大季 矢花 / Mbed 2 deprecated 2019_Master_9_2

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Dependencies:   mbed TrapezoidControl QEI

System/Process/Process.cpp@25:38d4964e8aad, 2019-09-17 (annotated)

Committer:
yabahiro
Date:
Tue Sep 17 03:46:34 2019 +0000
Revision:
25:38d4964e8aad
Parent:
24:41c23c9a5058
Child:
26:be5121da0f77
das

Who changed what in which revision?

UserRevisionLine numberNew 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
t_yamamoto 0:669ef71cba68 107 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 108
t_yamamoto 0:669ef71cba68 109 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 110 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 111 static void Process0(void);
t_yamamoto 0:669ef71cba68 112 #endif
t_yamamoto 0:669ef71cba68 113 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 114 static void Process1(void);
t_yamamoto 0:669ef71cba68 115 #endif
t_yamamoto 0:669ef71cba68 116 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 117 static void Process2(void);
t_yamamoto 0:669ef71cba68 118 #endif
t_yamamoto 0:669ef71cba68 119 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 120 static void Process3(void);
t_yamamoto 0:669ef71cba68 121 #endif
t_yamamoto 0:669ef71cba68 122 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 123 static void Process4(void);
t_yamamoto 0:669ef71cba68 124 #endif
t_yamamoto 0:669ef71cba68 125 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 126 static void Process5(void);
t_yamamoto 0:669ef71cba68 127 #endif
t_yamamoto 0:669ef71cba68 128 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 129 static void Process6(void);
t_yamamoto 0:669ef71cba68 130 #endif
t_yamamoto 0:669ef71cba68 131 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 132 static void Process7(void);
t_yamamoto 0:669ef71cba68 133 #endif
t_yamamoto 0:669ef71cba68 134 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 135 static void Process8(void);
t_yamamoto 0:669ef71cba68 136 #endif
t_yamamoto 0:669ef71cba68 137 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 138 static void Process9(void);
t_yamamoto 0:669ef71cba68 139 #endif
t_yamamoto 0:669ef71cba68 140 #endif
t_yamamoto 0:669ef71cba68 141
t_yamamoto 0:669ef71cba68 142 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 143 {
yabahiro 21:1f1e9c585da8 144 #pragma region USER-DEFINED_VARIABLE_INIT
yabahiro 21:1f1e9c585da8 145 /*Replace here with the initialization code of your variables.*/
yabahiro 21:1f1e9c585da8 146 #pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto 0:669ef71cba68 147
yabahiro 21:1f1e9c585da8 148 lock = true;
yabahiro 21:1f1e9c585da8 149 processChangeComp = true;
yabahiro 21:1f1e9c585da8 150 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 151
yabahiro 21:1f1e9c585da8 152 #ifdef USE_SUBPROCESS
yabahiro 21:1f1e9c585da8 153 #if USE_PROCESS_NUM>0
yabahiro 21:1f1e9c585da8 154 Process[0] = Process0;
yabahiro 21:1f1e9c585da8 155 #endif
yabahiro 21:1f1e9c585da8 156 #if USE_PROCESS_NUM>1
yabahiro 21:1f1e9c585da8 157 Process[1] = Process1;
yabahiro 21:1f1e9c585da8 158 #endif
yabahiro 21:1f1e9c585da8 159 #if USE_PROCESS_NUM>2
yabahiro 21:1f1e9c585da8 160 Process[2] = Process2;
yabahiro 21:1f1e9c585da8 161 #endif
yabahiro 21:1f1e9c585da8 162 #if USE_PROCESS_NUM>3
yabahiro 21:1f1e9c585da8 163 Process[3] = Process3;
yabahiro 21:1f1e9c585da8 164 #endif
yabahiro 21:1f1e9c585da8 165 #if USE_PROCESS_NUM>4
yabahiro 21:1f1e9c585da8 166 Process[4] = Process4;
yabahiro 21:1f1e9c585da8 167 #endif
yabahiro 21:1f1e9c585da8 168 #if USE_PROCESS_NUM>5
yabahiro 21:1f1e9c585da8 169 Process[5] = Process5;
yabahiro 21:1f1e9c585da8 170 #endif
yabahiro 21:1f1e9c585da8 171 #if USE_PROCESS_NUM>6
yabahiro 21:1f1e9c585da8 172 Process[6] = Process6;
yabahiro 21:1f1e9c585da8 173 #endif
yabahiro 21:1f1e9c585da8 174 #if USE_PROCESS_NUM>7
yabahiro 21:1f1e9c585da8 175 Process[7] = Process7;
yabahiro 21:1f1e9c585da8 176 #endif
yabahiro 21:1f1e9c585da8 177 #if USE_PROCESS_NUM>8
yabahiro 21:1f1e9c585da8 178 Process[8] = Process8;
yabahiro 21:1f1e9c585da8 179 #endif
yabahiro 21:1f1e9c585da8 180 #if USE_PROCESS_NUM>9
yabahiro 21:1f1e9c585da8 181 Process[9] = Process9;
yabahiro 21:1f1e9c585da8 182 #endif
yabahiro 21:1f1e9c585da8 183 #endif
t_yamamoto 0:669ef71cba68 184 }
t_yamamoto 0:669ef71cba68 185
t_yamamoto 0:669ef71cba68 186 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 187 {
yabahiro 21:1f1e9c585da8 188 #ifdef USE_SUBPROCESS
yabahiro 21:1f1e9c585da8 189 if(controller->Button.HOME) lock = false;
yabahiro 21:1f1e9c585da8 190
yabahiro 21:1f1e9c585da8 191 if(controller->Button.START && processChangeComp) {
yabahiro 21:1f1e9c585da8 192 current++;
yabahiro 21:1f1e9c585da8 193 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
yabahiro 21:1f1e9c585da8 194 processChangeComp = false;
yabahiro 21:1f1e9c585da8 195 } else if(controller->Button.SELECT && processChangeComp) {
yabahiro 21:1f1e9c585da8 196 current--;
yabahiro 21:1f1e9c585da8 197 if (current < 0) current = 0;
yabahiro 21:1f1e9c585da8 198 processChangeComp = false;
yabahiro 21:1f1e9c585da8 199 } else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
yabahiro 21:1f1e9c585da8 200 #endif
yabahiro 21:1f1e9c585da8 201
yabahiro 21:1f1e9c585da8 202 #ifdef USE_MOTOR
yabahiro 21:1f1e9c585da8 203 ACTUATORHUB::MOTOR::Motor::Update(motor);
yabahiro 21:1f1e9c585da8 204 #endif
yabahiro 21:1f1e9c585da8 205
yabahiro 21:1f1e9c585da8 206 #ifdef USE_SOLENOID
yabahiro 21:1f1e9c585da8 207 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
yabahiro 21:1f1e9c585da8 208 #endif
yabahiro 21:1f1e9c585da8 209
yabahiro 21:1f1e9c585da8 210 #ifdef USE_RS485
yabahiro 21:1f1e9c585da8 211 ACTUATORHUB::ActuatorHub::Update();
yabahiro 21:1f1e9c585da8 212 #endif
yabahiro 21:1f1e9c585da8 213
yabahiro 21:1f1e9c585da8 214 }
yabahiro 21:1f1e9c585da8 215
yabahiro 21:1f1e9c585da8 216 int g[8];
yabahiro 21:1f1e9c585da8 217
yabahiro 21:1f1e9c585da8 218 void SystemProcess()
yabahiro 21:1f1e9c585da8 219 {
yabahiro 21:1f1e9c585da8 220 SystemProcessInitialize();
yabahiro 21:1f1e9c585da8 221
yabahiro 21:1f1e9c585da8 222 while(1) {
yabahiro 21:1f1e9c585da8 223 for(int i = 0; i < 8; i++) {
yabahiro 21:1f1e9c585da8 224 g[i] = LineHub::GetPara(i);
yabahiro 21:1f1e9c585da8 225 }
t_yamamoto 0:669ef71cba68 226
yabahiro 21:1f1e9c585da8 227 #ifdef USE_MU
yabahiro 21:1f1e9c585da8 228 controller = CONTROLLER::Controller::GetData();
yabahiro 21:1f1e9c585da8 229 #endif
yabahiro 21:1f1e9c585da8 230
yabahiro 21:1f1e9c585da8 231 #ifdef USE_ERRORCHECK
yabahiro 21:1f1e9c585da8 232 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) {
yabahiro 21:1f1e9c585da8 233 CONTROLLER::Controller::DataReset();
yabahiro 21:1f1e9c585da8 234 AllActuatorReset();
yabahiro 21:1f1e9c585da8 235 lock = true;
yabahiro 21:1f1e9c585da8 236 } else
yabahiro 21:1f1e9c585da8 237 #endif
yabahiro 21:1f1e9c585da8 238 {
yabahiro 21:1f1e9c585da8 239
yabahiro 21:1f1e9c585da8 240 #ifdef USE_SUBPROCESS
yabahiro 21:1f1e9c585da8 241 if(!lock) {
yabahiro 21:1f1e9c585da8 242 Process[current]();
yabahiro 21:1f1e9c585da8 243 } else
yabahiro 21:1f1e9c585da8 244 #endif
yabahiro 21:1f1e9c585da8 245 {
yabahiro 21:1f1e9c585da8 246 //ロック時の処理
yabahiro 21:1f1e9c585da8 247 }
yabahiro 21:1f1e9c585da8 248 }
yabahiro 21:1f1e9c585da8 249 /*
yabahiro 21:1f1e9c585da8 250 //Emergency!
yabahiro 21:1f1e9c585da8 251 if(!EMG_0 && !EMG_1 && !EMGflag) {
yabahiro 21:1f1e9c585da8 252 buzzer = 0;
yabahiro 21:1f1e9c585da8 253 BuzzerTimer.attach(BuzzerTimer_func, 1);
yabahiro 21:1f1e9c585da8 254 EMGflag = true;
yabahiro 21:1f1e9c585da8 255 LED_DEBUG0 = 1;
yabahiro 21:1f1e9c585da8 256 }
yabahiro 21:1f1e9c585da8 257 if(EMG_0 && EMG_1 && EMGflag) {
yabahiro 21:1f1e9c585da8 258 buzzer = 1;
yabahiro 21:1f1e9c585da8 259 BuzzerTimer.detach();
yabahiro 21:1f1e9c585da8 260 EMGflag = false;
yabahiro 21:1f1e9c585da8 261 }
yabahiro 21:1f1e9c585da8 262 */
yabahiro 21:1f1e9c585da8 263 SystemProcessUpdate();
yabahiro 21:1f1e9c585da8 264 }
t_yamamoto 0:669ef71cba68 265 }
t_yamamoto 0:669ef71cba68 266
kishibekairohan 2:c015739085d3 267
yabahiro 25:38d4964e8aad 268 int Twsh;
kishibekairohan 2:c015739085d3 269
t_yamamoto 0:669ef71cba68 270 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 271 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 272 #if USE_PROCESS_NUM>0
yabahiro 21:1f1e9c585da8 273 static void Process0()
yabahiro 21:1f1e9c585da8 274 {
yabahiro 25:38d4964e8aad 275 if(StertSW) {
yabahiro 25:38d4964e8aad 276 if(ZoneSW) {
yabahiro 25:38d4964e8aad 277 current = 1;
yabahiro 25:38d4964e8aad 278 Twsh=2;
yabahiro 25:38d4964e8aad 279 } else {
yabahiro 25:38d4964e8aad 280 current = 1;
yabahiro 25:38d4964e8aad 281 Twsh=3;
yabahiro 25:38d4964e8aad 282 }
yabahiro 25:38d4964e8aad 283 }
t_yamamoto 0:669ef71cba68 284 }
t_yamamoto 0:669ef71cba68 285 #endif
t_yamamoto 0:669ef71cba68 286
t_yamamoto 0:669ef71cba68 287 #if USE_PROCESS_NUM>1
yabahiro 21:1f1e9c585da8 288
yabahiro 21:1f1e9c585da8 289
yabahiro 21:1f1e9c585da8 290 bool dz1=true;
yabahiro 21:1f1e9c585da8 291 bool dz1i=false;
yabahiro 21:1f1e9c585da8 292 bool dz2=true;
yabahiro 21:1f1e9c585da8 293 bool dz2i=false;
yabahiro 21:1f1e9c585da8 294 bool dz3=true;
yabahiro 21:1f1e9c585da8 295 bool dz3i=false;
yabahiro 21:1f1e9c585da8 296 bool dz4=true;
yabahiro 21:1f1e9c585da8 297 bool dz4i=false;
yabahiro 21:1f1e9c585da8 298
yabahiro 23:694ecfa97839 299 int mode=10;
yabahiro 21:1f1e9c585da8 300 int mode1=0;
yabahiro 21:1f1e9c585da8 301 int mode1g0=100000;
yabahiro 21:1f1e9c585da8 302
kishibekairohan 22:c47f29caded6 303
kishibekairohan 16:3f2c2d89372b 304 static void Process1()
t_yamamoto 0:669ef71cba68 305 {
yabahiro 21:1f1e9c585da8 306 mode1g0=100000;
yabahiro 25:38d4964e8aad 307 mode=1;
yabahiro 21:1f1e9c585da8 308 mode1=0;
yabahiro 21:1f1e9c585da8 309 motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro 21:1f1e9c585da8 310 motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro 21:1f1e9c585da8 311 motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro 21:1f1e9c585da8 312 motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro 21:1f1e9c585da8 313
yabahiro 21:1f1e9c585da8 314 motor[TIRE_FR].pwm = Setpwm(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro 21:1f1e9c585da8 315 motor[TIRE_FL].pwm = Setpwm(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro 21:1f1e9c585da8 316 motor[TIRE_BR].pwm = Setpwm(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro 21:1f1e9c585da8 317 motor[TIRE_BL].pwm = Setpwm(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro 21:1f1e9c585da8 318
yabahiro 21:1f1e9c585da8 319 if(controller->Button.UP||controller->Button.DOWN) {
yabahiro 21:1f1e9c585da8 320
yabahiro 21:1f1e9c585da8 321 if(controller->Button.UP) {
yabahiro 21:1f1e9c585da8 322 motor[MOTOR_0].pwm = 110;
yabahiro 21:1f1e9c585da8 323 motor[MOTOR_0].dir = FOR;
yabahiro 21:1f1e9c585da8 324 }
yabahiro 21:1f1e9c585da8 325 if(controller->Button.DOWN) {
yabahiro 21:1f1e9c585da8 326 motor[MOTOR_0].pwm = 50;
yabahiro 21:1f1e9c585da8 327 motor[MOTOR_0].dir = BACK;
yabahiro 21:1f1e9c585da8 328 }
yabahiro 21:1f1e9c585da8 329 } else {
yabahiro 21:1f1e9c585da8 330 motor[MOTOR_0].pwm = 0;
yabahiro 21:1f1e9c585da8 331 motor[MOTOR_0].dir = BRAKE;
yabahiro 21:1f1e9c585da8 332 }
yabahiro 21:1f1e9c585da8 333 if(controller->Button.X) {
yabahiro 21:1f1e9c585da8 334 if(dz1==true) {
yabahiro 21:1f1e9c585da8 335 if(dz1i==false) {
yabahiro 21:1f1e9c585da8 336 solenoid.solenoid1 = SOLENOID_ON;
yabahiro 21:1f1e9c585da8 337 dz1i=true;
yabahiro 21:1f1e9c585da8 338 } else {
yabahiro 21:1f1e9c585da8 339 solenoid.solenoid1 = SOLENOID_OFF;
yabahiro 21:1f1e9c585da8 340 dz1i=false;
yabahiro 21:1f1e9c585da8 341 }
yabahiro 21:1f1e9c585da8 342 dz1=false;
yabahiro 21:1f1e9c585da8 343 }
yabahiro 21:1f1e9c585da8 344 } else {
yabahiro 21:1f1e9c585da8 345 dz1=true;
yabahiro 21:1f1e9c585da8 346 }
yabahiro 21:1f1e9c585da8 347
yabahiro 21:1f1e9c585da8 348 if(controller->Button.Y) {
yabahiro 21:1f1e9c585da8 349 if(dz2==true) {
yabahiro 21:1f1e9c585da8 350 if(dz2i==false) {
yabahiro 21:1f1e9c585da8 351 solenoid.solenoid2 = SOLENOID_ON;
yabahiro 21:1f1e9c585da8 352 dz2i=true;
yabahiro 21:1f1e9c585da8 353 } else {
yabahiro 21:1f1e9c585da8 354 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 21:1f1e9c585da8 355 dz2i=false;
yabahiro 21:1f1e9c585da8 356 }
yabahiro 21:1f1e9c585da8 357 dz2=false;
yabahiro 21:1f1e9c585da8 358 }
yabahiro 21:1f1e9c585da8 359 } else {
yabahiro 21:1f1e9c585da8 360 dz2=true;
yabahiro 21:1f1e9c585da8 361 }
yabahiro 21:1f1e9c585da8 362
yabahiro 21:1f1e9c585da8 363 if(controller->Button.A) {
yabahiro 21:1f1e9c585da8 364 if(dz3==true) {
yabahiro 21:1f1e9c585da8 365 if(dz3i==false) {
yabahiro 21:1f1e9c585da8 366 solenoid.solenoid3 = SOLENOID_ON;
yabahiro 21:1f1e9c585da8 367 dz3i=true;
yabahiro 21:1f1e9c585da8 368 } else {
yabahiro 21:1f1e9c585da8 369 solenoid.solenoid3 = SOLENOID_OFF;
yabahiro 21:1f1e9c585da8 370 dz3i=false;
yabahiro 21:1f1e9c585da8 371 }
yabahiro 21:1f1e9c585da8 372 dz3=false;
yabahiro 21:1f1e9c585da8 373 }
yabahiro 21:1f1e9c585da8 374 } else {
yabahiro 21:1f1e9c585da8 375 dz3=true;
yabahiro 21:1f1e9c585da8 376 }
yabahiro 21:1f1e9c585da8 377
yabahiro 21:1f1e9c585da8 378 if(controller->Button.B) {
yabahiro 21:1f1e9c585da8 379 if(dz4==true) {
yabahiro 21:1f1e9c585da8 380 if(dz4i==false) {
yabahiro 21:1f1e9c585da8 381 solenoid.solenoid4 = SOLENOID_ON;
yabahiro 21:1f1e9c585da8 382 dz4i=true;
yabahiro 21:1f1e9c585da8 383 } else {
yabahiro 21:1f1e9c585da8 384 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 21:1f1e9c585da8 385 dz4i=false;
yabahiro 21:1f1e9c585da8 386 }
yabahiro 21:1f1e9c585da8 387 dz4=false;
yabahiro 21:1f1e9c585da8 388 }
yabahiro 21:1f1e9c585da8 389 } else {
yabahiro 21:1f1e9c585da8 390 dz4=true;
yabahiro 21:1f1e9c585da8 391 }
yabahiro 21:1f1e9c585da8 392 /*
yabahiro 21:1f1e9c585da8 393 if(controller->Button.RIGHT){
yabahiro 21:1f1e9c585da8 394 motor[MOTOR_1].dir = FOR;
yabahiro 21:1f1e9c585da8 395 motor[MOTOR_1].pwm = 60;
yabahiro 21:1f1e9c585da8 396 if (ARM_1){
yabahiro 21:1f1e9c585da8 397 motor[MOTOR_1].dir = BRAKE;
yabahiro 21:1f1e9c585da8 398 }
yabahiro 21:1f1e9c585da8 399 }
yabahiro 21:1f1e9c585da8 400 else if(controller->Button.LEFT){
yabahiro 21:1f1e9c585da8 401 motor[MOTOR_1].dir = BACK;
yabahiro 21:1f1e9c585da8 402 motor[MOTOR_1].pwm = 60;
yabahiro 21:1f1e9c585da8 403 if (ARM_0){
yabahiro 21:1f1e9c585da8 404 motor[MOTOR_1].dir = BRAKE;
yabahiro 21:1f1e9c585da8 405 }
yabahiro 21:1f1e9c585da8 406 }
yabahiro 21:1f1e9c585da8 407 */
t_yamamoto 0:669ef71cba68 408 }
t_yamamoto 0:669ef71cba68 409 #endif
t_yamamoto 0:669ef71cba68 410
t_yamamoto 0:669ef71cba68 411 #if USE_PROCESS_NUM>2
yabahiro 21:1f1e9c585da8 412 bool mtc=false;
kishibekairohan 22:c47f29caded6 413 //追加
kishibekairohan 22:c47f29caded6 414 bool mtc2 = false;
yabahiro 21:1f1e9c585da8 415
kishibekairohan 16:3f2c2d89372b 416 static void Process2()
yabahiro 21:1f1e9c585da8 417 {
yabahiro 21:1f1e9c585da8 418 // 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 21:1f1e9c585da8 419 mode1g0++;
yabahiro 25:38d4964e8aad 420 if(mode==1) {
yabahiro 25:38d4964e8aad 421 motor[TIRE_FR].pwm = 15;
yabahiro 25:38d4964e8aad 422 motor[TIRE_FR].dir = BACK;
yabahiro 25:38d4964e8aad 423 motor[TIRE_FL].pwm = 15;
yabahiro 25:38d4964e8aad 424 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 425 motor[TIRE_BR].pwm = 15;
yabahiro 25:38d4964e8aad 426 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 427 motor[TIRE_BL].pwm = 15;
yabahiro 25:38d4964e8aad 428 motor[TIRE_BL].dir = FOR;
yabahiro 25:38d4964e8aad 429 if(mode1g0>5000&&g[2]==0) {
yabahiro 25:38d4964e8aad 430 mode1g0=0;
yabahiro 25:38d4964e8aad 431 mode=2;
yabahiro 25:38d4964e8aad 432 }
yabahiro 25:38d4964e8aad 433 } else if(mode==2) {
yabahiro 25:38d4964e8aad 434 switch(g[2]) {
yabahiro 25:38d4964e8aad 435 case 98:
yabahiro 25:38d4964e8aad 436 motor[TIRE_FR].pwm = 30;
yabahiro 25:38d4964e8aad 437 motor[TIRE_FR].dir = FOR;
yabahiro 25:38d4964e8aad 438 motor[TIRE_FL].pwm = 30;
yabahiro 25:38d4964e8aad 439 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 440 motor[TIRE_BR].pwm = 30;
yabahiro 25:38d4964e8aad 441 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 442 motor[TIRE_BL].pwm = 30;
yabahiro 25:38d4964e8aad 443 motor[TIRE_BL].dir = BACK;
yabahiro 25:38d4964e8aad 444 if(mode1g0>100000) {
yabahiro 25:38d4964e8aad 445 mode1++;
yabahiro 25:38d4964e8aad 446 mode1g0=0;
yabahiro 25:38d4964e8aad 447 }
yabahiro 25:38d4964e8aad 448 mtc2=true;
yabahiro 25:38d4964e8aad 449 if(mode1==1) {
yabahiro 25:38d4964e8aad 450 mode=3;
yabahiro 25:38d4964e8aad 451 mode1g0=0;
yabahiro 25:38d4964e8aad 452 mode1=0;
yabahiro 25:38d4964e8aad 453 }
yabahiro 25:38d4964e8aad 454 break;
yabahiro 25:38d4964e8aad 455 case 0:
yabahiro 25:38d4964e8aad 456 motor[TIRE_FR].pwm = 60;
yabahiro 25:38d4964e8aad 457 motor[TIRE_FR].dir = FOR;
yabahiro 25:38d4964e8aad 458 motor[TIRE_FL].pwm = 60;
yabahiro 25:38d4964e8aad 459 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 460 motor[TIRE_BR].pwm = 60;
yabahiro 25:38d4964e8aad 461 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 462 motor[TIRE_BL].pwm = 60;
yabahiro 25:38d4964e8aad 463 motor[TIRE_BL].dir = BACK;
yabahiro 25:38d4964e8aad 464 mtc2=true;
yabahiro 25:38d4964e8aad 465 break;
yabahiro 25:38d4964e8aad 466 case 255:
yabahiro 25:38d4964e8aad 467 motor[TIRE_FR].pwm = 40;
yabahiro 25:38d4964e8aad 468 motor[TIRE_FR].dir = FOR;
yabahiro 25:38d4964e8aad 469 motor[TIRE_FL].pwm = 60;
yabahiro 25:38d4964e8aad 470 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 471 motor[TIRE_BR].pwm = 60;
yabahiro 25:38d4964e8aad 472 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 473 motor[TIRE_BL].pwm = 40;
yabahiro 25:38d4964e8aad 474 motor[TIRE_BL].dir = BACK;
yabahiro 25:38d4964e8aad 475 mtc2=true;
yabahiro 25:38d4964e8aad 476 break;
yabahiro 25:38d4964e8aad 477 case 253:
yabahiro 25:38d4964e8aad 478 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 479 motor[TIRE_FR].dir = FREE;
yabahiro 25:38d4964e8aad 480 motor[TIRE_FL].pwm = 20;
yabahiro 25:38d4964e8aad 481 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 482 motor[TIRE_BR].pwm = 20;
yabahiro 25:38d4964e8aad 483 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 484 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 485 motor[TIRE_BL].dir = FREE;
yabahiro 25:38d4964e8aad 486 mtc2=true;
yabahiro 25:38d4964e8aad 487 break;
yabahiro 25:38d4964e8aad 488 case 254:
yabahiro 25:38d4964e8aad 489 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 490 motor[TIRE_FR].dir = FREE;
yabahiro 25:38d4964e8aad 491 motor[TIRE_FL].pwm = 30;
yabahiro 25:38d4964e8aad 492 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 493 motor[TIRE_BR].pwm = 30;
yabahiro 25:38d4964e8aad 494 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 495 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 496 motor[TIRE_BL].dir = FREE;
yabahiro 25:38d4964e8aad 497 mtc2=true;
yabahiro 25:38d4964e8aad 498 break;
yabahiro 25:38d4964e8aad 499 case 1:
yabahiro 25:38d4964e8aad 500 motor[TIRE_FR].pwm = 60;
yabahiro 25:38d4964e8aad 501 motor[TIRE_FR].dir = FOR;
yabahiro 25:38d4964e8aad 502 motor[TIRE_FL].pwm = 40;
yabahiro 25:38d4964e8aad 503 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 504 motor[TIRE_BR].pwm = 40;
yabahiro 25:38d4964e8aad 505 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 506 motor[TIRE_BL].pwm = 60;
yabahiro 25:38d4964e8aad 507 motor[TIRE_BL].dir = BACK;
yabahiro 25:38d4964e8aad 508 mtc2=true;
yabahiro 25:38d4964e8aad 509 break;
yabahiro 25:38d4964e8aad 510 case 3:
yabahiro 25:38d4964e8aad 511 motor[TIRE_FR].pwm = 20;
yabahiro 25:38d4964e8aad 512 motor[TIRE_FR].dir = FOR;
yabahiro 25:38d4964e8aad 513 motor[TIRE_FL].pwm = 0;
yabahiro 25:38d4964e8aad 514 motor[TIRE_FL].dir = FREE;
yabahiro 25:38d4964e8aad 515 motor[TIRE_BR].pwm = 0;
yabahiro 25:38d4964e8aad 516 motor[TIRE_BR].dir = FREE;
yabahiro 25:38d4964e8aad 517 motor[TIRE_BL].pwm = 20;
yabahiro 25:38d4964e8aad 518 motor[TIRE_BL].dir = BACK;
yabahiro 25:38d4964e8aad 519 mtc2=true;
yabahiro 25:38d4964e8aad 520 break;
yabahiro 25:38d4964e8aad 521 case 2:
yabahiro 25:38d4964e8aad 522 motor[TIRE_FR].pwm = 30;
yabahiro 25:38d4964e8aad 523 motor[TIRE_FR].dir = FOR;
yabahiro 25:38d4964e8aad 524 motor[TIRE_FL].pwm = 0;
yabahiro 25:38d4964e8aad 525 motor[TIRE_FL].dir = FREE;
yabahiro 25:38d4964e8aad 526 motor[TIRE_BR].pwm = 0;
yabahiro 25:38d4964e8aad 527 motor[TIRE_BR].dir = FREE;
yabahiro 25:38d4964e8aad 528 motor[TIRE_BL].pwm = 30;
yabahiro 25:38d4964e8aad 529 motor[TIRE_BL].dir = BACK;
yabahiro 25:38d4964e8aad 530 mtc2=true;
yabahiro 25:38d4964e8aad 531 break;
yabahiro 25:38d4964e8aad 532 }
yabahiro 25:38d4964e8aad 533 if(g[2]!=98&&mtc2==true) {
yabahiro 25:38d4964e8aad 534 switch(g[3]) {
yabahiro 25:38d4964e8aad 535 case 0:
yabahiro 25:38d4964e8aad 536 mtc2=false;
yabahiro 25:38d4964e8aad 537 break;
yabahiro 25:38d4964e8aad 538 case 255:
yabahiro 25:38d4964e8aad 539 motor[TIRE_BL].pwm += 5;
yabahiro 25:38d4964e8aad 540 mtc2=false;
yabahiro 25:38d4964e8aad 541 break;
yabahiro 25:38d4964e8aad 542 case 253:
yabahiro 25:38d4964e8aad 543 motor[TIRE_BL].pwm += 10;
yabahiro 25:38d4964e8aad 544 mtc2=false;
yabahiro 25:38d4964e8aad 545 break;
yabahiro 25:38d4964e8aad 546 case 254:
yabahiro 25:38d4964e8aad 547 motor[TIRE_BL].pwm += 20;
yabahiro 25:38d4964e8aad 548 motor[TIRE_FL].pwm = 0;
yabahiro 25:38d4964e8aad 549 mtc2=false;
yabahiro 25:38d4964e8aad 550 break;
yabahiro 25:38d4964e8aad 551 case 1:
yabahiro 25:38d4964e8aad 552 motor[TIRE_FL].pwm += 5;
yabahiro 25:38d4964e8aad 553 mtc2=false;
yabahiro 25:38d4964e8aad 554 break;
yabahiro 25:38d4964e8aad 555 case 3:
yabahiro 25:38d4964e8aad 556 motor[TIRE_FL].pwm += 10;
yabahiro 25:38d4964e8aad 557 mtc2=false;
yabahiro 25:38d4964e8aad 558 break;
yabahiro 25:38d4964e8aad 559 case 2:
yabahiro 25:38d4964e8aad 560 motor[TIRE_FL].pwm += 20;
yabahiro 25:38d4964e8aad 561 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 562 mtc2=false;
yabahiro 25:38d4964e8aad 563 break;
yabahiro 25:38d4964e8aad 564 }
yabahiro 25:38d4964e8aad 565 }
yabahiro 25:38d4964e8aad 566 } else if(mode==3) {
yabahiro 25:38d4964e8aad 567 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 568 motor[TIRE_FR].dir = FREE;
yabahiro 25:38d4964e8aad 569 motor[TIRE_FL].pwm = 15;
yabahiro 25:38d4964e8aad 570 motor[TIRE_FL].dir = FOR;
yabahiro 25:38d4964e8aad 571 motor[TIRE_BR].pwm = 15;
yabahiro 25:38d4964e8aad 572 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 573 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 574 motor[TIRE_BL].dir = FREE;
yabahiro 25:38d4964e8aad 575 if(mode1g0>5000&&g[0]==0) {
yabahiro 25:38d4964e8aad 576 mode1g0=0;
yabahiro 25:38d4964e8aad 577 mode=4;
yabahiro 25:38d4964e8aad 578 }
yabahiro 25:38d4964e8aad 579 } else if(mode==4) {
yabahiro 25:38d4964e8aad 580 motor[TIRE_FR].pwm = 15;
yabahiro 25:38d4964e8aad 581 motor[TIRE_FR].dir = BACK;
yabahiro 25:38d4964e8aad 582 motor[TIRE_FL].pwm = 15;
yabahiro 25:38d4964e8aad 583 motor[TIRE_FL].dir = BACK;
yabahiro 25:38d4964e8aad 584 motor[TIRE_BR].pwm = 15;
yabahiro 25:38d4964e8aad 585 motor[TIRE_BR].dir = FOR;
yabahiro 25:38d4964e8aad 586 motor[TIRE_BL].pwm = 15;
yabahiro 25:38d4964e8aad 587 motor[TIRE_BL].dir = FOR;
yabahiro 25:38d4964e8aad 588 if(mode1g0>10000&&g[0]==0) {
yabahiro 25:38d4964e8aad 589 mode1g0=0;
yabahiro 25:38d4964e8aad 590 mode1=0;
yabahiro 25:38d4964e8aad 591 mode=10;
yabahiro 25:38d4964e8aad 592 }
yabahiro 25:38d4964e8aad 593 } else if(g[0]!=99&&mode==10) {
yabahiro 21:1f1e9c585da8 594 switch(g[0]) {
yabahiro 21:1f1e9c585da8 595 case 98:
yabahiro 21:1f1e9c585da8 596 motor[TIRE_FR].pwm = 30;
yabahiro 21:1f1e9c585da8 597 motor[TIRE_FR].dir = BACK;
yabahiro 21:1f1e9c585da8 598 motor[TIRE_FL].pwm = 30;
yabahiro 21:1f1e9c585da8 599 motor[TIRE_FL].dir = FOR;
yabahiro 21:1f1e9c585da8 600 motor[TIRE_BR].pwm = 30;
yabahiro 21:1f1e9c585da8 601 motor[TIRE_BR].dir = BACK;
yabahiro 21:1f1e9c585da8 602 motor[TIRE_BL].pwm = 30;
yabahiro 21:1f1e9c585da8 603 motor[TIRE_BL].dir = FOR;
yabahiro 21:1f1e9c585da8 604 if(mode1g0>100000) {
yabahiro 21:1f1e9c585da8 605 mode1++;
yabahiro 21:1f1e9c585da8 606 mode1g0=0;
yabahiro 21:1f1e9c585da8 607 }
yabahiro 21:1f1e9c585da8 608 mtc=true;
yabahiro 25:38d4964e8aad 609 if(mode1==Twsh) {
yabahiro 23:694ecfa97839 610 mode=11;
yabahiro 23:694ecfa97839 611 mode1g0=0;
yabahiro 21:1f1e9c585da8 612 }
yabahiro 21:1f1e9c585da8 613 break;
yabahiro 21:1f1e9c585da8 614 case 0:
yabahiro 21:1f1e9c585da8 615 motor[TIRE_FR].pwm = 60;
yabahiro 21:1f1e9c585da8 616 motor[TIRE_FR].dir = BACK;
yabahiro 21:1f1e9c585da8 617 motor[TIRE_FL].pwm = 60;
yabahiro 21:1f1e9c585da8 618 motor[TIRE_FL].dir = FOR;
yabahiro 21:1f1e9c585da8 619 motor[TIRE_BR].pwm = 60;
yabahiro 21:1f1e9c585da8 620 motor[TIRE_BR].dir = BACK;
yabahiro 21:1f1e9c585da8 621 motor[TIRE_BL].pwm = 60;
yabahiro 21:1f1e9c585da8 622 motor[TIRE_BL].dir = FOR;
yabahiro 21:1f1e9c585da8 623 mtc=true;
yabahiro 21:1f1e9c585da8 624 break;
yabahiro 21:1f1e9c585da8 625 case 255:
yabahiro 21:1f1e9c585da8 626 motor[TIRE_FR].pwm = 60;
yabahiro 21:1f1e9c585da8 627 motor[TIRE_FR].dir = BACK;
yabahiro 21:1f1e9c585da8 628 motor[TIRE_FL].pwm = 40;
yabahiro 21:1f1e9c585da8 629 motor[TIRE_FL].dir = FOR;
yabahiro 21:1f1e9c585da8 630 motor[TIRE_BR].pwm = 40;
yabahiro 21:1f1e9c585da8 631 motor[TIRE_BR].dir = BACK;
yabahiro 21:1f1e9c585da8 632 motor[TIRE_BL].pwm = 60;
yabahiro 21:1f1e9c585da8 633 motor[TIRE_BL].dir = FOR;
yabahiro 21:1f1e9c585da8 634 mtc=true;
yabahiro 21:1f1e9c585da8 635 break;
yabahiro 21:1f1e9c585da8 636 case 253:
yabahiro 21:1f1e9c585da8 637 motor[TIRE_FR].pwm = 20;
yabahiro 21:1f1e9c585da8 638 motor[TIRE_FR].dir = BACK;
yabahiro 21:1f1e9c585da8 639 motor[TIRE_FL].pwm = 0;
yabahiro 21:1f1e9c585da8 640 motor[TIRE_FL].dir = FREE;
yabahiro 21:1f1e9c585da8 641 motor[TIRE_BR].pwm = 0;
yabahiro 21:1f1e9c585da8 642 motor[TIRE_BR].dir = FREE;
yabahiro 21:1f1e9c585da8 643 motor[TIRE_BL].pwm = 20;
yabahiro 21:1f1e9c585da8 644 motor[TIRE_BL].dir = FOR;
yabahiro 21:1f1e9c585da8 645 mtc=true;
yabahiro 21:1f1e9c585da8 646 break;
yabahiro 21:1f1e9c585da8 647 case 254:
yabahiro 21:1f1e9c585da8 648 motor[TIRE_FR].pwm = 30;
yabahiro 21:1f1e9c585da8 649 motor[TIRE_FR].dir = BACK;
yabahiro 21:1f1e9c585da8 650 motor[TIRE_FL].pwm = 0;
yabahiro 21:1f1e9c585da8 651 motor[TIRE_FL].dir = FREE;
yabahiro 21:1f1e9c585da8 652 motor[TIRE_BR].pwm = 0;
yabahiro 21:1f1e9c585da8 653 motor[TIRE_BR].dir = FREE;
yabahiro 21:1f1e9c585da8 654 motor[TIRE_BL].pwm = 30;
yabahiro 21:1f1e9c585da8 655 motor[TIRE_BL].dir = FOR;
yabahiro 21:1f1e9c585da8 656 mtc=true;
yabahiro 21:1f1e9c585da8 657 break;
yabahiro 21:1f1e9c585da8 658 case 1:
yabahiro 21:1f1e9c585da8 659 motor[TIRE_FR].pwm = 40;
yabahiro 21:1f1e9c585da8 660 motor[TIRE_FR].dir = BACK;
yabahiro 21:1f1e9c585da8 661 motor[TIRE_FL].pwm = 60;
yabahiro 21:1f1e9c585da8 662 motor[TIRE_FL].dir = FOR;
yabahiro 21:1f1e9c585da8 663 motor[TIRE_BR].pwm = 60;
yabahiro 21:1f1e9c585da8 664 motor[TIRE_BR].dir = BACK;
yabahiro 21:1f1e9c585da8 665 motor[TIRE_BL].pwm = 40;
yabahiro 21:1f1e9c585da8 666 motor[TIRE_BL].dir = FOR;
yabahiro 21:1f1e9c585da8 667 mtc=true;
yabahiro 21:1f1e9c585da8 668 break;
yabahiro 21:1f1e9c585da8 669 case 3:
yabahiro 21:1f1e9c585da8 670 motor[TIRE_FR].pwm = 0;
yabahiro 21:1f1e9c585da8 671 motor[TIRE_FR].dir = FREE;
yabahiro 21:1f1e9c585da8 672 motor[TIRE_FL].pwm = 20;
yabahiro 21:1f1e9c585da8 673 motor[TIRE_FL].dir = FOR;
yabahiro 21:1f1e9c585da8 674 motor[TIRE_BR].pwm = 20;
yabahiro 21:1f1e9c585da8 675 motor[TIRE_BR].dir = BACK;
yabahiro 21:1f1e9c585da8 676 motor[TIRE_BL].pwm = 0;
yabahiro 21:1f1e9c585da8 677 motor[TIRE_BL].dir = FREE;
yabahiro 21:1f1e9c585da8 678 mtc=true;
yabahiro 21:1f1e9c585da8 679 break;
yabahiro 21:1f1e9c585da8 680 case 2:
yabahiro 21:1f1e9c585da8 681 motor[TIRE_FR].pwm = 0;
yabahiro 21:1f1e9c585da8 682 motor[TIRE_FR].dir = FREE;
yabahiro 21:1f1e9c585da8 683 motor[TIRE_FL].pwm = 30;
yabahiro 21:1f1e9c585da8 684 motor[TIRE_FL].dir = FOR;
yabahiro 21:1f1e9c585da8 685 motor[TIRE_BR].pwm = 30;
yabahiro 21:1f1e9c585da8 686 motor[TIRE_BR].dir = BACK;
yabahiro 21:1f1e9c585da8 687 motor[TIRE_BL].pwm = 0;
yabahiro 21:1f1e9c585da8 688 motor[TIRE_BL].dir = FREE;
yabahiro 21:1f1e9c585da8 689 mtc=true;
yabahiro 21:1f1e9c585da8 690 break;
yabahiro 21:1f1e9c585da8 691 }
yabahiro 21:1f1e9c585da8 692 if(g[0]!=98&&mtc==true) {
yabahiro 21:1f1e9c585da8 693 switch(g[1]) {
yabahiro 21:1f1e9c585da8 694 case 0:
yabahiro 21:1f1e9c585da8 695 mtc=false;
yabahiro 21:1f1e9c585da8 696 break;
yabahiro 21:1f1e9c585da8 697 case 255:
yabahiro 21:1f1e9c585da8 698 motor[TIRE_BR].pwm += 5;
yabahiro 21:1f1e9c585da8 699 mtc=false;
yabahiro 21:1f1e9c585da8 700 break;
yabahiro 21:1f1e9c585da8 701 case 253:
yabahiro 21:1f1e9c585da8 702 motor[TIRE_BR].pwm += 10;
yabahiro 21:1f1e9c585da8 703 mtc=false;
yabahiro 21:1f1e9c585da8 704 break;
yabahiro 21:1f1e9c585da8 705 case 254:
yabahiro 21:1f1e9c585da8 706 motor[TIRE_BR].pwm += 20;
yabahiro 21:1f1e9c585da8 707 motor[TIRE_BL].pwm = 0;
yabahiro 21:1f1e9c585da8 708 mtc=false;
yabahiro 21:1f1e9c585da8 709 break;
yabahiro 21:1f1e9c585da8 710 case 1:
yabahiro 21:1f1e9c585da8 711 motor[TIRE_BL].pwm += 5;
yabahiro 21:1f1e9c585da8 712 mtc=false;
yabahiro 21:1f1e9c585da8 713 break;
yabahiro 21:1f1e9c585da8 714 case 3:
yabahiro 21:1f1e9c585da8 715 motor[TIRE_BL].pwm += 10;
yabahiro 21:1f1e9c585da8 716 mtc=false;
yabahiro 21:1f1e9c585da8 717 break;
yabahiro 21:1f1e9c585da8 718 case 2:
yabahiro 21:1f1e9c585da8 719 motor[TIRE_BL].pwm += 20;
yabahiro 21:1f1e9c585da8 720 motor[TIRE_BR].pwm = 0;
yabahiro 21:1f1e9c585da8 721 mtc=false;
yabahiro 21:1f1e9c585da8 722 break;
yabahiro 21:1f1e9c585da8 723 }
yabahiro 21:1f1e9c585da8 724 }
yabahiro 23:694ecfa97839 725 } else if(mode==11) {
yabahiro 25:38d4964e8aad 726 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 727 motor[TIRE_FR].dir = FREE;
yabahiro 23:694ecfa97839 728 motor[TIRE_FL].pwm = 15;
yabahiro 21:1f1e9c585da8 729 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 730 motor[TIRE_BR].pwm = 15;
yabahiro 21:1f1e9c585da8 731 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 732 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 733 motor[TIRE_BL].dir = FREE;
yabahiro 23:694ecfa97839 734 if(mode1g0>5000&&g[2]==0) {
yabahiro 23:694ecfa97839 735 mode1g0=0;
yabahiro 23:694ecfa97839 736 mode=12;
yabahiro 21:1f1e9c585da8 737 }
yabahiro 23:694ecfa97839 738 } else if(mode==12) {
yabahiro 21:1f1e9c585da8 739 motor[TIRE_FR].pwm = 15;
yabahiro 21:1f1e9c585da8 740 motor[TIRE_FR].dir = FOR;
yabahiro 21:1f1e9c585da8 741 motor[TIRE_FL].pwm = 15;
yabahiro 21:1f1e9c585da8 742 motor[TIRE_FL].dir = BACK;
yabahiro 21:1f1e9c585da8 743 motor[TIRE_BR].pwm = 15;
yabahiro 21:1f1e9c585da8 744 motor[TIRE_BR].dir = FOR;
yabahiro 21:1f1e9c585da8 745 motor[TIRE_BL].pwm = 15;
yabahiro 21:1f1e9c585da8 746 motor[TIRE_BL].dir = BACK;
yabahiro 21:1f1e9c585da8 747 mode1g0++;
yabahiro 21:1f1e9c585da8 748 if(mode1g0>10000&&g[2]==0) {
yabahiro 23:694ecfa97839 749 mode1g0=0;
yabahiro 23:694ecfa97839 750 mode1=0;
yabahiro 23:694ecfa97839 751 mode=20;
yabahiro 21:1f1e9c585da8 752 }
yabahiro 23:694ecfa97839 753 } else if(mode==20) {
yabahiro 23:694ecfa97839 754 switch(g[2]) {
kishibekairohan 22:c47f29caded6 755 case 98:
kishibekairohan 22:c47f29caded6 756 motor[TIRE_FR].pwm = 30;
kishibekairohan 22:c47f29caded6 757 motor[TIRE_FR].dir = FOR;
kishibekairohan 22:c47f29caded6 758 motor[TIRE_FL].pwm = 30;
kishibekairohan 22:c47f29caded6 759 motor[TIRE_FL].dir = FOR;
kishibekairohan 22:c47f29caded6 760 motor[TIRE_BR].pwm = 30;
kishibekairohan 22:c47f29caded6 761 motor[TIRE_BR].dir = BACK;
kishibekairohan 22:c47f29caded6 762 motor[TIRE_BL].pwm = 30;
kishibekairohan 22:c47f29caded6 763 motor[TIRE_BL].dir = BACK;
kishibekairohan 22:c47f29caded6 764 if(mode1g0>100000) {
kishibekairohan 22:c47f29caded6 765 mode1++;
kishibekairohan 22:c47f29caded6 766 mode1g0=0;
kishibekairohan 22:c47f29caded6 767 }
kishibekairohan 22:c47f29caded6 768 mtc2=true;
yabahiro 23:694ecfa97839 769 if(mode1==3) {
yabahiro 23:694ecfa97839 770 mode=21;
yabahiro 23:694ecfa97839 771 mode1g0=0;
yabahiro 23:694ecfa97839 772 mode1=0;
kishibekairohan 22:c47f29caded6 773 }
kishibekairohan 22:c47f29caded6 774 break;
kishibekairohan 22:c47f29caded6 775 case 0:
kishibekairohan 22:c47f29caded6 776 motor[TIRE_FR].pwm = 60;
kishibekairohan 22:c47f29caded6 777 motor[TIRE_FR].dir = FOR;
kishibekairohan 22:c47f29caded6 778 motor[TIRE_FL].pwm = 60;
kishibekairohan 22:c47f29caded6 779 motor[TIRE_FL].dir = FOR;
kishibekairohan 22:c47f29caded6 780 motor[TIRE_BR].pwm = 60;
kishibekairohan 22:c47f29caded6 781 motor[TIRE_BR].dir = BACK;
kishibekairohan 22:c47f29caded6 782 motor[TIRE_BL].pwm = 60;
kishibekairohan 22:c47f29caded6 783 motor[TIRE_BL].dir = BACK;
kishibekairohan 22:c47f29caded6 784 mtc2=true;
kishibekairohan 22:c47f29caded6 785 break;
kishibekairohan 22:c47f29caded6 786 case 255:
kishibekairohan 22:c47f29caded6 787 motor[TIRE_FR].pwm = 40;
kishibekairohan 22:c47f29caded6 788 motor[TIRE_FR].dir = FOR;
kishibekairohan 22:c47f29caded6 789 motor[TIRE_FL].pwm = 60;
kishibekairohan 22:c47f29caded6 790 motor[TIRE_FL].dir = FOR;
kishibekairohan 22:c47f29caded6 791 motor[TIRE_BR].pwm = 60;
kishibekairohan 22:c47f29caded6 792 motor[TIRE_BR].dir = BACK;
kishibekairohan 22:c47f29caded6 793 motor[TIRE_BL].pwm = 40;
kishibekairohan 22:c47f29caded6 794 motor[TIRE_BL].dir = BACK;
kishibekairohan 22:c47f29caded6 795 mtc2=true;
kishibekairohan 22:c47f29caded6 796 break;
kishibekairohan 22:c47f29caded6 797 case 253:
kishibekairohan 22:c47f29caded6 798 motor[TIRE_FR].pwm = 0;
kishibekairohan 22:c47f29caded6 799 motor[TIRE_FR].dir = FREE;
kishibekairohan 22:c47f29caded6 800 motor[TIRE_FL].pwm = 20;
kishibekairohan 22:c47f29caded6 801 motor[TIRE_FL].dir = FOR;
kishibekairohan 22:c47f29caded6 802 motor[TIRE_BR].pwm = 20;
kishibekairohan 22:c47f29caded6 803 motor[TIRE_BR].dir = BACK;
kishibekairohan 22:c47f29caded6 804 motor[TIRE_BL].pwm = 0;
kishibekairohan 22:c47f29caded6 805 motor[TIRE_BL].dir = FREE;
kishibekairohan 22:c47f29caded6 806 mtc2=true;
kishibekairohan 22:c47f29caded6 807 break;
kishibekairohan 22:c47f29caded6 808 case 254:
kishibekairohan 22:c47f29caded6 809 motor[TIRE_FR].pwm = 0;
kishibekairohan 22:c47f29caded6 810 motor[TIRE_FR].dir = FREE;
kishibekairohan 22:c47f29caded6 811 motor[TIRE_FL].pwm = 30;
kishibekairohan 22:c47f29caded6 812 motor[TIRE_FL].dir = FOR;
kishibekairohan 22:c47f29caded6 813 motor[TIRE_BR].pwm = 30;
kishibekairohan 22:c47f29caded6 814 motor[TIRE_BR].dir = BACK;
kishibekairohan 22:c47f29caded6 815 motor[TIRE_BL].pwm = 0;
kishibekairohan 22:c47f29caded6 816 motor[TIRE_BL].dir = FREE;
kishibekairohan 22:c47f29caded6 817 mtc2=true;
kishibekairohan 22:c47f29caded6 818 break;
kishibekairohan 22:c47f29caded6 819 case 1:
kishibekairohan 22:c47f29caded6 820 motor[TIRE_FR].pwm = 60;
kishibekairohan 22:c47f29caded6 821 motor[TIRE_FR].dir = FOR;
kishibekairohan 22:c47f29caded6 822 motor[TIRE_FL].pwm = 40;
kishibekairohan 22:c47f29caded6 823 motor[TIRE_FL].dir = FOR;
kishibekairohan 22:c47f29caded6 824 motor[TIRE_BR].pwm = 40;
kishibekairohan 22:c47f29caded6 825 motor[TIRE_BR].dir = BACK;
kishibekairohan 22:c47f29caded6 826 motor[TIRE_BL].pwm = 60;
kishibekairohan 22:c47f29caded6 827 motor[TIRE_BL].dir = BACK;
kishibekairohan 22:c47f29caded6 828 mtc2=true;
kishibekairohan 22:c47f29caded6 829 break;
kishibekairohan 22:c47f29caded6 830 case 3:
kishibekairohan 22:c47f29caded6 831 motor[TIRE_FR].pwm = 20;
kishibekairohan 22:c47f29caded6 832 motor[TIRE_FR].dir = FOR;
kishibekairohan 22:c47f29caded6 833 motor[TIRE_FL].pwm = 0;
kishibekairohan 22:c47f29caded6 834 motor[TIRE_FL].dir = FREE;
kishibekairohan 22:c47f29caded6 835 motor[TIRE_BR].pwm = 0;
kishibekairohan 22:c47f29caded6 836 motor[TIRE_BR].dir = FREE;
kishibekairohan 22:c47f29caded6 837 motor[TIRE_BL].pwm = 20;
kishibekairohan 22:c47f29caded6 838 motor[TIRE_BL].dir = BACK;
kishibekairohan 22:c47f29caded6 839 mtc2=true;
kishibekairohan 22:c47f29caded6 840 break;
kishibekairohan 22:c47f29caded6 841 case 2:
kishibekairohan 22:c47f29caded6 842 motor[TIRE_FR].pwm = 30;
kishibekairohan 22:c47f29caded6 843 motor[TIRE_FR].dir = FOR;
kishibekairohan 22:c47f29caded6 844 motor[TIRE_FL].pwm = 0;
kishibekairohan 22:c47f29caded6 845 motor[TIRE_FL].dir = FREE;
kishibekairohan 22:c47f29caded6 846 motor[TIRE_BR].pwm = 0;
kishibekairohan 22:c47f29caded6 847 motor[TIRE_BR].dir = FREE;
kishibekairohan 22:c47f29caded6 848 motor[TIRE_BL].pwm = 30;
kishibekairohan 22:c47f29caded6 849 motor[TIRE_BL].dir = BACK;
kishibekairohan 22:c47f29caded6 850 mtc2=true;
kishibekairohan 22:c47f29caded6 851 break;
kishibekairohan 22:c47f29caded6 852 }
kishibekairohan 22:c47f29caded6 853 if(g[2]!=98&&mtc2==true) {
kishibekairohan 22:c47f29caded6 854 switch(g[3]) {
kishibekairohan 22:c47f29caded6 855 case 0:
kishibekairohan 22:c47f29caded6 856 mtc2=false;
kishibekairohan 22:c47f29caded6 857 break;
kishibekairohan 22:c47f29caded6 858 case 255:
kishibekairohan 22:c47f29caded6 859 motor[TIRE_BL].pwm += 5;
kishibekairohan 22:c47f29caded6 860 mtc2=false;
kishibekairohan 22:c47f29caded6 861 break;
kishibekairohan 22:c47f29caded6 862 case 253:
kishibekairohan 22:c47f29caded6 863 motor[TIRE_BL].pwm += 10;
kishibekairohan 22:c47f29caded6 864 mtc2=false;
kishibekairohan 22:c47f29caded6 865 break;
kishibekairohan 22:c47f29caded6 866 case 254:
kishibekairohan 22:c47f29caded6 867 motor[TIRE_BL].pwm += 20;
kishibekairohan 22:c47f29caded6 868 motor[TIRE_FL].pwm = 0;
kishibekairohan 22:c47f29caded6 869 mtc2=false;
kishibekairohan 22:c47f29caded6 870 break;
kishibekairohan 22:c47f29caded6 871 case 1:
kishibekairohan 22:c47f29caded6 872 motor[TIRE_FL].pwm += 5;
kishibekairohan 22:c47f29caded6 873 mtc2=false;
kishibekairohan 22:c47f29caded6 874 break;
kishibekairohan 22:c47f29caded6 875 case 3:
kishibekairohan 22:c47f29caded6 876 motor[TIRE_FL].pwm += 10;
kishibekairohan 22:c47f29caded6 877 mtc2=false;
kishibekairohan 22:c47f29caded6 878 break;
kishibekairohan 22:c47f29caded6 879 case 2:
kishibekairohan 22:c47f29caded6 880 motor[TIRE_FL].pwm += 20;
kishibekairohan 22:c47f29caded6 881 motor[TIRE_BL].pwm = 0;
kishibekairohan 22:c47f29caded6 882 mtc2=false;
kishibekairohan 22:c47f29caded6 883 break;
kishibekairohan 22:c47f29caded6 884 }
kishibekairohan 22:c47f29caded6 885 }
yabahiro 23:694ecfa97839 886 } else if(mode==21) {
yabahiro 25:38d4964e8aad 887 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 888 motor[TIRE_FR].dir = FREE;
yabahiro 23:694ecfa97839 889 motor[TIRE_FL].pwm = 15;
yabahiro 23:694ecfa97839 890 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 891 motor[TIRE_BR].pwm = 15;
yabahiro 23:694ecfa97839 892 motor[TIRE_BR].dir = BACK;
yabahiro 25:38d4964e8aad 893 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 894 motor[TIRE_BL].dir = FREE;
yabahiro 23:694ecfa97839 895 if(mode1g0>5000&&g[0]==0) {
yabahiro 23:694ecfa97839 896 mode1g0=0;
yabahiro 23:694ecfa97839 897 mode=22;
yabahiro 23:694ecfa97839 898 }
yabahiro 23:694ecfa97839 899 } else if(mode==22) {
yabahiro 23:694ecfa97839 900 motor[TIRE_FR].pwm = 15;
yabahiro 23:694ecfa97839 901 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 902 motor[TIRE_FL].pwm = 15;
yabahiro 23:694ecfa97839 903 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 904 motor[TIRE_BR].pwm = 15;
yabahiro 23:694ecfa97839 905 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 906 motor[TIRE_BL].pwm = 15;
yabahiro 23:694ecfa97839 907 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 908 if(mode1g0>10000&&g[0]==0) {
yabahiro 23:694ecfa97839 909 mode1g0=0;
yabahiro 23:694ecfa97839 910 mode1=0;
yabahiro 23:694ecfa97839 911 mode=30;
yabahiro 23:694ecfa97839 912 }
yabahiro 23:694ecfa97839 913 } else if(mode==30) {
yabahiro 23:694ecfa97839 914 switch(g[0]) {
yabahiro 23:694ecfa97839 915 case 98:
yabahiro 23:694ecfa97839 916 motor[TIRE_FR].pwm = 30;
yabahiro 23:694ecfa97839 917 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 918 motor[TIRE_FL].pwm = 30;
yabahiro 23:694ecfa97839 919 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 920 motor[TIRE_BR].pwm = 30;
yabahiro 23:694ecfa97839 921 motor[TIRE_BR].dir = BACK;
yabahiro 23:694ecfa97839 922 motor[TIRE_BL].pwm = 30;
yabahiro 23:694ecfa97839 923 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 924 if(mode1g0>100000) {
yabahiro 23:694ecfa97839 925 mode1++;
yabahiro 23:694ecfa97839 926 mode1g0=0;
yabahiro 23:694ecfa97839 927 }
yabahiro 23:694ecfa97839 928 mtc=true;
yabahiro 23:694ecfa97839 929 if(mode1==1) {
yabahiro 23:694ecfa97839 930 mode=31;
yabahiro 23:694ecfa97839 931 mode1g0=0;
yabahiro 23:694ecfa97839 932 }
yabahiro 23:694ecfa97839 933 break;
yabahiro 23:694ecfa97839 934 case 0:
yabahiro 23:694ecfa97839 935 motor[TIRE_FR].pwm = 60;
yabahiro 23:694ecfa97839 936 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 937 motor[TIRE_FL].pwm = 60;
yabahiro 23:694ecfa97839 938 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 939 motor[TIRE_BR].pwm = 60;
yabahiro 23:694ecfa97839 940 motor[TIRE_BR].dir = BACK;
yabahiro 23:694ecfa97839 941 motor[TIRE_BL].pwm = 60;
yabahiro 23:694ecfa97839 942 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 943 mtc=true;
yabahiro 23:694ecfa97839 944 break;
yabahiro 23:694ecfa97839 945 case 255:
yabahiro 23:694ecfa97839 946 motor[TIRE_FR].pwm = 60;
yabahiro 23:694ecfa97839 947 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 948 motor[TIRE_FL].pwm = 40;
yabahiro 23:694ecfa97839 949 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 950 motor[TIRE_BR].pwm = 40;
yabahiro 23:694ecfa97839 951 motor[TIRE_BR].dir = BACK;
yabahiro 23:694ecfa97839 952 motor[TIRE_BL].pwm = 60;
yabahiro 23:694ecfa97839 953 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 954 mtc=true;
yabahiro 23:694ecfa97839 955 break;
yabahiro 23:694ecfa97839 956 case 253:
yabahiro 23:694ecfa97839 957 motor[TIRE_FR].pwm = 20;
yabahiro 23:694ecfa97839 958 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 959 motor[TIRE_FL].pwm = 0;
yabahiro 23:694ecfa97839 960 motor[TIRE_FL].dir = FREE;
yabahiro 23:694ecfa97839 961 motor[TIRE_BR].pwm = 0;
yabahiro 23:694ecfa97839 962 motor[TIRE_BR].dir = FREE;
yabahiro 23:694ecfa97839 963 motor[TIRE_BL].pwm = 20;
yabahiro 23:694ecfa97839 964 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 965 mtc=true;
yabahiro 23:694ecfa97839 966 break;
yabahiro 23:694ecfa97839 967 case 254:
yabahiro 23:694ecfa97839 968 motor[TIRE_FR].pwm = 30;
yabahiro 23:694ecfa97839 969 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 970 motor[TIRE_FL].pwm = 0;
yabahiro 23:694ecfa97839 971 motor[TIRE_FL].dir = FREE;
yabahiro 23:694ecfa97839 972 motor[TIRE_BR].pwm = 0;
yabahiro 23:694ecfa97839 973 motor[TIRE_BR].dir = FREE;
yabahiro 23:694ecfa97839 974 motor[TIRE_BL].pwm = 30;
yabahiro 23:694ecfa97839 975 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 976 mtc=true;
yabahiro 23:694ecfa97839 977 break;
yabahiro 23:694ecfa97839 978 case 1:
yabahiro 23:694ecfa97839 979 motor[TIRE_FR].pwm = 40;
yabahiro 23:694ecfa97839 980 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 981 motor[TIRE_FL].pwm = 60;
yabahiro 23:694ecfa97839 982 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 983 motor[TIRE_BR].pwm = 60;
yabahiro 23:694ecfa97839 984 motor[TIRE_BR].dir = BACK;
yabahiro 23:694ecfa97839 985 motor[TIRE_BL].pwm = 40;
yabahiro 23:694ecfa97839 986 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 987 mtc=true;
yabahiro 23:694ecfa97839 988 break;
yabahiro 23:694ecfa97839 989 case 3:
yabahiro 23:694ecfa97839 990 motor[TIRE_FR].pwm = 0;
yabahiro 23:694ecfa97839 991 motor[TIRE_FR].dir = FREE;
yabahiro 23:694ecfa97839 992 motor[TIRE_FL].pwm = 20;
yabahiro 23:694ecfa97839 993 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 994 motor[TIRE_BR].pwm = 20;
yabahiro 23:694ecfa97839 995 motor[TIRE_BR].dir = BACK;
yabahiro 23:694ecfa97839 996 motor[TIRE_BL].pwm = 0;
yabahiro 23:694ecfa97839 997 motor[TIRE_BL].dir = FREE;
yabahiro 23:694ecfa97839 998 mtc=true;
yabahiro 23:694ecfa97839 999 break;
yabahiro 23:694ecfa97839 1000 case 2:
yabahiro 23:694ecfa97839 1001 motor[TIRE_FR].pwm = 0;
yabahiro 23:694ecfa97839 1002 motor[TIRE_FR].dir = FREE;
yabahiro 23:694ecfa97839 1003 motor[TIRE_FL].pwm = 30;
yabahiro 23:694ecfa97839 1004 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 1005 motor[TIRE_BR].pwm = 30;
yabahiro 23:694ecfa97839 1006 motor[TIRE_BR].dir = BACK;
yabahiro 23:694ecfa97839 1007 motor[TIRE_BL].pwm = 0;
yabahiro 23:694ecfa97839 1008 motor[TIRE_BL].dir = FREE;
yabahiro 23:694ecfa97839 1009 mtc=true;
yabahiro 23:694ecfa97839 1010 break;
yabahiro 23:694ecfa97839 1011 }
yabahiro 23:694ecfa97839 1012 if(g[0]!=98&&mtc==true) {
yabahiro 23:694ecfa97839 1013 switch(g[1]) {
yabahiro 23:694ecfa97839 1014 case 0:
yabahiro 23:694ecfa97839 1015 mtc=false;
yabahiro 23:694ecfa97839 1016 break;
yabahiro 23:694ecfa97839 1017 case 255:
yabahiro 23:694ecfa97839 1018 motor[TIRE_BR].pwm += 5;
yabahiro 23:694ecfa97839 1019 mtc=false;
yabahiro 23:694ecfa97839 1020 break;
yabahiro 23:694ecfa97839 1021 case 253:
yabahiro 23:694ecfa97839 1022 motor[TIRE_BR].pwm += 10;
yabahiro 23:694ecfa97839 1023 mtc=false;
yabahiro 23:694ecfa97839 1024 break;
yabahiro 23:694ecfa97839 1025 case 254:
yabahiro 23:694ecfa97839 1026 motor[TIRE_BR].pwm += 20;
yabahiro 23:694ecfa97839 1027 motor[TIRE_BL].pwm = 0;
yabahiro 23:694ecfa97839 1028 mtc=false;
yabahiro 23:694ecfa97839 1029 break;
yabahiro 23:694ecfa97839 1030 case 1:
yabahiro 23:694ecfa97839 1031 motor[TIRE_BL].pwm += 5;
yabahiro 23:694ecfa97839 1032 mtc=false;
yabahiro 23:694ecfa97839 1033 break;
yabahiro 23:694ecfa97839 1034 case 3:
yabahiro 23:694ecfa97839 1035 motor[TIRE_BL].pwm += 10;
yabahiro 23:694ecfa97839 1036 mtc=false;
yabahiro 23:694ecfa97839 1037 break;
yabahiro 23:694ecfa97839 1038 case 2:
yabahiro 23:694ecfa97839 1039 motor[TIRE_BL].pwm += 20;
yabahiro 23:694ecfa97839 1040 motor[TIRE_BR].pwm = 0;
yabahiro 23:694ecfa97839 1041 mtc=false;
yabahiro 23:694ecfa97839 1042 break;
yabahiro 23:694ecfa97839 1043 }
yabahiro 23:694ecfa97839 1044 }
yabahiro 23:694ecfa97839 1045 } else if(mode==31) {
yabahiro 23:694ecfa97839 1046 motor[TIRE_FR].pwm = 15;
yabahiro 23:694ecfa97839 1047 motor[TIRE_FR].dir = BACK;
yabahiro 25:38d4964e8aad 1048 motor[TIRE_FL].pwm = 0;
yabahiro 25:38d4964e8aad 1049 motor[TIRE_FL].dir = FREE;
yabahiro 25:38d4964e8aad 1050 motor[TIRE_BR].pwm = 0;
yabahiro 25:38d4964e8aad 1051 motor[TIRE_BR].dir = FREE;
yabahiro 23:694ecfa97839 1052 motor[TIRE_BL].pwm = 15;
yabahiro 23:694ecfa97839 1053 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 1054 mode1g0++;
yabahiro 23:694ecfa97839 1055 if(mode1g0>5000&&g[3]==0) {
yabahiro 23:694ecfa97839 1056 mode1g0=0;
yabahiro 23:694ecfa97839 1057 mode=32;
yabahiro 23:694ecfa97839 1058 }
yabahiro 23:694ecfa97839 1059 } else if(mode==32) {
yabahiro 23:694ecfa97839 1060 motor[TIRE_FR].pwm = 15;
yabahiro 23:694ecfa97839 1061 motor[TIRE_FR].dir = FOR;
yabahiro 23:694ecfa97839 1062 motor[TIRE_FL].pwm = 15;
yabahiro 23:694ecfa97839 1063 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1064 motor[TIRE_BR].pwm = 15;
yabahiro 23:694ecfa97839 1065 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 1066 motor[TIRE_BL].pwm = 15;
yabahiro 23:694ecfa97839 1067 motor[TIRE_BL].dir = BACK;
yabahiro 23:694ecfa97839 1068 mode1g0++;
yabahiro 23:694ecfa97839 1069 if(mode1g0>5000&&g[3]==0) {
yabahiro 23:694ecfa97839 1070 mode1g0=0;
yabahiro 23:694ecfa97839 1071 mode1=0;
yabahiro 23:694ecfa97839 1072 mode=40;
yabahiro 23:694ecfa97839 1073 }
yabahiro 23:694ecfa97839 1074 } else if(mode==40) {
yabahiro 23:694ecfa97839 1075 switch(g[3]) {
yabahiro 23:694ecfa97839 1076 case 98:
yabahiro 23:694ecfa97839 1077 motor[TIRE_FR].pwm = 30;
yabahiro 23:694ecfa97839 1078 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 1079 motor[TIRE_FL].pwm = 30;
yabahiro 23:694ecfa97839 1080 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1081 motor[TIRE_BR].pwm = 30;
yabahiro 23:694ecfa97839 1082 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 1083 motor[TIRE_BL].pwm = 30;
yabahiro 23:694ecfa97839 1084 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 1085 if(mode1g0>100000) {
yabahiro 23:694ecfa97839 1086 mode1++;
yabahiro 23:694ecfa97839 1087 mode1g0=0;
yabahiro 23:694ecfa97839 1088 }
yabahiro 23:694ecfa97839 1089 mtc2=true;
yabahiro 23:694ecfa97839 1090 if(mode1==1) {
yabahiro 23:694ecfa97839 1091 mode=41;
yabahiro 23:694ecfa97839 1092 mode1g0=0;
yabahiro 23:694ecfa97839 1093 mode1=0;
yabahiro 23:694ecfa97839 1094 }
yabahiro 23:694ecfa97839 1095 break;
yabahiro 23:694ecfa97839 1096 case 0:
yabahiro 23:694ecfa97839 1097 motor[TIRE_FR].pwm = 60;
yabahiro 23:694ecfa97839 1098 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 1099 motor[TIRE_FL].pwm = 60;
yabahiro 23:694ecfa97839 1100 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1101 motor[TIRE_BR].pwm = 60;
yabahiro 23:694ecfa97839 1102 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 1103 motor[TIRE_BL].pwm = 60;
yabahiro 23:694ecfa97839 1104 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 1105 mtc2=true;
yabahiro 23:694ecfa97839 1106 break;
yabahiro 23:694ecfa97839 1107 case 255:
yabahiro 23:694ecfa97839 1108 motor[TIRE_FR].pwm = 40;
yabahiro 23:694ecfa97839 1109 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 1110 motor[TIRE_FL].pwm = 60;
yabahiro 23:694ecfa97839 1111 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1112 motor[TIRE_BR].pwm = 60;
yabahiro 23:694ecfa97839 1113 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 1114 motor[TIRE_BL].pwm = 40;
yabahiro 23:694ecfa97839 1115 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 1116 mtc2=true;
yabahiro 23:694ecfa97839 1117 break;
yabahiro 23:694ecfa97839 1118 case 253:
yabahiro 23:694ecfa97839 1119 motor[TIRE_FR].pwm = 0;
yabahiro 23:694ecfa97839 1120 motor[TIRE_FR].dir = FREE;
yabahiro 23:694ecfa97839 1121 motor[TIRE_FL].pwm = 20;
yabahiro 23:694ecfa97839 1122 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1123 motor[TIRE_BR].pwm = 20;
yabahiro 23:694ecfa97839 1124 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 1125 motor[TIRE_BL].pwm = 0;
yabahiro 23:694ecfa97839 1126 motor[TIRE_BL].dir = FREE;
yabahiro 23:694ecfa97839 1127 mtc2=true;
yabahiro 23:694ecfa97839 1128 break;
yabahiro 23:694ecfa97839 1129 case 254:
yabahiro 23:694ecfa97839 1130 motor[TIRE_FR].pwm = 0;
yabahiro 23:694ecfa97839 1131 motor[TIRE_FR].dir = FREE;
yabahiro 23:694ecfa97839 1132 motor[TIRE_FL].pwm = 30;
yabahiro 23:694ecfa97839 1133 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1134 motor[TIRE_BR].pwm = 30;
yabahiro 23:694ecfa97839 1135 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 1136 motor[TIRE_BL].pwm = 0;
yabahiro 23:694ecfa97839 1137 motor[TIRE_BL].dir = FREE;
yabahiro 23:694ecfa97839 1138 mtc2=true;
yabahiro 23:694ecfa97839 1139 break;
yabahiro 23:694ecfa97839 1140 case 1:
yabahiro 23:694ecfa97839 1141 motor[TIRE_FR].pwm = 60;
yabahiro 23:694ecfa97839 1142 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 1143 motor[TIRE_FL].pwm = 40;
yabahiro 23:694ecfa97839 1144 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1145 motor[TIRE_BR].pwm = 40;
yabahiro 23:694ecfa97839 1146 motor[TIRE_BR].dir = FOR;
yabahiro 23:694ecfa97839 1147 motor[TIRE_BL].pwm = 60;
yabahiro 23:694ecfa97839 1148 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 1149 mtc2=true;
yabahiro 23:694ecfa97839 1150 break;
yabahiro 23:694ecfa97839 1151 case 3:
yabahiro 23:694ecfa97839 1152 motor[TIRE_FR].pwm = 20;
yabahiro 23:694ecfa97839 1153 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 1154 motor[TIRE_FL].pwm = 0;
yabahiro 23:694ecfa97839 1155 motor[TIRE_FL].dir = FREE;
yabahiro 23:694ecfa97839 1156 motor[TIRE_BR].pwm = 0;
yabahiro 23:694ecfa97839 1157 motor[TIRE_BR].dir = FREE;
yabahiro 23:694ecfa97839 1158 motor[TIRE_BL].pwm = 20;
yabahiro 23:694ecfa97839 1159 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 1160 mtc2=true;
yabahiro 23:694ecfa97839 1161 break;
yabahiro 23:694ecfa97839 1162 case 2:
yabahiro 23:694ecfa97839 1163 motor[TIRE_FR].pwm = 30;
yabahiro 23:694ecfa97839 1164 motor[TIRE_FR].dir = BACK;
yabahiro 23:694ecfa97839 1165 motor[TIRE_FL].pwm = 0;
yabahiro 23:694ecfa97839 1166 motor[TIRE_FL].dir = FREE;
yabahiro 23:694ecfa97839 1167 motor[TIRE_BR].pwm = 0;
yabahiro 23:694ecfa97839 1168 motor[TIRE_BR].dir = FREE;
yabahiro 23:694ecfa97839 1169 motor[TIRE_BL].pwm = 30;
yabahiro 23:694ecfa97839 1170 motor[TIRE_BL].dir = FOR;
yabahiro 23:694ecfa97839 1171 mtc2=true;
yabahiro 23:694ecfa97839 1172 break;
yabahiro 23:694ecfa97839 1173 }
yabahiro 23:694ecfa97839 1174 if(g[2]!=98&&mtc2==true) {
yabahiro 23:694ecfa97839 1175 switch(g[2]) {
yabahiro 23:694ecfa97839 1176 case 0:
yabahiro 23:694ecfa97839 1177 mtc2=false;
yabahiro 23:694ecfa97839 1178 break;
yabahiro 23:694ecfa97839 1179 case 255:
yabahiro 23:694ecfa97839 1180 motor[TIRE_FL].pwm += 5;
yabahiro 23:694ecfa97839 1181 mtc2=false;
yabahiro 23:694ecfa97839 1182 break;
yabahiro 23:694ecfa97839 1183 case 253:
yabahiro 23:694ecfa97839 1184 motor[TIRE_FL].pwm += 10;
yabahiro 23:694ecfa97839 1185 mtc2=false;
yabahiro 23:694ecfa97839 1186 break;
yabahiro 23:694ecfa97839 1187 case 254:
yabahiro 23:694ecfa97839 1188 motor[TIRE_FL].pwm += 20;
yabahiro 23:694ecfa97839 1189 motor[TIRE_BL].pwm = 0;
yabahiro 23:694ecfa97839 1190 mtc2=false;
yabahiro 23:694ecfa97839 1191 break;
yabahiro 23:694ecfa97839 1192 case 1:
yabahiro 23:694ecfa97839 1193 motor[TIRE_BL].pwm += 5;
yabahiro 23:694ecfa97839 1194 mtc2=false;
yabahiro 23:694ecfa97839 1195 break;
yabahiro 23:694ecfa97839 1196 case 3:
yabahiro 23:694ecfa97839 1197 motor[TIRE_BL].pwm += 10;
yabahiro 23:694ecfa97839 1198 mtc2=false;
yabahiro 23:694ecfa97839 1199 break;
yabahiro 23:694ecfa97839 1200 case 2:
yabahiro 23:694ecfa97839 1201 motor[TIRE_BL].pwm += 20;
yabahiro 23:694ecfa97839 1202 motor[TIRE_FL].pwm = 0;
yabahiro 23:694ecfa97839 1203 mtc2=false;
yabahiro 23:694ecfa97839 1204 break;
yabahiro 23:694ecfa97839 1205 }
yabahiro 23:694ecfa97839 1206 }
yabahiro 23:694ecfa97839 1207 } else if(mode==41) {
yabahiro 25:38d4964e8aad 1208 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 1209 motor[TIRE_FR].dir = FREE;
yabahiro 23:694ecfa97839 1210 motor[TIRE_FL].pwm = 15;
yabahiro 23:694ecfa97839 1211 motor[TIRE_FL].dir = BACK;
yabahiro 23:694ecfa97839 1212 motor[TIRE_BR].pwm = 15;
yabahiro 23:694ecfa97839 1213 motor[TIRE_BR].dir = FOR;
yabahiro 25:38d4964e8aad 1214 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 1215 motor[TIRE_BL].dir = FREE;
yabahiro 23:694ecfa97839 1216 if(mode1g0>5000&&g[1]==0) {
yabahiro 23:694ecfa97839 1217 mode1g0=0;
yabahiro 23:694ecfa97839 1218 mode=42;
yabahiro 23:694ecfa97839 1219 }
yabahiro 23:694ecfa97839 1220 } else if(mode==42) {
yabahiro 23:694ecfa97839 1221 motor[TIRE_FR].pwm = 15;
yabahiro 23:694ecfa97839 1222 motor[TIRE_FR].dir = FOR;
yabahiro 23:694ecfa97839 1223 motor[TIRE_FL].pwm = 15;
yabahiro 23:694ecfa97839 1224 motor[TIRE_FL].dir = FOR;
yabahiro 23:694ecfa97839 1225 motor[TIRE_BR].pwm = 15;
yabahiro 23:694ecfa97839 1226 motor[TIRE_BR].dir = BACK;
yabahiro 23:694ecfa97839 1227 motor[TIRE_BL].pwm = 15;
yabahiro 23:694ecfa97839 1228 motor[TIRE_BL].dir = BACK;
yabahiro 23:694ecfa97839 1229 if(mode1g0>5000&&g[1]==0) {
yabahiro 23:694ecfa97839 1230 mode1g0=0;
yabahiro 23:694ecfa97839 1231 mode=50;
yabahiro 24:41c23c9a5058 1232 }
yabahiro 24:41c23c9a5058 1233 } else if(mode==50) {
yabahiro 24:41c23c9a5058 1234 switch(g[1]) {
yabahiro 24:41c23c9a5058 1235 case 98:
yabahiro 24:41c23c9a5058 1236 motor[TIRE_FR].pwm = 30;
yabahiro 24:41c23c9a5058 1237 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1238 motor[TIRE_FL].pwm = 30;
yabahiro 24:41c23c9a5058 1239 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1240 motor[TIRE_BR].pwm = 30;
yabahiro 24:41c23c9a5058 1241 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1242 motor[TIRE_BL].pwm = 30;
yabahiro 24:41c23c9a5058 1243 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1244 if(mode1g0>100000) {
yabahiro 24:41c23c9a5058 1245 mode1++;
yabahiro 24:41c23c9a5058 1246 mode1g0=0;
yabahiro 24:41c23c9a5058 1247 }
yabahiro 24:41c23c9a5058 1248 mtc=true;
yabahiro 24:41c23c9a5058 1249 if(mode1==1) {
yabahiro 24:41c23c9a5058 1250 mode=51;
yabahiro 24:41c23c9a5058 1251 mode1g0=0;
yabahiro 24:41c23c9a5058 1252 }
yabahiro 24:41c23c9a5058 1253 break;
yabahiro 24:41c23c9a5058 1254 case 0:
yabahiro 24:41c23c9a5058 1255 motor[TIRE_FR].pwm = 60;
yabahiro 24:41c23c9a5058 1256 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1257 motor[TIRE_FL].pwm = 60;
yabahiro 24:41c23c9a5058 1258 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1259 motor[TIRE_BR].pwm = 60;
yabahiro 24:41c23c9a5058 1260 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1261 motor[TIRE_BL].pwm = 60;
yabahiro 24:41c23c9a5058 1262 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1263 mtc=true;
yabahiro 24:41c23c9a5058 1264 break;
yabahiro 24:41c23c9a5058 1265 case 255:
yabahiro 24:41c23c9a5058 1266 motor[TIRE_FR].pwm = 60;
yabahiro 24:41c23c9a5058 1267 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1268 motor[TIRE_FL].pwm = 40;
yabahiro 24:41c23c9a5058 1269 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1270 motor[TIRE_BR].pwm = 40;
yabahiro 24:41c23c9a5058 1271 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1272 motor[TIRE_BL].pwm = 60;
yabahiro 24:41c23c9a5058 1273 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1274 mtc=true;
yabahiro 24:41c23c9a5058 1275 break;
yabahiro 24:41c23c9a5058 1276 case 253:
yabahiro 24:41c23c9a5058 1277 motor[TIRE_FR].pwm = 20;
yabahiro 24:41c23c9a5058 1278 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1279 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1280 motor[TIRE_FL].dir = FREE;
yabahiro 24:41c23c9a5058 1281 motor[TIRE_BR].pwm = 0;
yabahiro 24:41c23c9a5058 1282 motor[TIRE_BR].dir = FREE;
yabahiro 24:41c23c9a5058 1283 motor[TIRE_BL].pwm = 20;
yabahiro 24:41c23c9a5058 1284 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1285 mtc=true;
yabahiro 24:41c23c9a5058 1286 break;
yabahiro 24:41c23c9a5058 1287 case 254:
yabahiro 24:41c23c9a5058 1288 motor[TIRE_FR].pwm = 30;
yabahiro 24:41c23c9a5058 1289 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1290 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1291 motor[TIRE_FL].dir = FREE;
yabahiro 24:41c23c9a5058 1292 motor[TIRE_BR].pwm = 0;
yabahiro 24:41c23c9a5058 1293 motor[TIRE_BR].dir = FREE;
yabahiro 24:41c23c9a5058 1294 motor[TIRE_BL].pwm = 30;
yabahiro 24:41c23c9a5058 1295 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1296 mtc=true;
yabahiro 24:41c23c9a5058 1297 break;
yabahiro 24:41c23c9a5058 1298 case 1:
yabahiro 24:41c23c9a5058 1299 motor[TIRE_FR].pwm = 40;
yabahiro 24:41c23c9a5058 1300 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1301 motor[TIRE_FL].pwm = 60;
yabahiro 24:41c23c9a5058 1302 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1303 motor[TIRE_BR].pwm = 60;
yabahiro 24:41c23c9a5058 1304 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1305 motor[TIRE_BL].pwm = 40;
yabahiro 24:41c23c9a5058 1306 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1307 mtc=true;
yabahiro 24:41c23c9a5058 1308 break;
yabahiro 24:41c23c9a5058 1309 case 3:
yabahiro 24:41c23c9a5058 1310 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1311 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1312 motor[TIRE_FL].pwm = 20;
yabahiro 24:41c23c9a5058 1313 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1314 motor[TIRE_BR].pwm = 20;
yabahiro 24:41c23c9a5058 1315 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1316 motor[TIRE_BL].pwm = 0;
yabahiro 24:41c23c9a5058 1317 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1318 mtc=true;
yabahiro 24:41c23c9a5058 1319 break;
yabahiro 24:41c23c9a5058 1320 case 2:
yabahiro 24:41c23c9a5058 1321 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1322 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1323 motor[TIRE_FL].pwm = 30;
yabahiro 24:41c23c9a5058 1324 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1325 motor[TIRE_BR].pwm = 30;
yabahiro 24:41c23c9a5058 1326 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1327 motor[TIRE_BL].pwm = 0;
yabahiro 24:41c23c9a5058 1328 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1329 mtc=true;
yabahiro 24:41c23c9a5058 1330 break;
yabahiro 24:41c23c9a5058 1331 }
yabahiro 24:41c23c9a5058 1332 if(g[1]!=98&&mtc==true) {
yabahiro 24:41c23c9a5058 1333 switch(g[0]) {
yabahiro 23:694ecfa97839 1334 case 0:
yabahiro 24:41c23c9a5058 1335 mtc=false;
yabahiro 23:694ecfa97839 1336 break;
yabahiro 23:694ecfa97839 1337 case 255:
yabahiro 24:41c23c9a5058 1338 motor[TIRE_FR].pwm += 5;
yabahiro 24:41c23c9a5058 1339 mtc=false;
yabahiro 23:694ecfa97839 1340 break;
yabahiro 23:694ecfa97839 1341 case 253:
yabahiro 24:41c23c9a5058 1342 motor[TIRE_FR].pwm += 10;
yabahiro 24:41c23c9a5058 1343 mtc=false;
yabahiro 23:694ecfa97839 1344 break;
yabahiro 23:694ecfa97839 1345 case 254:
yabahiro 24:41c23c9a5058 1346 motor[TIRE_FR].pwm += 20;
yabahiro 23:694ecfa97839 1347 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1348 mtc=false;
yabahiro 23:694ecfa97839 1349 break;
yabahiro 23:694ecfa97839 1350 case 1:
yabahiro 24:41c23c9a5058 1351 motor[TIRE_FL].pwm += 5;
yabahiro 24:41c23c9a5058 1352 mtc=false;
yabahiro 23:694ecfa97839 1353 break;
yabahiro 23:694ecfa97839 1354 case 3:
yabahiro 24:41c23c9a5058 1355 motor[TIRE_FL].pwm += 10;
yabahiro 24:41c23c9a5058 1356 mtc=false;
yabahiro 23:694ecfa97839 1357 break;
yabahiro 23:694ecfa97839 1358 case 2:
yabahiro 24:41c23c9a5058 1359 motor[TIRE_FL].pwm += 20;
yabahiro 23:694ecfa97839 1360 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1361 mtc=false;
yabahiro 23:694ecfa97839 1362 break;
yabahiro 23:694ecfa97839 1363 }
yabahiro 23:694ecfa97839 1364 }
yabahiro 23:694ecfa97839 1365 } else if(mode==51) {
yabahiro 25:38d4964e8aad 1366 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 1367 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1368 motor[TIRE_FL].pwm = 15;
yabahiro 24:41c23c9a5058 1369 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1370 motor[TIRE_BR].pwm = 15;
yabahiro 24:41c23c9a5058 1371 motor[TIRE_BR].dir = FOR;
yabahiro 25:38d4964e8aad 1372 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 1373 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1374 mode1g0++;
yabahiro 24:41c23c9a5058 1375 if(mode1g0>5000&&g[3]==0) {
yabahiro 24:41c23c9a5058 1376 mode1g0=0;
yabahiro 24:41c23c9a5058 1377 mode=52;
yabahiro 24:41c23c9a5058 1378 }
yabahiro 24:41c23c9a5058 1379 } else if(mode==52) {
yabahiro 24:41c23c9a5058 1380 motor[TIRE_FR].pwm = 15;
yabahiro 24:41c23c9a5058 1381 motor[TIRE_FR].dir = BACK;
yabahiro 24:41c23c9a5058 1382 motor[TIRE_FL].pwm = 15;
yabahiro 24:41c23c9a5058 1383 motor[TIRE_FL].dir = FOR;
yabahiro 24:41c23c9a5058 1384 motor[TIRE_BR].pwm = 15;
yabahiro 24:41c23c9a5058 1385 motor[TIRE_BR].dir = BACK;
yabahiro 24:41c23c9a5058 1386 motor[TIRE_BL].pwm = 15;
yabahiro 24:41c23c9a5058 1387 motor[TIRE_BL].dir = FOR;
yabahiro 24:41c23c9a5058 1388 mode1g0++;
yabahiro 24:41c23c9a5058 1389 if(mode1g0>5000&&g[3]==0) {
yabahiro 24:41c23c9a5058 1390 mode1g0=0;
yabahiro 24:41c23c9a5058 1391 mode1=0;
yabahiro 24:41c23c9a5058 1392 mode=60;
yabahiro 24:41c23c9a5058 1393 }
yabahiro 24:41c23c9a5058 1394 } else if(mode==60) {
yabahiro 24:41c23c9a5058 1395 switch(g[3]) {
yabahiro 24:41c23c9a5058 1396 case 98:
yabahiro 24:41c23c9a5058 1397 motor[TIRE_FR].pwm = 30;
yabahiro 24:41c23c9a5058 1398 motor[TIRE_FR].dir = BACK;
yabahiro 24:41c23c9a5058 1399 motor[TIRE_FL].pwm = 30;
yabahiro 24:41c23c9a5058 1400 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1401 motor[TIRE_BR].pwm = 30;
yabahiro 24:41c23c9a5058 1402 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1403 motor[TIRE_BL].pwm = 30;
yabahiro 24:41c23c9a5058 1404 motor[TIRE_BL].dir = FOR;
yabahiro 24:41c23c9a5058 1405 if(mode1g0>100000) {
yabahiro 24:41c23c9a5058 1406 mode1++;
yabahiro 24:41c23c9a5058 1407 mode1g0=0;
yabahiro 24:41c23c9a5058 1408 }
yabahiro 24:41c23c9a5058 1409 mtc2=true;
yabahiro 24:41c23c9a5058 1410 if(mode1==1) {
yabahiro 24:41c23c9a5058 1411 mode=61;
yabahiro 24:41c23c9a5058 1412 mode1g0=0;
yabahiro 24:41c23c9a5058 1413 mode1=0;
yabahiro 24:41c23c9a5058 1414 }
yabahiro 24:41c23c9a5058 1415 break;
yabahiro 24:41c23c9a5058 1416 case 0:
yabahiro 24:41c23c9a5058 1417 motor[TIRE_FR].pwm = 60;
yabahiro 24:41c23c9a5058 1418 motor[TIRE_FR].dir = BACK;
yabahiro 24:41c23c9a5058 1419 motor[TIRE_FL].pwm = 60;
yabahiro 24:41c23c9a5058 1420 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1421 motor[TIRE_BR].pwm = 60;
yabahiro 24:41c23c9a5058 1422 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1423 motor[TIRE_BL].pwm = 60;
yabahiro 24:41c23c9a5058 1424 motor[TIRE_BL].dir = FOR;
yabahiro 24:41c23c9a5058 1425 mtc2=true;
yabahiro 24:41c23c9a5058 1426 break;
yabahiro 24:41c23c9a5058 1427 case 255:
yabahiro 24:41c23c9a5058 1428 motor[TIRE_FR].pwm = 40;
yabahiro 24:41c23c9a5058 1429 motor[TIRE_FR].dir = BACK;
yabahiro 24:41c23c9a5058 1430 motor[TIRE_FL].pwm = 60;
yabahiro 24:41c23c9a5058 1431 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1432 motor[TIRE_BR].pwm = 60;
yabahiro 24:41c23c9a5058 1433 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1434 motor[TIRE_BL].pwm = 40;
yabahiro 24:41c23c9a5058 1435 motor[TIRE_BL].dir = FOR;
yabahiro 24:41c23c9a5058 1436 mtc2=true;
yabahiro 24:41c23c9a5058 1437 break;
yabahiro 24:41c23c9a5058 1438 case 253:
yabahiro 24:41c23c9a5058 1439 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1440 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1441 motor[TIRE_FL].pwm = 20;
yabahiro 24:41c23c9a5058 1442 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1443 motor[TIRE_BR].pwm = 20;
yabahiro 24:41c23c9a5058 1444 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1445 motor[TIRE_BL].pwm = 0;
yabahiro 24:41c23c9a5058 1446 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1447 mtc2=true;
yabahiro 24:41c23c9a5058 1448 break;
yabahiro 24:41c23c9a5058 1449 case 254:
yabahiro 24:41c23c9a5058 1450 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1451 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1452 motor[TIRE_FL].pwm = 30;
yabahiro 24:41c23c9a5058 1453 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1454 motor[TIRE_BR].pwm = 30;
yabahiro 24:41c23c9a5058 1455 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1456 motor[TIRE_BL].pwm = 0;
yabahiro 24:41c23c9a5058 1457 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1458 mtc2=true;
yabahiro 24:41c23c9a5058 1459 break;
yabahiro 24:41c23c9a5058 1460 case 1:
yabahiro 24:41c23c9a5058 1461 motor[TIRE_FR].pwm = 60;
yabahiro 24:41c23c9a5058 1462 motor[TIRE_FR].dir = BACK;
yabahiro 24:41c23c9a5058 1463 motor[TIRE_FL].pwm = 40;
yabahiro 24:41c23c9a5058 1464 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1465 motor[TIRE_BR].pwm = 40;
yabahiro 24:41c23c9a5058 1466 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1467 motor[TIRE_BL].pwm = 60;
yabahiro 24:41c23c9a5058 1468 motor[TIRE_BL].dir = FOR;
yabahiro 24:41c23c9a5058 1469 mtc2=true;
yabahiro 24:41c23c9a5058 1470 break;
yabahiro 24:41c23c9a5058 1471 case 3:
yabahiro 24:41c23c9a5058 1472 motor[TIRE_FR].pwm = 20;
yabahiro 24:41c23c9a5058 1473 motor[TIRE_FR].dir = BACK;
yabahiro 24:41c23c9a5058 1474 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1475 motor[TIRE_FL].dir = FREE;
yabahiro 24:41c23c9a5058 1476 motor[TIRE_BR].pwm = 0;
yabahiro 24:41c23c9a5058 1477 motor[TIRE_BR].dir = FREE;
yabahiro 24:41c23c9a5058 1478 motor[TIRE_BL].pwm = 20;
yabahiro 24:41c23c9a5058 1479 motor[TIRE_BL].dir = FOR;
yabahiro 24:41c23c9a5058 1480 mtc2=true;
yabahiro 24:41c23c9a5058 1481 break;
yabahiro 24:41c23c9a5058 1482 case 2:
yabahiro 24:41c23c9a5058 1483 motor[TIRE_FR].pwm = 30;
yabahiro 24:41c23c9a5058 1484 motor[TIRE_FR].dir = BACK;
yabahiro 24:41c23c9a5058 1485 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1486 motor[TIRE_FL].dir = FREE;
yabahiro 24:41c23c9a5058 1487 motor[TIRE_BR].pwm = 0;
yabahiro 24:41c23c9a5058 1488 motor[TIRE_BR].dir = FREE;
yabahiro 24:41c23c9a5058 1489 motor[TIRE_BL].pwm = 30;
yabahiro 24:41c23c9a5058 1490 motor[TIRE_BL].dir = FOR;
yabahiro 24:41c23c9a5058 1491 mtc2=true;
yabahiro 24:41c23c9a5058 1492 break;
yabahiro 24:41c23c9a5058 1493 }
yabahiro 24:41c23c9a5058 1494 if(g[2]!=98&&mtc2==true) {
yabahiro 24:41c23c9a5058 1495 switch(g[2]) {
yabahiro 24:41c23c9a5058 1496 case 0:
yabahiro 24:41c23c9a5058 1497 mtc2=false;
yabahiro 24:41c23c9a5058 1498 break;
yabahiro 24:41c23c9a5058 1499 case 255:
yabahiro 24:41c23c9a5058 1500 motor[TIRE_FL].pwm += 5;
yabahiro 24:41c23c9a5058 1501 mtc2=false;
yabahiro 24:41c23c9a5058 1502 break;
yabahiro 24:41c23c9a5058 1503 case 253:
yabahiro 24:41c23c9a5058 1504 motor[TIRE_FL].pwm += 10;
yabahiro 24:41c23c9a5058 1505 mtc2=false;
yabahiro 24:41c23c9a5058 1506 break;
yabahiro 24:41c23c9a5058 1507 case 254:
yabahiro 24:41c23c9a5058 1508 motor[TIRE_FL].pwm += 20;
yabahiro 24:41c23c9a5058 1509 motor[TIRE_BL].pwm = 0;
yabahiro 24:41c23c9a5058 1510 mtc2=false;
yabahiro 24:41c23c9a5058 1511 break;
yabahiro 24:41c23c9a5058 1512 case 1:
yabahiro 24:41c23c9a5058 1513 motor[TIRE_BL].pwm += 5;
yabahiro 24:41c23c9a5058 1514 mtc2=false;
yabahiro 24:41c23c9a5058 1515 break;
yabahiro 24:41c23c9a5058 1516 case 3:
yabahiro 24:41c23c9a5058 1517 motor[TIRE_BL].pwm += 10;
yabahiro 24:41c23c9a5058 1518 mtc2=false;
yabahiro 24:41c23c9a5058 1519 break;
yabahiro 24:41c23c9a5058 1520 case 2:
yabahiro 24:41c23c9a5058 1521 motor[TIRE_BL].pwm += 20;
yabahiro 24:41c23c9a5058 1522 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1523 mtc2=false;
yabahiro 24:41c23c9a5058 1524 break;
yabahiro 24:41c23c9a5058 1525 }
yabahiro 24:41c23c9a5058 1526 }
yabahiro 24:41c23c9a5058 1527 } else if(mode==61) {
yabahiro 25:38d4964e8aad 1528 motor[TIRE_FR].pwm = 0;
yabahiro 25:38d4964e8aad 1529 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1530 motor[TIRE_FL].pwm = 15;
yabahiro 24:41c23c9a5058 1531 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1532 motor[TIRE_BR].pwm = 15;
yabahiro 24:41c23c9a5058 1533 motor[TIRE_BR].dir = FOR;
yabahiro 25:38d4964e8aad 1534 motor[TIRE_BL].pwm = 0;
yabahiro 25:38d4964e8aad 1535 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1536 if(mode1g0>5000&&g[1]==0) {
yabahiro 24:41c23c9a5058 1537 mode1g0=0;
yabahiro 24:41c23c9a5058 1538 mode=62;
yabahiro 24:41c23c9a5058 1539 }
yabahiro 24:41c23c9a5058 1540 } else if(mode==62) {
yabahiro 24:41c23c9a5058 1541 motor[TIRE_FR].pwm = 15;
yabahiro 24:41c23c9a5058 1542 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1543 motor[TIRE_FL].pwm = 15;
yabahiro 24:41c23c9a5058 1544 motor[TIRE_FL].dir = FOR;
yabahiro 24:41c23c9a5058 1545 motor[TIRE_BR].pwm = 15;
yabahiro 24:41c23c9a5058 1546 motor[TIRE_BR].dir = BACK;
yabahiro 24:41c23c9a5058 1547 motor[TIRE_BL].pwm = 15;
yabahiro 24:41c23c9a5058 1548 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1549 if(mode1g0>5000&&g[1]==0) {
yabahiro 24:41c23c9a5058 1550 mode1g0=0;
yabahiro 24:41c23c9a5058 1551 mode=70;
yabahiro 24:41c23c9a5058 1552 }
yabahiro 24:41c23c9a5058 1553 } else if(mode==70) {
yabahiro 24:41c23c9a5058 1554 switch(g[1]) {
yabahiro 24:41c23c9a5058 1555 case 98:
yabahiro 24:41c23c9a5058 1556 motor[TIRE_FR].pwm = 30;
yabahiro 24:41c23c9a5058 1557 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1558 motor[TIRE_FL].pwm = 30;
yabahiro 24:41c23c9a5058 1559 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1560 motor[TIRE_BR].pwm = 30;
yabahiro 24:41c23c9a5058 1561 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1562 motor[TIRE_BL].pwm = 30;
yabahiro 24:41c23c9a5058 1563 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1564 if(mode1g0>100000) {
yabahiro 24:41c23c9a5058 1565 mode1++;
yabahiro 24:41c23c9a5058 1566 mode1g0=0;
yabahiro 24:41c23c9a5058 1567 }
yabahiro 24:41c23c9a5058 1568 mtc=true;
yabahiro 24:41c23c9a5058 1569 if(mode1==1) {
yabahiro 24:41c23c9a5058 1570 mode=71;
yabahiro 24:41c23c9a5058 1571 mode1g0=0;
yabahiro 24:41c23c9a5058 1572 }
yabahiro 24:41c23c9a5058 1573 break;
yabahiro 24:41c23c9a5058 1574 case 0:
yabahiro 24:41c23c9a5058 1575 motor[TIRE_FR].pwm = 60;
yabahiro 24:41c23c9a5058 1576 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1577 motor[TIRE_FL].pwm = 60;
yabahiro 24:41c23c9a5058 1578 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1579 motor[TIRE_BR].pwm = 60;
yabahiro 24:41c23c9a5058 1580 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1581 motor[TIRE_BL].pwm = 60;
yabahiro 24:41c23c9a5058 1582 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1583 mtc=true;
yabahiro 24:41c23c9a5058 1584 break;
yabahiro 24:41c23c9a5058 1585 case 255:
yabahiro 24:41c23c9a5058 1586 motor[TIRE_FR].pwm = 60;
yabahiro 24:41c23c9a5058 1587 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1588 motor[TIRE_FL].pwm = 40;
yabahiro 24:41c23c9a5058 1589 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1590 motor[TIRE_BR].pwm = 40;
yabahiro 24:41c23c9a5058 1591 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1592 motor[TIRE_BL].pwm = 60;
yabahiro 24:41c23c9a5058 1593 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1594 mtc=true;
yabahiro 24:41c23c9a5058 1595 break;
yabahiro 24:41c23c9a5058 1596 case 253:
yabahiro 24:41c23c9a5058 1597 motor[TIRE_FR].pwm = 20;
yabahiro 24:41c23c9a5058 1598 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1599 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1600 motor[TIRE_FL].dir = FREE;
yabahiro 24:41c23c9a5058 1601 motor[TIRE_BR].pwm = 0;
yabahiro 24:41c23c9a5058 1602 motor[TIRE_BR].dir = FREE;
yabahiro 24:41c23c9a5058 1603 motor[TIRE_BL].pwm = 20;
yabahiro 24:41c23c9a5058 1604 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1605 mtc=true;
yabahiro 24:41c23c9a5058 1606 break;
yabahiro 24:41c23c9a5058 1607 case 254:
yabahiro 24:41c23c9a5058 1608 motor[TIRE_FR].pwm = 30;
yabahiro 24:41c23c9a5058 1609 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1610 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1611 motor[TIRE_FL].dir = FREE;
yabahiro 24:41c23c9a5058 1612 motor[TIRE_BR].pwm = 0;
yabahiro 24:41c23c9a5058 1613 motor[TIRE_BR].dir = FREE;
yabahiro 24:41c23c9a5058 1614 motor[TIRE_BL].pwm = 30;
yabahiro 24:41c23c9a5058 1615 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1616 mtc=true;
yabahiro 24:41c23c9a5058 1617 break;
yabahiro 24:41c23c9a5058 1618 case 1:
yabahiro 24:41c23c9a5058 1619 motor[TIRE_FR].pwm = 40;
yabahiro 24:41c23c9a5058 1620 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1621 motor[TIRE_FL].pwm = 60;
yabahiro 24:41c23c9a5058 1622 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1623 motor[TIRE_BR].pwm = 60;
yabahiro 24:41c23c9a5058 1624 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1625 motor[TIRE_BL].pwm = 40;
yabahiro 24:41c23c9a5058 1626 motor[TIRE_BL].dir = BACK;
yabahiro 24:41c23c9a5058 1627 mtc=true;
yabahiro 24:41c23c9a5058 1628 break;
yabahiro 24:41c23c9a5058 1629 case 3:
yabahiro 24:41c23c9a5058 1630 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1631 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1632 motor[TIRE_FL].pwm = 20;
yabahiro 24:41c23c9a5058 1633 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1634 motor[TIRE_BR].pwm = 20;
yabahiro 24:41c23c9a5058 1635 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1636 motor[TIRE_BL].pwm = 0;
yabahiro 24:41c23c9a5058 1637 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1638 mtc=true;
yabahiro 24:41c23c9a5058 1639 break;
yabahiro 24:41c23c9a5058 1640 case 2:
yabahiro 24:41c23c9a5058 1641 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1642 motor[TIRE_FR].dir = FREE;
yabahiro 24:41c23c9a5058 1643 motor[TIRE_FL].pwm = 30;
yabahiro 24:41c23c9a5058 1644 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1645 motor[TIRE_BR].pwm = 30;
yabahiro 24:41c23c9a5058 1646 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1647 motor[TIRE_BL].pwm = 0;
yabahiro 24:41c23c9a5058 1648 motor[TIRE_BL].dir = FREE;
yabahiro 24:41c23c9a5058 1649 mtc=true;
yabahiro 24:41c23c9a5058 1650 break;
yabahiro 24:41c23c9a5058 1651 }
yabahiro 24:41c23c9a5058 1652 if(g[1]!=98&&mtc==true) {
yabahiro 24:41c23c9a5058 1653 switch(g[0]) {
yabahiro 24:41c23c9a5058 1654 case 0:
yabahiro 24:41c23c9a5058 1655 mtc=false;
yabahiro 24:41c23c9a5058 1656 break;
yabahiro 24:41c23c9a5058 1657 case 255:
yabahiro 24:41c23c9a5058 1658 motor[TIRE_FR].pwm += 5;
yabahiro 24:41c23c9a5058 1659 mtc=false;
yabahiro 24:41c23c9a5058 1660 break;
yabahiro 24:41c23c9a5058 1661 case 253:
yabahiro 24:41c23c9a5058 1662 motor[TIRE_FR].pwm += 10;
yabahiro 24:41c23c9a5058 1663 mtc=false;
yabahiro 24:41c23c9a5058 1664 break;
yabahiro 24:41c23c9a5058 1665 case 254:
yabahiro 24:41c23c9a5058 1666 motor[TIRE_FR].pwm += 20;
yabahiro 24:41c23c9a5058 1667 motor[TIRE_FL].pwm = 0;
yabahiro 24:41c23c9a5058 1668 mtc=false;
yabahiro 24:41c23c9a5058 1669 break;
yabahiro 24:41c23c9a5058 1670 case 1:
yabahiro 24:41c23c9a5058 1671 motor[TIRE_FL].pwm += 5;
yabahiro 24:41c23c9a5058 1672 mtc=false;
yabahiro 24:41c23c9a5058 1673 break;
yabahiro 24:41c23c9a5058 1674 case 3:
yabahiro 24:41c23c9a5058 1675 motor[TIRE_FL].pwm += 10;
yabahiro 24:41c23c9a5058 1676 mtc=false;
yabahiro 24:41c23c9a5058 1677 break;
yabahiro 24:41c23c9a5058 1678 case 2:
yabahiro 24:41c23c9a5058 1679 motor[TIRE_FL].pwm += 20;
yabahiro 24:41c23c9a5058 1680 motor[TIRE_FR].pwm = 0;
yabahiro 24:41c23c9a5058 1681 mtc=false;
yabahiro 24:41c23c9a5058 1682 break;
yabahiro 24:41c23c9a5058 1683 }
yabahiro 24:41c23c9a5058 1684 }
yabahiro 24:41c23c9a5058 1685 } else if(mode==71) {
yabahiro 24:41c23c9a5058 1686 motor[TIRE_FR].pwm = 15;
yabahiro 24:41c23c9a5058 1687 motor[TIRE_FR].dir = FOR;
yabahiro 24:41c23c9a5058 1688 motor[TIRE_FL].pwm = 15;
yabahiro 24:41c23c9a5058 1689 motor[TIRE_FL].dir = BACK;
yabahiro 24:41c23c9a5058 1690 motor[TIRE_BR].pwm = 15;
yabahiro 24:41c23c9a5058 1691 motor[TIRE_BR].dir = FOR;
yabahiro 24:41c23c9a5058 1692 motor[TIRE_BL].pwm = 15;
yabahiro 24:41c23c9a5058 1693 motor[TIRE_BL].dir = BACK;
yabahiro 23:694ecfa97839 1694 } else {
yabahiro 21:1f1e9c585da8 1695 motor[TIRE_FR].pwm = 0;
yabahiro 21:1f1e9c585da8 1696 motor[TIRE_FR].dir = BRAKE;
yabahiro 21:1f1e9c585da8 1697 motor[TIRE_FL].pwm = 0;
yabahiro 21:1f1e9c585da8 1698 motor[TIRE_FL].dir = BRAKE;
yabahiro 21:1f1e9c585da8 1699 motor[TIRE_BR].pwm = 0;
yabahiro 21:1f1e9c585da8 1700 motor[TIRE_BR].dir = BRAKE;
yabahiro 21:1f1e9c585da8 1701 motor[TIRE_BL].pwm = 0;
yabahiro 21:1f1e9c585da8 1702 motor[TIRE_BL].dir = BRAKE;
yabahiro 21:1f1e9c585da8 1703 }
yabahiro 21:1f1e9c585da8 1704
kishibekairohan 13:b6e02d6261d7 1705 }
yabahiro 23:694ecfa97839 1706
kishibekairohan 13:b6e02d6261d7 1707 #endif
kishibekairohan 13:b6e02d6261d7 1708
kishibekairohan 13:b6e02d6261d7 1709 #if USE_PROCESS_NUM>3
yabahiro 21:1f1e9c585da8 1710 static void Process3()
kishibekairohan 13:b6e02d6261d7 1711 {
yabahiro 23:694ecfa97839 1712
kishibekairohan 13:b6e02d6261d7 1713 }
kishibekairohan 13:b6e02d6261d7 1714 #endif
kishibekairohan 13:b6e02d6261d7 1715
kishibekairohan 13:b6e02d6261d7 1716 #if USE_PROCESS_NUM>4
yabahiro 21:1f1e9c585da8 1717 static void Process4()
yabahiro 21:1f1e9c585da8 1718 {
kishibekairohan 15:dfcec98f5aa9 1719
kishibekairohan 13:b6e02d6261d7 1720 }
kishibekairohan 13:b6e02d6261d7 1721 #endif
kishibekairohan 13:b6e02d6261d7 1722
kishibekairohan 13:b6e02d6261d7 1723 #if USE_PROCESS_NUM>5
yabahiro 21:1f1e9c585da8 1724 static void Process5()
yabahiro 21:1f1e9c585da8 1725 {
yabahiro 21:1f1e9c585da8 1726
kishibekairohan 13:b6e02d6261d7 1727 }
kishibekairohan 13:b6e02d6261d7 1728 #endif
kishibekairohan 13:b6e02d6261d7 1729
kishibekairohan 13:b6e02d6261d7 1730 #if USE_PROCESS_NUM>6
yabahiro 21:1f1e9c585da8 1731 static void Process6()
kishibekairohan 13:b6e02d6261d7 1732 {
yabahiro 21:1f1e9c585da8 1733
kishibekairohan 13:b6e02d6261d7 1734 }
kishibekairohan 13:b6e02d6261d7 1735 #endif
kishibekairohan 13:b6e02d6261d7 1736
kishibekairohan 13:b6e02d6261d7 1737 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 1738 static void Process7()
kishibekairohan 13:b6e02d6261d7 1739 {
yabahiro 21:1f1e9c585da8 1740
kishibekairohan 12:c09b3e08a316 1741 }
kishibekairohan 12:c09b3e08a316 1742 #endif
kishibekairohan 12:c09b3e08a316 1743
yabahiro 21:1f1e9c585da8 1744 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 1745 static void Process8()
kishibekairohan 12:c09b3e08a316 1746 {
yabahiro 21:1f1e9c585da8 1747
kishibekairohan 12:c09b3e08a316 1748 }
kishibekairohan 12:c09b3e08a316 1749 #endif
kishibekairohan 12:c09b3e08a316 1750
kishibekairohan 13:b6e02d6261d7 1751 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 1752 static void Process9()
kishibekairohan 12:c09b3e08a316 1753 {
yabahiro 21:1f1e9c585da8 1754
t_yamamoto 0:669ef71cba68 1755 }
t_yamamoto 0:669ef71cba68 1756 #endif
t_yamamoto 0:669ef71cba68 1757 #endif
t_yamamoto 0:669ef71cba68 1758 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 1759
t_yamamoto 0:669ef71cba68 1760 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 1761 {
t_yamamoto 0:669ef71cba68 1762
yabahiro 21:1f1e9c585da8 1763 #ifdef USE_SOLENOID
yabahiro 21:1f1e9c585da8 1764 solenoid.all = ALL_SOLENOID_OFF;
yabahiro 21:1f1e9c585da8 1765 #endif
t_yamamoto 0:669ef71cba68 1766
yabahiro 21:1f1e9c585da8 1767 #ifdef USE_MOTOR
yabahiro 21:1f1e9c585da8 1768 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro 21:1f1e9c585da8 1769 motor[i].dir = FREE;
yabahiro 21:1f1e9c585da8 1770 motor[i].pwm = 0;
yabahiro 21:1f1e9c585da8 1771 }
yabahiro 21:1f1e9c585da8 1772 #endif
t_yamamoto 0:669ef71cba68 1773 }
t_yamamoto 0:669ef71cba68 1774
yabahiro 21:1f1e9c585da8 1775 /*
yabahiro 21:1f1e9c585da8 1776 void BuzzerTimer_func()
yabahiro 21:1f1e9c585da8 1777 {
kishibekairohan 16:3f2c2d89372b 1778 buzzer = !buzzer;
kishibekairohan 17:50dc4b449e69 1779 //LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan 11:028a150943b5 1780 }
yabahiro 21:1f1e9c585da8 1781 */
yabahiro 21:1f1e9c585da8 1782 void TapeLedEms_func()
yabahiro 21:1f1e9c585da8 1783 {
kishibekairohan 16:3f2c2d89372b 1784 sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan 9:f93fc79a49ea 1785 }
kishibekairohan 16:3f2c2d89372b 1786
kishibekairohan 16:3f2c2d89372b 1787 #pragma region USER-DEFINED-FUNCTIONS
kishibekairohan 16:3f2c2d89372b 1788
kishibekairohan 16:3f2c2d89372b 1789
t_yamamoto 0:669ef71cba68 1790 #pragma endregion