3138	}
kishibekairohan	12:c09b3e08a316	3139	#endif
kishibekairohan	12:c09b3e08a316	3140
kishibekairohan	13:b6e02d6261d7	3141	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	3142	static void Process9()
kishibekairohan	12:c09b3e08a316	3143	{
yabahiro	21:1f1e9c585da8	3144
t_yamamoto	0:669ef71cba68	3145	}
t_yamamoto	0:669ef71cba68	3146	#endif
t_yamamoto	0:669ef71cba68	3147	#endif
t_yamamoto	0:669ef71cba68	3148	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	3149
t_yamamoto	0:669ef71cba68	3150	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	3151	{
t_yamamoto	0:669ef71cba68	3152
yabahiro	21:1f1e9c585da8	3153	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	3154	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	3155	#endif
t_yamamoto	0:669ef71cba68	3156
yabahiro	21:1f1e9c585da8	3157	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	3158	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	21:1f1e9c585da8	3159	motor[i].dir = FREE;
yabahiro	21:1f1e9c585da8	3160	motor[i].pwm = 0;
yabahiro	21:1f1e9c585da8	3161	}
yabahiro	21:1f1e9c585da8	3162	#endif
t_yamamoto	0:669ef71cba68	3163	}
t_yamamoto	0:669ef71cba68	3164
yabahiro	21:1f1e9c585da8	3165	/*
yabahiro	21:1f1e9c585da8	3166	void BuzzerTimer_func()
yabahiro	21:1f1e9c585da8	3167	{
kishibekairohan	16:3f2c2d89372b	3168	buzzer = !buzzer;
kishibekairohan	17:50dc4b449e69	3169	//LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan	11:028a150943b5	3170	}
yabahiro	21:1f1e9c585da8	3171	*/
yabahiro	21:1f1e9c585da8	3172	void TapeLedEms_func()
yabahiro	21:1f1e9c585da8	3173	{
kishibekairohan	16:3f2c2d89372b	3174	sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan	9:f93fc79a49ea	3175	}
kishibekairohan	16:3f2c2d89372b	3176
kishibekairohan	16:3f2c2d89372b	3177	#pragma region USER-DEFINED-FUNCTIONS
kishibekairohan	16:3f2c2d89372b	3178
kishibekairohan	16:3f2c2d89372b	3179
t_yamamoto	0:669ef71cba68	3180	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	03 Oct 2019
Imports:	2
Forks:	0
Commits:	45
Dependents:	0
Dependencies:	3
Followers:	1

System/Process/Process.cpp@42:4f9689c0a349, 2019-09-30 (annotated)

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