2019_Master_9_2 - aa

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大季矢花 / Mbed 2 deprecated 2019_Master_9_2

Dependencies: mbed TrapezoidControl QEI

System/Process/Process.cpp@41:e1dd6d97f17d, 2019-09-29 (annotated)

Committer:: yabahiro
Date:: Sun Sep 29 07:28:05 2019 +0000
Revision:: 41:e1dd6d97f17d
Parent:: 40:7f93984e8ba1
Child:: 42:4f9689c0a349

aa;

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	35:94f026ab4d30	107	void LedMode(int led)
yabahiro	35:94f026ab4d30	108	{
yabahiro	39:f89166d7411c	109	/*
yabahiro	36:788274604650	110	switch(led) {
yabahiro	36:788274604650	111	case 1:
yabahiro	36:788274604650	112	POTENTIOMETER::dio[0]= 1;
yabahiro	36:788274604650	113	POTENTIOMETER::dio[1]= 0;
yabahiro	36:788274604650	114	POTENTIOMETER::dio[2]= 0;
yabahiro	36:788274604650	115	POTENTIOMETER::dio[3]= 0;
yabahiro	36:788274604650	116	break;
yabahiro	36:788274604650	117	case 2:
yabahiro	36:788274604650	118	POTENTIOMETER::dio[0]= 0;
yabahiro	36:788274604650	119	POTENTIOMETER::dio[1]= 1;
yabahiro	36:788274604650	120	POTENTIOMETER::dio[2]= 0;
yabahiro	36:788274604650	121	POTENTIOMETER::dio[3]= 0;
yabahiro	36:788274604650	122	break;
yabahiro	36:788274604650	123	case 3:
yabahiro	36:788274604650	124	POTENTIOMETER::dio[0]= 1;
yabahiro	36:788274604650	125	POTENTIOMETER::dio[1]= 1;
yabahiro	36:788274604650	126	POTENTIOMETER::dio[2]= 0;
yabahiro	36:788274604650	127	POTENTIOMETER::dio[3]= 0;
yabahiro	36:788274604650	128	break;
yabahiro	36:788274604650	129	case 4:
yabahiro	36:788274604650	130	POTENTIOMETER::dio[0]= 0;
yabahiro	36:788274604650	131	POTENTIOMETER::dio[1]= 0;
yabahiro	36:788274604650	132	POTENTIOMETER::dio[2]= 1;
yabahiro	36:788274604650	133	POTENTIOMETER::dio[3]= 0;
yabahiro	36:788274604650	134	break;
yabahiro	36:788274604650	135	}
yabahiro	39:f89166d7411c	136	*/
yabahiro	35:94f026ab4d30	137	if(led/8>=1) {
yabahiro	36:788274604650	138	POTENTIOMETER::dio[3]= 1;
yabahiro	35:94f026ab4d30	139	led=led%8;
yabahiro	35:94f026ab4d30	140	} else {
yabahiro	36:788274604650	141	POTENTIOMETER::dio[3]= 0;
yabahiro	35:94f026ab4d30	142	}
yabahiro	35:94f026ab4d30	143
yabahiro	35:94f026ab4d30	144	if(led/4>=1) {
yabahiro	36:788274604650	145	POTENTIOMETER::dio[2]= 1;
yabahiro	36:788274604650	146	led=led%4;
yabahiro	36:788274604650	147	} else {
yabahiro	36:788274604650	148	POTENTIOMETER::dio[2]= 0;
yabahiro	36:788274604650	149	}
yabahiro	36:788274604650	150
yabahiro	36:788274604650	151	if(led/2>=1) {
yabahiro	35:94f026ab4d30	152	POTENTIOMETER::dio[1]= 1;
yabahiro	36:788274604650	153	led=led%2;
yabahiro	35:94f026ab4d30	154	} else {
yabahiro	35:94f026ab4d30	155	POTENTIOMETER::dio[1]= 0;
yabahiro	35:94f026ab4d30	156	}
yabahiro	35:94f026ab4d30	157
yabahiro	36:788274604650	158	if(led/1>=1) {
yabahiro	36:788274604650	159	POTENTIOMETER::dio[0]= 1;
yabahiro	36:788274604650	160	led=0;
yabahiro	35:94f026ab4d30	161	} else {
yabahiro	36:788274604650	162	POTENTIOMETER::dio[0]= 0;
yabahiro	35:94f026ab4d30	163	}
yabahiro	35:94f026ab4d30	164	}
yabahiro	31:45f97698857b	165	int Twsh;
yabahiro	31:45f97698857b	166	bool UP_flag = false;
yabahiro	35:94f026ab4d30	167	bool SW_flag = false;
yabahiro	31:45f97698857b	168	bool Air_flag = false;
yabahiro	35:94f026ab4d30	169	bool zyouge;
yabahiro	39:f89166d7411c	170	bool zyougedo;
yabahiro	31:45f97698857b	171	bool dz1=true;
yabahiro	31:45f97698857b	172	bool dz1i=false;
yabahiro	31:45f97698857b	173	bool dz2=true;
yabahiro	31:45f97698857b	174	bool dz2i=false;
yabahiro	31:45f97698857b	175	bool dz3=true;
yabahiro	31:45f97698857b	176	bool dz3i=false;
yabahiro	31:45f97698857b	177	bool dz4=true;
yabahiro	31:45f97698857b	178	bool dz4i=false;
yabahiro	31:45f97698857b	179	bool zone;
yabahiro	31:45f97698857b	180	bool through=false;
yabahiro	35:94f026ab4d30	181	bool counts=false;
yabahiro	36:788274604650	182	bool mtc=false;
yabahiro	36:788274604650	183	bool mtc2 = false;
yabahiro	31:45f97698857b	184
yabahiro	41:e1dd6d97f17d	185	bool start_flag = true;
yabahiro	41:e1dd6d97f17d	186
yabahiro	31:45f97698857b	187	int mode =1;
yabahiro	31:45f97698857b	188	int cross=0;//十字数える用
yabahiro	35:94f026ab4d30	189	int cros=0;
yabahiro	31:45f97698857b	190	int count=100000;//wait代替え
kishibekairohan	33:656aa14904a5	191
kishibekairohan	33:656aa14904a5	192	///*******PWM調整用*******///
yabahiro	40:7f93984e8ba1	193	int fast =60;
yabahiro	40:7f93984e8ba1	194	int normal = 40;
yabahiro	40:7f93984e8ba1	195	int slow = 20;
yabahiro	31:45f97698857b	196
t_yamamoto	0:669ef71cba68	197	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	198
t_yamamoto	0:669ef71cba68	199	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	200	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	201	static void Process0(void);
t_yamamoto	0:669ef71cba68	202	#endif
t_yamamoto	0:669ef71cba68	203	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	204	static void Process1(void);
t_yamamoto	0:669ef71cba68	205	#endif
t_yamamoto	0:669ef71cba68	206	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	207	static void Process2(void);
t_yamamoto	0:669ef71cba68	208	#endif
t_yamamoto	0:669ef71cba68	209	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	210	static void Process3(void);
t_yamamoto	0:669ef71cba68	211	#endif
t_yamamoto	0:669ef71cba68	212	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	213	static void Process4(void);
t_yamamoto	0:669ef71cba68	214	#endif
t_yamamoto	0:669ef71cba68	215	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	216	static void Process5(void);
t_yamamoto	0:669ef71cba68	217	#endif
t_yamamoto	0:669ef71cba68	218	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	219	static void Process6(void);
t_yamamoto	0:669ef71cba68	220	#endif
t_yamamoto	0:669ef71cba68	221	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	222	static void Process7(void);
t_yamamoto	0:669ef71cba68	223	#endif
t_yamamoto	0:669ef71cba68	224	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	225	static void Process8(void);
t_yamamoto	0:669ef71cba68	226	#endif
t_yamamoto	0:669ef71cba68	227	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	228	static void Process9(void);
t_yamamoto	0:669ef71cba68	229	#endif
t_yamamoto	0:669ef71cba68	230	#endif
t_yamamoto	0:669ef71cba68	231
t_yamamoto	0:669ef71cba68	232	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	233	{
yabahiro	21:1f1e9c585da8	234	#pragma region USER-DEFINED_VARIABLE_INIT
yabahiro	21:1f1e9c585da8	235	/Replace here with the initialization code of your variables./
yabahiro	21:1f1e9c585da8	236	#pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto	0:669ef71cba68	237
yabahiro	21:1f1e9c585da8	238	lock = true;
yabahiro	21:1f1e9c585da8	239	processChangeComp = true;
yabahiro	21:1f1e9c585da8	240	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	241
yabahiro	21:1f1e9c585da8	242	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	243	#if USE_PROCESS_NUM>0
yabahiro	21:1f1e9c585da8	244	Process[0] = Process0;
yabahiro	21:1f1e9c585da8	245	#endif
yabahiro	21:1f1e9c585da8	246	#if USE_PROCESS_NUM>1
yabahiro	21:1f1e9c585da8	247	Process[1] = Process1;
yabahiro	21:1f1e9c585da8	248	#endif
yabahiro	21:1f1e9c585da8	249	#if USE_PROCESS_NUM>2
yabahiro	21:1f1e9c585da8	250	Process[2] = Process2;
yabahiro	21:1f1e9c585da8	251	#endif
yabahiro	21:1f1e9c585da8	252	#if USE_PROCESS_NUM>3
yabahiro	21:1f1e9c585da8	253	Process[3] = Process3;
yabahiro	21:1f1e9c585da8	254	#endif
yabahiro	21:1f1e9c585da8	255	#if USE_PROCESS_NUM>4
yabahiro	21:1f1e9c585da8	256	Process[4] = Process4;
yabahiro	21:1f1e9c585da8	257	#endif
yabahiro	21:1f1e9c585da8	258	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	259	Process[5] = Process5;
yabahiro	21:1f1e9c585da8	260	#endif
yabahiro	21:1f1e9c585da8	261	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	262	Process[6] = Process6;
yabahiro	21:1f1e9c585da8	263	#endif
yabahiro	21:1f1e9c585da8	264	#if USE_PROCESS_NUM>7
yabahiro	21:1f1e9c585da8	265	Process[7] = Process7;
yabahiro	21:1f1e9c585da8	266	#endif
yabahiro	21:1f1e9c585da8	267	#if USE_PROCESS_NUM>8
yabahiro	21:1f1e9c585da8	268	Process[8] = Process8;
yabahiro	21:1f1e9c585da8	269	#endif
yabahiro	21:1f1e9c585da8	270	#if USE_PROCESS_NUM>9
yabahiro	21:1f1e9c585da8	271	Process[9] = Process9;
yabahiro	21:1f1e9c585da8	272	#endif
yabahiro	21:1f1e9c585da8	273	#endif
t_yamamoto	0:669ef71cba68	274	}
t_yamamoto	0:669ef71cba68	275
t_yamamoto	0:669ef71cba68	276	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	277	{
yabahiro	21:1f1e9c585da8	278	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	279	if(controller->Button.HOME) lock = false;
yabahiro	21:1f1e9c585da8	280
yabahiro	21:1f1e9c585da8	281	if(controller->Button.START && processChangeComp) {
yabahiro	21:1f1e9c585da8	282	current++;
yabahiro	21:1f1e9c585da8	283	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
yabahiro	21:1f1e9c585da8	284	processChangeComp = false;
yabahiro	21:1f1e9c585da8	285	} else if(controller->Button.SELECT && processChangeComp) {
yabahiro	21:1f1e9c585da8	286	current--;
yabahiro	21:1f1e9c585da8	287	if (current < 0) current = 0;
yabahiro	21:1f1e9c585da8	288	processChangeComp = false;
yabahiro	21:1f1e9c585da8	289	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
yabahiro	21:1f1e9c585da8	290	#endif
yabahiro	21:1f1e9c585da8	291
yabahiro	21:1f1e9c585da8	292	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	293	ACTUATORHUB::MOTOR::Motor::Update(motor);
yabahiro	21:1f1e9c585da8	294	#endif
yabahiro	21:1f1e9c585da8	295
yabahiro	21:1f1e9c585da8	296	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	297	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
yabahiro	21:1f1e9c585da8	298	#endif
yabahiro	21:1f1e9c585da8	299
yabahiro	21:1f1e9c585da8	300	#ifdef USE_RS485
yabahiro	21:1f1e9c585da8	301	ACTUATORHUB::ActuatorHub::Update();
yabahiro	21:1f1e9c585da8	302	#endif
yabahiro	21:1f1e9c585da8	303
yabahiro	21:1f1e9c585da8	304	}
yabahiro	21:1f1e9c585da8	305
yabahiro	21:1f1e9c585da8	306	int g[8];
yabahiro	21:1f1e9c585da8	307
yabahiro	21:1f1e9c585da8	308	void SystemProcess()
yabahiro	21:1f1e9c585da8	309	{
yabahiro	21:1f1e9c585da8	310	SystemProcessInitialize();
yabahiro	21:1f1e9c585da8	311
yabahiro	21:1f1e9c585da8	312	while(1) {
yabahiro	21:1f1e9c585da8	313	for(int i = 0; i < 8; i++) {
yabahiro	21:1f1e9c585da8	314	g[i] = LineHub::GetPara(i);
yabahiro	21:1f1e9c585da8	315	}
yabahiro	41:e1dd6d97f17d	316	if(ThSW) {
yabahiro	41:e1dd6d97f17d	317	Twsh=1;
yabahiro	41:e1dd6d97f17d	318	} else {
yabahiro	41:e1dd6d97f17d	319	Twsh=2;
yabahiro	41:e1dd6d97f17d	320	}
yabahiro	41:e1dd6d97f17d	321	if(StertSW && start_flag) {
yabahiro	41:e1dd6d97f17d	322	start_flag = false;
yabahiro	41:e1dd6d97f17d	323	lock = false;
yabahiro	41:e1dd6d97f17d	324	LedMode(1);
yabahiro	41:e1dd6d97f17d	325	if(ZoneSW) {
yabahiro	41:e1dd6d97f17d	326	mode=1;
yabahiro	41:e1dd6d97f17d	327	current = 2;
yabahiro	41:e1dd6d97f17d	328	} else {
yabahiro	41:e1dd6d97f17d	329	mode=1;
yabahiro	41:e1dd6d97f17d	330	current = 5;
yabahiro	41:e1dd6d97f17d	331	}
yabahiro	41:e1dd6d97f17d	332	}
yabahiro	41:e1dd6d97f17d	333	if(DWSW\|\|DOSW) {
yabahiro	41:e1dd6d97f17d	334	if(DWSW) {
yabahiro	41:e1dd6d97f17d	335	zyouge=true;
yabahiro	41:e1dd6d97f17d	336	}
yabahiro	41:e1dd6d97f17d	337	if(DOSW) {
yabahiro	41:e1dd6d97f17d	338	if(DOLS) {
yabahiro	41:e1dd6d97f17d	339	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	340	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	341	} else {
yabahiro	41:e1dd6d97f17d	342	motor[MOTOR_0].pwm = 50;
yabahiro	41:e1dd6d97f17d	343	motor[MOTOR_0].dir = BACK;
yabahiro	41:e1dd6d97f17d	344	}
yabahiro	41:e1dd6d97f17d	345	}
yabahiro	41:e1dd6d97f17d	346	} else if(zyouge==false){
yabahiro	41:e1dd6d97f17d	347	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	348	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	349	}
yabahiro	41:e1dd6d97f17d	350	if(zyouge) {
yabahiro	41:e1dd6d97f17d	351	if(Twsh==1) {
yabahiro	41:e1dd6d97f17d	352	motor[MOTOR_0].pwm = 220;
yabahiro	41:e1dd6d97f17d	353	motor[MOTOR_0].dir = FOR;
yabahiro	41:e1dd6d97f17d	354	if(UPLS) {
yabahiro	41:e1dd6d97f17d	355	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	356	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	357	zyouge=false;
yabahiro	41:e1dd6d97f17d	358	}
yabahiro	41:e1dd6d97f17d	359	}
yabahiro	41:e1dd6d97f17d	360	if(Twsh==2) {
yabahiro	41:e1dd6d97f17d	361	motor[MOTOR_0].pwm = 230;
yabahiro	41:e1dd6d97f17d	362	motor[MOTOR_0].dir = FOR;
yabahiro	41:e1dd6d97f17d	363	if(UPLS2) {
yabahiro	41:e1dd6d97f17d	364	motor[MOTOR_0].pwm = 100;
yabahiro	41:e1dd6d97f17d	365	motor[MOTOR_0].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	366	zyouge=false;
yabahiro	41:e1dd6d97f17d	367	}
yabahiro	41:e1dd6d97f17d	368	}
yabahiro	41:e1dd6d97f17d	369	}
yabahiro	41:e1dd6d97f17d	370	if(AIRSW) {
yabahiro	41:e1dd6d97f17d	371	if(SW_flag==false) {
yabahiro	41:e1dd6d97f17d	372	if(Air_flag==false) {
yabahiro	41:e1dd6d97f17d	373	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	41:e1dd6d97f17d	374	Air_flag=true;
yabahiro	41:e1dd6d97f17d	375	SW_flag=true;
yabahiro	41:e1dd6d97f17d	376	} else {
yabahiro	41:e1dd6d97f17d	377	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	41:e1dd6d97f17d	378	Air_flag=false;
yabahiro	41:e1dd6d97f17d	379	SW_flag=true;
yabahiro	41:e1dd6d97f17d	380	}
yabahiro	41:e1dd6d97f17d	381	}
yabahiro	41:e1dd6d97f17d	382	} else {
yabahiro	41:e1dd6d97f17d	383	SW_flag=false;
yabahiro	41:e1dd6d97f17d	384	}
yabahiro	35:94f026ab4d30	385
yabahiro	36:788274604650	386	//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	387
yabahiro	21:1f1e9c585da8	388	#ifdef USE_MU
yabahiro	21:1f1e9c585da8	389	controller = CONTROLLER::Controller::GetData();
yabahiro	21:1f1e9c585da8	390	#endif
yabahiro	21:1f1e9c585da8	391
yabahiro	21:1f1e9c585da8	392	#ifdef USE_ERRORCHECK
yabahiro	41:e1dd6d97f17d	393	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) { //& start_flag
yabahiro	21:1f1e9c585da8	394	CONTROLLER::Controller::DataReset();
yabahiro	21:1f1e9c585da8	395	AllActuatorReset();
yabahiro	21:1f1e9c585da8	396	lock = true;
yabahiro	21:1f1e9c585da8	397	} else
yabahiro	21:1f1e9c585da8	398	#endif
yabahiro	21:1f1e9c585da8	399	{
yabahiro	21:1f1e9c585da8	400
yabahiro	21:1f1e9c585da8	401	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	402	if(!lock) {
yabahiro	21:1f1e9c585da8	403	Process[current]();
yabahiro	21:1f1e9c585da8	404	} else
yabahiro	21:1f1e9c585da8	405	#endif
yabahiro	21:1f1e9c585da8	406	{
yabahiro	21:1f1e9c585da8	407	//ロック時の処理
yabahiro	21:1f1e9c585da8	408	}
yabahiro	21:1f1e9c585da8	409	}
yabahiro	21:1f1e9c585da8	410	/*
yabahiro	21:1f1e9c585da8	411	//Emergency!
yabahiro	21:1f1e9c585da8	412	if(!EMG_0 && !EMG_1 && !EMGflag) {
yabahiro	21:1f1e9c585da8	413	buzzer = 0;
yabahiro	21:1f1e9c585da8	414	BuzzerTimer.attach(BuzzerTimer_func, 1);
yabahiro	21:1f1e9c585da8	415	EMGflag = true;
yabahiro	21:1f1e9c585da8	416	LED_DEBUG0 = 1;
yabahiro	21:1f1e9c585da8	417	}
yabahiro	21:1f1e9c585da8	418	if(EMG_0 && EMG_1 && EMGflag) {
yabahiro	21:1f1e9c585da8	419	buzzer = 1;
yabahiro	21:1f1e9c585da8	420	BuzzerTimer.detach();
yabahiro	21:1f1e9c585da8	421	EMGflag = false;
yabahiro	21:1f1e9c585da8	422	}
yabahiro	21:1f1e9c585da8	423	*/
yabahiro	21:1f1e9c585da8	424	SystemProcessUpdate();
yabahiro	21:1f1e9c585da8	425	}
t_yamamoto	0:669ef71cba68	426	}
t_yamamoto	0:669ef71cba68	427
t_yamamoto	0:669ef71cba68	428	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	429	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	430	#if USE_PROCESS_NUM>0
yabahiro	21:1f1e9c585da8	431	static void Process0()
yabahiro	21:1f1e9c585da8	432	{
yabahiro	41:e1dd6d97f17d	433	///*
yabahiro	36:788274604650	434	mode=1;
yabahiro	36:788274604650	435	LedMode(1);
yabahiro	35:94f026ab4d30	436	if(ThSW) {
yabahiro	35:94f026ab4d30	437	Twsh=1;
yabahiro	35:94f026ab4d30	438	} else {
yabahiro	35:94f026ab4d30	439	Twsh=2;
yabahiro	31:45f97698857b	440	}
yabahiro	36:788274604650	441
yabahiro	25:38d4964e8aad	442	if(StertSW) {
yabahiro	41:e1dd6d97f17d	443	//start_flag == false;
yabahiro	41:e1dd6d97f17d	444	//lock = false;
yabahiro	36:788274604650	445	if(ZoneSW) {
yabahiro	31:45f97698857b	446	mode=1;
yabahiro	31:45f97698857b	447	current = 2;
yabahiro	31:45f97698857b	448	} else {
yabahiro	31:45f97698857b	449	mode=1;
yabahiro	40:7f93984e8ba1	450	current = 5;
yabahiro	31:45f97698857b	451	}
yabahiro	25:38d4964e8aad	452	}
yabahiro	35:94f026ab4d30	453	if(DWSW) {
yabahiro	35:94f026ab4d30	454	zyouge=true;
yabahiro	35:94f026ab4d30	455	}
yabahiro	39:f89166d7411c	456	if(DOSW) {
yabahiro	39:f89166d7411c	457	zyougedo=true;
yabahiro	39:f89166d7411c	458	}
yabahiro	35:94f026ab4d30	459	if(AIRSW) {
yabahiro	35:94f026ab4d30	460	if(SW_flag==false) {
yabahiro	35:94f026ab4d30	461	if(Air_flag==false) {
yabahiro	35:94f026ab4d30	462	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	35:94f026ab4d30	463	Air_flag=true;
yabahiro	35:94f026ab4d30	464	SW_flag=true;
yabahiro	35:94f026ab4d30	465	} else {
yabahiro	35:94f026ab4d30	466	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	35:94f026ab4d30	467	Air_flag=false;
yabahiro	35:94f026ab4d30	468	SW_flag=true;
yabahiro	35:94f026ab4d30	469	}
yabahiro	35:94f026ab4d30	470	}
yabahiro	35:94f026ab4d30	471	} else {
yabahiro	35:94f026ab4d30	472	SW_flag=false;
yabahiro	31:45f97698857b	473	}
yabahiro	31:45f97698857b	474
yabahiro	35:94f026ab4d30	475	if(zyouge) {
yabahiro	35:94f026ab4d30	476	if(Twsh==1) {
yabahiro	35:94f026ab4d30	477	motor[MOTOR_0].pwm = 220;
yabahiro	35:94f026ab4d30	478	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	479	if(UPLS) {
yabahiro	35:94f026ab4d30	480	motor[MOTOR_0].pwm = 100;
yabahiro	35:94f026ab4d30	481	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	482	zyouge=false;
yabahiro	35:94f026ab4d30	483	}
yabahiro	35:94f026ab4d30	484	}
yabahiro	35:94f026ab4d30	485	if(Twsh==2) {
yabahiro	37:7cfa39c41245	486	motor[MOTOR_0].pwm = 230;
yabahiro	35:94f026ab4d30	487	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	488	if(UPLS2) {
yabahiro	35:94f026ab4d30	489	motor[MOTOR_0].pwm = 100;
yabahiro	35:94f026ab4d30	490	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	491	zyouge=false;
yabahiro	35:94f026ab4d30	492	}
yabahiro	31:45f97698857b	493	}
yabahiro	39:f89166d7411c	494	}
yabahiro	39:f89166d7411c	495	if(zyougedo) {
yabahiro	39:f89166d7411c	496	motor[MOTOR_0].pwm = 50;
yabahiro	39:f89166d7411c	497	motor[MOTOR_0].dir = BACK;
yabahiro	39:f89166d7411c	498	if(DOLS) {
yabahiro	39:f89166d7411c	499	motor[MOTOR_0].pwm = 100;
yabahiro	39:f89166d7411c	500	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:f89166d7411c	501	zyougedo=false;
yabahiro	39:f89166d7411c	502	}
yabahiro	31:45f97698857b	503	}
yabahiro	41:e1dd6d97f17d	504	//*/
yabahiro	35:94f026ab4d30	505	}
yabahiro	31:45f97698857b	506
t_yamamoto	0:669ef71cba68	507	#endif
t_yamamoto	0:669ef71cba68	508
t_yamamoto	0:669ef71cba68	509	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	510	static void Process1()
t_yamamoto	0:669ef71cba68	511	{
yabahiro	41:e1dd6d97f17d	512	start_flag = true;
yabahiro	41:e1dd6d97f17d	513
yabahiro	36:788274604650	514	mtc=false;
yabahiro	36:788274604650	515	mtc2 = false;
yabahiro	36:788274604650	516	LedMode(2);
yabahiro	31:45f97698857b	517	mode=1;
yabahiro	27:545148741493	518	cross=0;
yabahiro	35:94f026ab4d30	519	Twsh=1;
yabahiro	21:1f1e9c585da8	520	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	521	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	522	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	523	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	524
yabahiro	21:1f1e9c585da8	525	motor[TIRE_FR].pwm = Setpwm(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	526	motor[TIRE_FL].pwm = Setpwm(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	527	motor[TIRE_BR].pwm = Setpwm(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	528	motor[TIRE_BL].pwm = Setpwm(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	529
yabahiro	21:1f1e9c585da8	530	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	531
yabahiro	21:1f1e9c585da8	532	if(controller->Button.UP) {
yabahiro	35:94f026ab4d30	533	motor[MOTOR_0].pwm =200;
yabahiro	21:1f1e9c585da8	534	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	535	if(UPLS) {
yabahiro	35:94f026ab4d30	536	motor[MOTOR_0].pwm = 0;
yabahiro	35:94f026ab4d30	537	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	538	}
yabahiro	21:1f1e9c585da8	539	}
yabahiro	21:1f1e9c585da8	540	if(controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	541	motor[MOTOR_0].pwm = 50;
yabahiro	21:1f1e9c585da8	542	motor[MOTOR_0].dir = BACK;
yabahiro	21:1f1e9c585da8	543	}
yabahiro	21:1f1e9c585da8	544	} else {
yabahiro	21:1f1e9c585da8	545	motor[MOTOR_0].pwm = 0;
yabahiro	21:1f1e9c585da8	546	motor[MOTOR_0].dir = BRAKE;
yabahiro	21:1f1e9c585da8	547	}
yabahiro	21:1f1e9c585da8	548
yabahiro	21:1f1e9c585da8	549	if(controller->Button.Y) {
yabahiro	21:1f1e9c585da8	550	if(dz2==true) {
yabahiro	21:1f1e9c585da8	551	if(dz2i==false) {
yabahiro	21:1f1e9c585da8	552	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	553	dz2i=true;
yabahiro	21:1f1e9c585da8	554	} else {
yabahiro	21:1f1e9c585da8	555	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	556	dz2i=false;
yabahiro	21:1f1e9c585da8	557	}
yabahiro	21:1f1e9c585da8	558	dz2=false;
yabahiro	21:1f1e9c585da8	559	}
yabahiro	21:1f1e9c585da8	560	} else {
yabahiro	21:1f1e9c585da8	561	dz2=true;
yabahiro	21:1f1e9c585da8	562	}
yabahiro	21:1f1e9c585da8	563
yabahiro	21:1f1e9c585da8	564	if(controller->Button.A) {
yabahiro	21:1f1e9c585da8	565	if(dz3==true) {
yabahiro	21:1f1e9c585da8	566	if(dz3i==false) {
yabahiro	30:9450dc1d53cc	567
yabahiro	21:1f1e9c585da8	568	dz3i=true;
yabahiro	21:1f1e9c585da8	569	} else {
yabahiro	21:1f1e9c585da8	570	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	571	dz3i=false;
yabahiro	21:1f1e9c585da8	572	}
yabahiro	21:1f1e9c585da8	573	dz3=false;
yabahiro	21:1f1e9c585da8	574	}
yabahiro	21:1f1e9c585da8	575	} else {
yabahiro	21:1f1e9c585da8	576	dz3=true;
yabahiro	21:1f1e9c585da8	577	}
yabahiro	21:1f1e9c585da8	578
yabahiro	21:1f1e9c585da8	579	if(controller->Button.B) {
yabahiro	21:1f1e9c585da8	580	if(dz4==true) {
yabahiro	21:1f1e9c585da8	581	if(dz4i==false) {
yabahiro	21:1f1e9c585da8	582	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	583	dz4i=true;
yabahiro	21:1f1e9c585da8	584	} else {
yabahiro	21:1f1e9c585da8	585	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	586	dz4i=false;
yabahiro	21:1f1e9c585da8	587	}
yabahiro	21:1f1e9c585da8	588	dz4=false;
yabahiro	21:1f1e9c585da8	589	}
yabahiro	21:1f1e9c585da8	590	} else {
yabahiro	21:1f1e9c585da8	591	dz4=true;
yabahiro	21:1f1e9c585da8	592	}
yabahiro	21:1f1e9c585da8	593	/*
yabahiro	21:1f1e9c585da8	594	if(controller->Button.RIGHT){
yabahiro	21:1f1e9c585da8	595	motor[MOTOR_1].dir = FOR;
yabahiro	21:1f1e9c585da8	596	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	597	if (ARM_1){
yabahiro	21:1f1e9c585da8	598	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	599	}
yabahiro	21:1f1e9c585da8	600	}
yabahiro	21:1f1e9c585da8	601	else if(controller->Button.LEFT){
yabahiro	21:1f1e9c585da8	602	motor[MOTOR_1].dir = BACK;
yabahiro	21:1f1e9c585da8	603	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	604	if (ARM_0){
yabahiro	21:1f1e9c585da8	605	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	606	}
yabahiro	21:1f1e9c585da8	607	}
yabahiro	21:1f1e9c585da8	608	*/
t_yamamoto	0:669ef71cba68	609	}
t_yamamoto	0:669ef71cba68	610	#endif
t_yamamoto	0:669ef71cba68	611
t_yamamoto	0:669ef71cba68	612	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	613	static void Process2()
yabahiro	21:1f1e9c585da8	614	{
yabahiro	36:788274604650	615	LedMode(3);
yabahiro	31:45f97698857b	616	// 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	31:45f97698857b	617	count++;
yabahiro	31:45f97698857b	618	if(mode==1) {//スタートゾーンから白線検知
kishibekairohan	33:656aa14904a5	619	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	620	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	621	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	622	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	623	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	624	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	625	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	626	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	627	if(g[2]==0) {
yabahiro	31:45f97698857b	628	count=100000;
yabahiro	31:45f97698857b	629	cross=0;
yabahiro	31:45f97698857b	630	mode=3;
yabahiro	31:45f97698857b	631	}
yabahiro	31:45f97698857b	632	} 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	633	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	634	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	635	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	636	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	637	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	638	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	639	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	640	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	641	if(g[0]==0) {
yabahiro	35:94f026ab4d30	642	mode=10;
yabahiro	35:94f026ab4d30	643	count=100000;
yabahiro	31:45f97698857b	644	}
yabahiro	35:94f026ab4d30	645	} else if(mode==10) { //縦ライントレース
yabahiro	35:94f026ab4d30	646
yabahiro	35:94f026ab4d30	647	if(counts==false&&g[2]==0) {
yabahiro	35:94f026ab4d30	648	cros++;
yabahiro	35:94f026ab4d30	649	counts=true;
yabahiro	31:45f97698857b	650	}
yabahiro	35:94f026ab4d30	651	if(counts==true&&g[2]==99) {
yabahiro	35:94f026ab4d30	652	counts=false;
yabahiro	35:94f026ab4d30	653	}
yabahiro	35:94f026ab4d30	654
yabahiro	35:94f026ab4d30	655	if(cros==Twsh) {
yabahiro	35:94f026ab4d30	656	mode=11;
yabahiro	31:45f97698857b	657	count=0;
yabahiro	35:94f026ab4d30	658	cros=0;
yabahiro	35:94f026ab4d30	659	}//ゆっくりモードに入れなかった時の保険
yabahiro	31:45f97698857b	660	switch(g[0]) {
yabahiro	31:45f97698857b	661	case 98:
kishibekairohan	33:656aa14904a5	662	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	663	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	664	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	665	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	666	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	667	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	668	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	669	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	670	mtc=true;
yabahiro	35:94f026ab4d30	671	if(count>80000) {
yabahiro	31:45f97698857b	672	cross++;
yabahiro	31:45f97698857b	673	count=0;
yabahiro	31:45f97698857b	674	}
yabahiro	31:45f97698857b	675	if(cross==Twsh) {
yabahiro	31:45f97698857b	676	mode=11;
yabahiro	31:45f97698857b	677	count=0;
yabahiro	35:94f026ab4d30	678	cross=0;
yabahiro	31:45f97698857b	679	}
yabahiro	31:45f97698857b	680	break;
yabahiro	31:45f97698857b	681	case 0:
kishibekairohan	33:656aa14904a5	682	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	683	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	684	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	685	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	686	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	687	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	688	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	689	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	690	mtc=true;
yabahiro	31:45f97698857b	691	break;
yabahiro	31:45f97698857b	692	case 255:
kishibekairohan	33:656aa14904a5	693	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	694	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	695	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	696	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	697	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	698	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	699	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	700	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	701	mtc=true;
yabahiro	31:45f97698857b	702	break;
yabahiro	31:45f97698857b	703	case 253:
kishibekairohan	33:656aa14904a5	704	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	705	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	706	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	707	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	708	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	709	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	710	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	711	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	712	mtc=true;
yabahiro	31:45f97698857b	713	break;
yabahiro	31:45f97698857b	714	case 254:
kishibekairohan	33:656aa14904a5	715	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	716	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	717	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	718	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	719	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	720	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	721	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	722	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	723	mtc=true;
yabahiro	31:45f97698857b	724	break;
yabahiro	31:45f97698857b	725	case 1:
kishibekairohan	33:656aa14904a5	726	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	727	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	728	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	729	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	730	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	731	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	732	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	733	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	734	mtc=true;
yabahiro	31:45f97698857b	735	break;
yabahiro	31:45f97698857b	736	case 3:
yabahiro	31:45f97698857b	737	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	738	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	739	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	740	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	741	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	742	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	743	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	744	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	745	mtc=true;
yabahiro	31:45f97698857b	746	break;
yabahiro	31:45f97698857b	747	case 2:
yabahiro	31:45f97698857b	748	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	749	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	750	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	751	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	752	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	753	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	754	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	755	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	756	mtc=true;
yabahiro	31:45f97698857b	757	break;
yabahiro	31:45f97698857b	758	}
yabahiro	31:45f97698857b	759	if(g[0]!=98&&mtc==true) {
yabahiro	31:45f97698857b	760	switch(g[1]) {
yabahiro	31:45f97698857b	761	case 0:
yabahiro	31:45f97698857b	762	mtc=false;
yabahiro	31:45f97698857b	763	break;
yabahiro	31:45f97698857b	764	case 255:
yabahiro	31:45f97698857b	765	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	766	mtc=false;
yabahiro	31:45f97698857b	767	break;
yabahiro	31:45f97698857b	768	case 253:
yabahiro	31:45f97698857b	769	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	770	mtc=false;
yabahiro	31:45f97698857b	771	break;
yabahiro	31:45f97698857b	772	case 254:
yabahiro	31:45f97698857b	773	motor[TIRE_BR].pwm += 20;
yabahiro	31:45f97698857b	774	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	775	mtc=false;
yabahiro	31:45f97698857b	776	break;
yabahiro	31:45f97698857b	777	case 1:
yabahiro	31:45f97698857b	778	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	779	mtc=false;
yabahiro	31:45f97698857b	780	break;
yabahiro	31:45f97698857b	781	case 3:
yabahiro	31:45f97698857b	782	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	783	mtc=false;
yabahiro	31:45f97698857b	784	break;
yabahiro	31:45f97698857b	785	case 2:
yabahiro	31:45f97698857b	786	motor[TIRE_BL].pwm += 20;
yabahiro	31:45f97698857b	787	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	788	mtc=false;
yabahiro	31:45f97698857b	789	break;
yabahiro	21:1f1e9c585da8	790	}
yabahiro	31:45f97698857b	791	}
yabahiro	31:45f97698857b	792	} else if(mode==11) {
yabahiro	31:45f97698857b	793	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	794	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	795	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	796	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	797	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	798	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	799	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	800	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	801	if(g[2]==0) {
yabahiro	31:45f97698857b	802	count=0;
yabahiro	31:45f97698857b	803	cross=0;
yabahiro	31:45f97698857b	804	mode=20;
yabahiro	31:45f97698857b	805	}
yabahiro	31:45f97698857b	806	} else if(mode==20) {
yabahiro	35:94f026ab4d30	807
yabahiro	38:391a0c8e4c16	808	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	809	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	38:391a0c8e4c16	810	}
yabahiro	35:94f026ab4d30	811	if(counts==false&&g[0]==0) {
yabahiro	35:94f026ab4d30	812	cros++;
yabahiro	35:94f026ab4d30	813	counts=true;
yabahiro	35:94f026ab4d30	814	}
yabahiro	35:94f026ab4d30	815	if(counts==true&&g[0]==99) {
yabahiro	35:94f026ab4d30	816	counts=false;
yabahiro	35:94f026ab4d30	817	}
yabahiro	35:94f026ab4d30	818
yabahiro	35:94f026ab4d30	819	if(cros==2) {
yabahiro	37:7cfa39c41245	820
yabahiro	37:7cfa39c41245	821	// mode=21;
yabahiro	37:7cfa39c41245	822	// count=0;
yabahiro	37:7cfa39c41245	823	// cros=0;
yabahiro	35:94f026ab4d30	824	}//ゆっくりモードに入れなかった時の保険
yabahiro	35:94f026ab4d30	825
yabahiro	31:45f97698857b	826	switch(g[2]) {
yabahiro	31:45f97698857b	827	case 98:
kishibekairohan	33:656aa14904a5	828	motor[TIRE_FR].pwm = normal;
kishibekairohan	22:c47f29caded6	829	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	830	motor[TIRE_FL].pwm = normal;
kishibekairohan	22:c47f29caded6	831	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	832	motor[TIRE_BR].pwm = normal;
kishibekairohan	22:c47f29caded6	833	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	834	motor[TIRE_BL].pwm = normal;
kishibekairohan	22:c47f29caded6	835	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	836	if(count>80000) {
yabahiro	31:45f97698857b	837	cross++;
yabahiro	31:45f97698857b	838	count=0;
yabahiro	31:45f97698857b	839	}
yabahiro	31:45f97698857b	840	mtc2=true;
yabahiro	35:94f026ab4d30	841	if(cross==2) {
yabahiro	31:45f97698857b	842	mode=21;
yabahiro	31:45f97698857b	843	count=0;
yabahiro	31:45f97698857b	844	cross=0;
yabahiro	31:45f97698857b	845	}
yabahiro	31:45f97698857b	846	break;
yabahiro	31:45f97698857b	847	case 0:
kishibekairohan	33:656aa14904a5	848	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	849	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	850	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	851	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	852	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	853	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	854	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	855	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	856	mtc2=true;
yabahiro	31:45f97698857b	857	break;
yabahiro	31:45f97698857b	858	case 255:
kishibekairohan	33:656aa14904a5	859	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	860	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	861	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	862	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	863	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	864	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	865	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	866	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	867	mtc2=true;
yabahiro	31:45f97698857b	868	break;
yabahiro	31:45f97698857b	869	case 253:
yabahiro	31:45f97698857b	870	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	871	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	872	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	873	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	874	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	875	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	876	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	877	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	878	mtc2=true;
yabahiro	31:45f97698857b	879	break;
yabahiro	31:45f97698857b	880	case 254:
yabahiro	31:45f97698857b	881	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	882	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	883	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	884	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	885	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	886	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	887	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	888	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	889	mtc2=true;
yabahiro	31:45f97698857b	890	break;
yabahiro	31:45f97698857b	891	case 1:
kishibekairohan	33:656aa14904a5	892	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	893	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	894	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	895	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	896	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	897	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	898	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	899	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	900	mtc2=true;
yabahiro	31:45f97698857b	901	break;
yabahiro	31:45f97698857b	902	case 3:
kishibekairohan	33:656aa14904a5	903	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	904	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	905	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	906	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	907	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	908	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	909	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	910	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	911	mtc2=true;
yabahiro	31:45f97698857b	912	break;
yabahiro	31:45f97698857b	913	case 2:
kishibekairohan	33:656aa14904a5	914	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	915	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	916	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	917	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	918	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	919	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	920	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	921	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	922	mtc2=true;
yabahiro	31:45f97698857b	923	break;
yabahiro	31:45f97698857b	924	}
yabahiro	31:45f97698857b	925	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	926	switch(g[3]) {
yabahiro	29:c78a46f51209	927	case 0:
yabahiro	31:45f97698857b	928	mtc2=false;
yabahiro	29:c78a46f51209	929	break;
yabahiro	29:c78a46f51209	930	case 255:
yabahiro	31:45f97698857b	931	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	932	mtc2=false;
yabahiro	29:c78a46f51209	933	break;
yabahiro	29:c78a46f51209	934	case 253:
yabahiro	31:45f97698857b	935	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	936	mtc2=false;
yabahiro	29:c78a46f51209	937	break;
yabahiro	29:c78a46f51209	938	case 254:
yabahiro	31:45f97698857b	939	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	940	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	941	mtc2=false;
yabahiro	29:c78a46f51209	942	break;
yabahiro	29:c78a46f51209	943	case 1:
yabahiro	31:45f97698857b	944	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	945	mtc2=false;
yabahiro	29:c78a46f51209	946	break;
yabahiro	29:c78a46f51209	947	case 3:
yabahiro	31:45f97698857b	948	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	949	mtc2=false;
yabahiro	29:c78a46f51209	950	break;
yabahiro	29:c78a46f51209	951	case 2:
yabahiro	31:45f97698857b	952	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	953	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	954	mtc2=false;
yabahiro	29:c78a46f51209	955	break;
yabahiro	29:c78a46f51209	956	}
yabahiro	31:45f97698857b	957	}
yabahiro	31:45f97698857b	958	} else if(mode==21) {
yabahiro	31:45f97698857b	959	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	960	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	961	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	962	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	963	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	964	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	965	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	966	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	967	if(g[0]==0) {
yabahiro	31:45f97698857b	968	mode=30;
yabahiro	35:94f026ab4d30	969	cros=0;
yabahiro	35:94f026ab4d30	970	zyouge=true;
yabahiro	31:45f97698857b	971	}
yabahiro	31:45f97698857b	972	} else if(mode==30) {
yabahiro	38:391a0c8e4c16	973	motor[TIRE_FR].pwm = 62;
yabahiro	38:391a0c8e4c16	974	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	975	motor[TIRE_FL].pwm = 60;
yabahiro	38:391a0c8e4c16	976	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	977	motor[TIRE_BR].pwm = 60;
yabahiro	38:391a0c8e4c16	978	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	979	motor[TIRE_BL].pwm = 62;
yabahiro	38:391a0c8e4c16	980	motor[TIRE_BL].dir = FOR;
yabahiro	38:391a0c8e4c16	981	if(g[0]==98) {
yabahiro	35:94f026ab4d30	982	mode=31;
yabahiro	38:391a0c8e4c16	983	}
yabahiro	38:391a0c8e4c16	984	if(g[3]==0) {
yabahiro	38:391a0c8e4c16	985	mode=32;
yabahiro	35:94f026ab4d30	986	count=0;
yabahiro	35:94f026ab4d30	987	cros=0;
yabahiro	35:94f026ab4d30	988	}//ゆっくりモードに入れなかった時の保険
yabahiro	38:391a0c8e4c16	989	/*
yabahiro	38:391a0c8e4c16	990	if(g[0]==98) {
yabahiro	38:391a0c8e4c16	991	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	992	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	38:391a0c8e4c16	993	}
yabahiro	38:391a0c8e4c16	994	mode=31;
yabahiro	38:391a0c8e4c16	995	count=0;
yabahiro	38:391a0c8e4c16	996	}
yabahiro	31:45f97698857b	997	switch(g[0]) {
yabahiro	31:45f97698857b	998	case 98:
yabahiro	35:94f026ab4d30	999	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1000	motor[TIRE_FR].dir = BACK;
yabahiro	35:94f026ab4d30	1001	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1002	motor[TIRE_FL].dir = FOR;
yabahiro	35:94f026ab4d30	1003	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1004	motor[TIRE_BR].dir = BACK;
yabahiro	35:94f026ab4d30	1005	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1006	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1007	if(count>100000) {
yabahiro	31:45f97698857b	1008	cross++;
yabahiro	31:45f97698857b	1009	count=0;
yabahiro	31:45f97698857b	1010	}
yabahiro	31:45f97698857b	1011	mtc=true;
yabahiro	31:45f97698857b	1012	if(cross==1) {
yabahiro	35:94f026ab4d30	1013	if(Twsh==2) {
yabahiro	35:94f026ab4d30	1014	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	35:94f026ab4d30	1015	}
yabahiro	31:45f97698857b	1016	mode=31;
yabahiro	31:45f97698857b	1017	count=0;
yabahiro	29:c78a46f51209	1018	}
yabahiro	31:45f97698857b	1019	break;
yabahiro	31:45f97698857b	1020	case 0:
yabahiro	38:391a0c8e4c16	1021	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	1022	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	1023	motor[TIRE_FL].pwm = 80;
yabahiro	31:45f97698857b	1024	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1025	motor[TIRE_BR].pwm = 80;
yabahiro	31:45f97698857b	1026	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	1027	motor[TIRE_BL].pwm = 80;
yabahiro	31:45f97698857b	1028	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1029	mtc=true;
yabahiro	31:45f97698857b	1030	break;
yabahiro	31:45f97698857b	1031	case 255:
yabahiro	38:391a0c8e4c16	1032	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	1033	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	1034	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1035	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1036	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1037	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	1038	motor[TIRE_BL].pwm = 80;
yabahiro	31:45f97698857b	1039	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1040	mtc=true;
yabahiro	31:45f97698857b	1041	break;
yabahiro	31:45f97698857b	1042	case 253:
yabahiro	38:391a0c8e4c16	1043	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	1044	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1045	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1046	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1047	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1048	motor[TIRE_BR].dir = FREE;
yabahiro	38:391a0c8e4c16	1049	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1050	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1051	mtc=true;
yabahiro	31:45f97698857b	1052	break;
yabahiro	31:45f97698857b	1053	case 254:
yabahiro	38:391a0c8e4c16	1054	motor[TIRE_FR].pwm = 50;
yabahiro	31:45f97698857b	1055	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1056	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1057	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1058	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1059	motor[TIRE_BR].dir = FREE;
yabahiro	38:391a0c8e4c16	1060	motor[TIRE_BL].pwm = 50;
yabahiro	31:45f97698857b	1061	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1062	mtc=true;
yabahiro	31:45f97698857b	1063	break;
yabahiro	31:45f97698857b	1064	case 1:
yabahiro	38:391a0c8e4c16	1065	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1066	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	1067	motor[TIRE_FL].pwm = 80;
yabahiro	31:45f97698857b	1068	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1069	motor[TIRE_BR].pwm = 80;
yabahiro	31:45f97698857b	1070	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	1071	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1072	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1073	mtc=true;
yabahiro	31:45f97698857b	1074	break;
yabahiro	31:45f97698857b	1075	case 3:
yabahiro	31:45f97698857b	1076	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1077	motor[TIRE_FR].dir = FREE;
yabahiro	38:391a0c8e4c16	1078	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1079	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1080	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1081	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1082	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1083	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1084	mtc=true;
yabahiro	31:45f97698857b	1085	break;
yabahiro	31:45f97698857b	1086	case 2:
yabahiro	31:45f97698857b	1087	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1088	motor[TIRE_FR].dir = FREE;
yabahiro	38:391a0c8e4c16	1089	motor[TIRE_FL].pwm = 50;
yabahiro	31:45f97698857b	1090	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1091	motor[TIRE_BR].pwm = 50;
yabahiro	31:45f97698857b	1092	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1093	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1094	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1095	mtc=true;
yabahiro	31:45f97698857b	1096	break;
yabahiro	31:45f97698857b	1097	}
yabahiro	31:45f97698857b	1098	if(g[0]!=98&&mtc==true) {
yabahiro	31:45f97698857b	1099	switch(g[1]) {
yabahiro	29:c78a46f51209	1100	case 0:
yabahiro	31:45f97698857b	1101	mtc=false;
yabahiro	29:c78a46f51209	1102	break;
yabahiro	29:c78a46f51209	1103	case 255:
yabahiro	31:45f97698857b	1104	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	1105	mtc=false;
yabahiro	29:c78a46f51209	1106	break;
yabahiro	29:c78a46f51209	1107	case 253:
yabahiro	31:45f97698857b	1108	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	1109	mtc=false;
yabahiro	29:c78a46f51209	1110	break;
yabahiro	29:c78a46f51209	1111	case 254:
yabahiro	31:45f97698857b	1112	motor[TIRE_BR].pwm += 20;
yabahiro	31:45f97698857b	1113	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1114	mtc=false;
yabahiro	29:c78a46f51209	1115	break;
yabahiro	29:c78a46f51209	1116	case 1:
yabahiro	31:45f97698857b	1117	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1118	mtc=false;
yabahiro	29:c78a46f51209	1119	break;
yabahiro	29:c78a46f51209	1120	case 3:
yabahiro	31:45f97698857b	1121	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1122	mtc=false;
yabahiro	29:c78a46f51209	1123	break;
yabahiro	29:c78a46f51209	1124	case 2:
yabahiro	31:45f97698857b	1125	motor[TIRE_BL].pwm += 20;
yabahiro	31:45f97698857b	1126	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1127	mtc=false;
yabahiro	29:c78a46f51209	1128	break;
yabahiro	29:c78a46f51209	1129	}
yabahiro	38:391a0c8e4c16	1130
yabahiro	31:45f97698857b	1131	}
yabahiro	38:391a0c8e4c16	1132	} else if(mode==31) {
yabahiro	38:391a0c8e4c16	1133	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	1134	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	1135	motor[TIRE_FL].pwm = 10;
yabahiro	38:391a0c8e4c16	1136	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1137	motor[TIRE_BR].pwm = 10;
yabahiro	38:391a0c8e4c16	1138	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1139	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1140	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	1141	if(g[3]==0) {
yabahiro	31:45f97698857b	1142	count=0;
yabahiro	31:45f97698857b	1143	mode=40;
yabahiro	31:45f97698857b	1144	}
yabahiro	38:391a0c8e4c16	1145	*/
yabahiro	38:391a0c8e4c16	1146
yabahiro	38:391a0c8e4c16	1147	} else if(mode==31) {
yabahiro	38:391a0c8e4c16	1148	motor[TIRE_FR].pwm = 15;
yabahiro	38:391a0c8e4c16	1149	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	1150	motor[TIRE_FL].pwm = 15;
yabahiro	38:391a0c8e4c16	1151	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1152	motor[TIRE_BR].pwm = 15;
yabahiro	38:391a0c8e4c16	1153	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	1154	motor[TIRE_BL].pwm = 15;
yabahiro	38:391a0c8e4c16	1155	motor[TIRE_BL].dir = FOR;
yabahiro	38:391a0c8e4c16	1156	if(g[3]==0) {
yabahiro	38:391a0c8e4c16	1157	count=0;
yabahiro	38:391a0c8e4c16	1158	mode=32;
yabahiro	38:391a0c8e4c16	1159	}
yabahiro	38:391a0c8e4c16	1160	} else if(mode==32) {
yabahiro	38:391a0c8e4c16	1161	motor[TIRE_FR].pwm = 30;
yabahiro	38:391a0c8e4c16	1162	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1163	motor[TIRE_FL].pwm = 30;
yabahiro	38:391a0c8e4c16	1164	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1165	motor[TIRE_BR].pwm = 30;
yabahiro	38:391a0c8e4c16	1166	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1167	motor[TIRE_BL].pwm = 30;
yabahiro	38:391a0c8e4c16	1168	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1169	if(g[3]==0) {
yabahiro	38:391a0c8e4c16	1170	count=0;
yabahiro	39:f89166d7411c	1171	if(Twsh==2) {
yabahiro	39:f89166d7411c	1172	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	39:f89166d7411c	1173	}
yabahiro	38:391a0c8e4c16	1174	mode=40;
yabahiro	38:391a0c8e4c16	1175	}
yabahiro	31:45f97698857b	1176	} else if(mode==40) {
yabahiro	38:391a0c8e4c16	1177	if(LIB) {
yabahiro	38:391a0c8e4c16	1178	mode=42;
yabahiro	38:391a0c8e4c16	1179	}
yabahiro	35:94f026ab4d30	1180	if(counts==false&&g[0]==0) {
yabahiro	35:94f026ab4d30	1181	cros++;
yabahiro	35:94f026ab4d30	1182	counts=true;
yabahiro	35:94f026ab4d30	1183	}
yabahiro	35:94f026ab4d30	1184	if(counts==true&&g[0]==99) {
yabahiro	35:94f026ab4d30	1185	counts=false;
yabahiro	35:94f026ab4d30	1186	}
yabahiro	35:94f026ab4d30	1187
yabahiro	38:391a0c8e4c16	1188	if(cros==1) {
yabahiro	36:788274604650	1189	// mode=41;
yabahiro	35:94f026ab4d30	1190	//count=0;
yabahiro	35:94f026ab4d30	1191	//cros=0;
yabahiro	35:94f026ab4d30	1192	}//ゆっくりモードに入れなかった時の保険
yabahiro	35:94f026ab4d30	1193
yabahiro	31:45f97698857b	1194	switch(g[3]) {
yabahiro	31:45f97698857b	1195	case 98:
kishibekairohan	33:656aa14904a5	1196	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1197	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1198	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1199	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1200	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1201	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1202	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1203	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	1204	if(count>20000) {
yabahiro	31:45f97698857b	1205	cross++;
yabahiro	31:45f97698857b	1206	count=0;
yabahiro	31:45f97698857b	1207	}
yabahiro	31:45f97698857b	1208	mtc2=true;
yabahiro	38:391a0c8e4c16	1209	if(cross==2) {
yabahiro	31:45f97698857b	1210	mode=41;
yabahiro	31:45f97698857b	1211	count=0;
yabahiro	31:45f97698857b	1212	cross=0;
kishibekairohan	22:c47f29caded6	1213	}
yabahiro	31:45f97698857b	1214	break;
yabahiro	31:45f97698857b	1215	case 0:
kishibekairohan	33:656aa14904a5	1216	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1217	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1218	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1219	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1220	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1221	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1222	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1223	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1224	mtc2=true;
yabahiro	31:45f97698857b	1225	break;
yabahiro	31:45f97698857b	1226	case 255:
kishibekairohan	33:656aa14904a5	1227	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1228	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1229	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1230	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1231	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1232	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1233	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1234	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1235	mtc2=true;
yabahiro	31:45f97698857b	1236	break;
yabahiro	31:45f97698857b	1237	case 253:
yabahiro	31:45f97698857b	1238	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1239	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1240	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1241	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1242	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1243	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1244	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1245	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1246	mtc2=true;
yabahiro	31:45f97698857b	1247	break;
yabahiro	31:45f97698857b	1248	case 254:
yabahiro	31:45f97698857b	1249	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1250	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1251	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1252	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1253	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1254	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1255	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1256	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1257	mtc2=true;
yabahiro	31:45f97698857b	1258	break;
yabahiro	31:45f97698857b	1259	case 1:
kishibekairohan	33:656aa14904a5	1260	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1261	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1262	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1263	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1264	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1265	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1266	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1267	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1268	mtc2=true;
yabahiro	31:45f97698857b	1269	break;
yabahiro	31:45f97698857b	1270	case 3:
kishibekairohan	33:656aa14904a5	1271	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1272	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1273	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1274	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1275	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1276	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1277	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1278	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1279	mtc2=true;
yabahiro	31:45f97698857b	1280	break;
yabahiro	31:45f97698857b	1281	case 2:
kishibekairohan	33:656aa14904a5	1282	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1283	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1284	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1285	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1286	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1287	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1288	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1289	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1290	mtc2=true;
yabahiro	31:45f97698857b	1291	break;
yabahiro	31:45f97698857b	1292	}
yabahiro	31:45f97698857b	1293	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1294	switch(g[2]) {
yabahiro	29:c78a46f51209	1295	case 0:
yabahiro	31:45f97698857b	1296	mtc2=false;
yabahiro	29:c78a46f51209	1297	break;
yabahiro	29:c78a46f51209	1298	case 255:
yabahiro	31:45f97698857b	1299	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1300	mtc2=false;
yabahiro	29:c78a46f51209	1301	break;
yabahiro	29:c78a46f51209	1302	case 253:
yabahiro	31:45f97698857b	1303	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1304	mtc2=false;
yabahiro	29:c78a46f51209	1305	break;
yabahiro	29:c78a46f51209	1306	case 254:
yabahiro	31:45f97698857b	1307	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	1308	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1309	mtc2=false;
yabahiro	29:c78a46f51209	1310	break;
yabahiro	29:c78a46f51209	1311	case 1:
yabahiro	31:45f97698857b	1312	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1313	mtc2=false;
yabahiro	29:c78a46f51209	1314	break;
yabahiro	29:c78a46f51209	1315	case 3:
yabahiro	31:45f97698857b	1316	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1317	mtc2=false;
yabahiro	29:c78a46f51209	1318	break;
yabahiro	29:c78a46f51209	1319	case 2:
yabahiro	31:45f97698857b	1320	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1321	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1322	mtc2=false;
yabahiro	29:c78a46f51209	1323	break;
yabahiro	29:c78a46f51209	1324	}
yabahiro	31:45f97698857b	1325	}
yabahiro	31:45f97698857b	1326	} else if(mode==41) {
yabahiro	31:45f97698857b	1327	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1328	motor[TIRE_FR].dir = FREE;
yabahiro	35:94f026ab4d30	1329	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1330	motor[TIRE_FL].dir = BACK;
yabahiro	35:94f026ab4d30	1331	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1332	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1333	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1334	motor[TIRE_BL].dir = FREE;
yabahiro	35:94f026ab4d30	1335	if(g[1]==0) {
yabahiro	31:45f97698857b	1336	count=0;
yabahiro	31:45f97698857b	1337	mode=70;
yabahiro	31:45f97698857b	1338	}
yabahiro	38:391a0c8e4c16	1339	} else if(mode==42) {
yabahiro	38:391a0c8e4c16	1340	motor[TIRE_FR].pwm = 20;
yabahiro	38:391a0c8e4c16	1341	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1342	motor[TIRE_FL].pwm = 0;
yabahiro	38:391a0c8e4c16	1343	motor[TIRE_FL].dir = FREE;
yabahiro	38:391a0c8e4c16	1344	motor[TIRE_BR].pwm = 0;
yabahiro	38:391a0c8e4c16	1345	motor[TIRE_BR].dir = FREE;
yabahiro	38:391a0c8e4c16	1346	motor[TIRE_BL].pwm = 20;
yabahiro	38:391a0c8e4c16	1347	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1348	if(g[1]==0) {
yabahiro	38:391a0c8e4c16	1349	count=0;
yabahiro	38:391a0c8e4c16	1350	mode=70;
yabahiro	38:391a0c8e4c16	1351	}
yabahiro	31:45f97698857b	1352	} else if(mode==70) {
yabahiro	31:45f97698857b	1353	switch(g[1]) {
yabahiro	31:45f97698857b	1354	case 99:
yabahiro	31:45f97698857b	1355	if(count>=100000) {
yabahiro	31:45f97698857b	1356	mode=100;
yabahiro	29:c78a46f51209	1357	}
yabahiro	31:45f97698857b	1358	break;
yabahiro	31:45f97698857b	1359	case 98:
kishibekairohan	33:656aa14904a5	1360	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1361	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1362	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1363	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1364	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1365	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1366	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1367	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1368	break;
yabahiro	31:45f97698857b	1369	case 0:
yabahiro	38:391a0c8e4c16	1370	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	1371	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1372	motor[TIRE_FL].pwm = 80;
yabahiro	31:45f97698857b	1373	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1374	motor[TIRE_BR].pwm = 80;
yabahiro	31:45f97698857b	1375	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1376	motor[TIRE_BL].pwm = 80;
yabahiro	31:45f97698857b	1377	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1378	mtc=true;
yabahiro	31:45f97698857b	1379	break;
yabahiro	31:45f97698857b	1380	case 255:
kishibekairohan	33:656aa14904a5	1381	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1382	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1383	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1384	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1385	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1386	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1387	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1388	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1389	mtc=true;
yabahiro	31:45f97698857b	1390	break;
yabahiro	31:45f97698857b	1391	case 253:
kishibekairohan	33:656aa14904a5	1392	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1393	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1394	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1395	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1396	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1397	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1398	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1399	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1400	mtc=true;
yabahiro	31:45f97698857b	1401	break;
yabahiro	31:45f97698857b	1402	case 254:
kishibekairohan	33:656aa14904a5	1403	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1404	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1405	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1406	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1407	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1408	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1409	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1410	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1411	mtc=true;
yabahiro	31:45f97698857b	1412	break;
yabahiro	31:45f97698857b	1413	case 1:
kishibekairohan	33:656aa14904a5	1414	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1415	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1416	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1417	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1418	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1419	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1420	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1421	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1422	mtc=true;
yabahiro	31:45f97698857b	1423	break;
yabahiro	31:45f97698857b	1424	case 3:
yabahiro	31:45f97698857b	1425	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1426	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1427	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1428	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1429	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1430	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1431	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1432	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1433	mtc=true;
yabahiro	31:45f97698857b	1434	break;
yabahiro	31:45f97698857b	1435	case 2:
yabahiro	31:45f97698857b	1436	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1437	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1438	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1439	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1440	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1441	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1442	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1443	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1444	mtc=true;
yabahiro	31:45f97698857b	1445	break;
yabahiro	31:45f97698857b	1446	}
yabahiro	31:45f97698857b	1447	if(g[1]!=98&&mtc==true) {
yabahiro	31:45f97698857b	1448	switch(g[0]) {
yabahiro	29:c78a46f51209	1449	case 0:
yabahiro	31:45f97698857b	1450	mtc=false;
yabahiro	29:c78a46f51209	1451	break;
yabahiro	29:c78a46f51209	1452	case 255:
yabahiro	31:45f97698857b	1453	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1454	mtc=false;
yabahiro	29:c78a46f51209	1455	break;
yabahiro	29:c78a46f51209	1456	case 253:
yabahiro	31:45f97698857b	1457	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1458	mtc=false;
yabahiro	29:c78a46f51209	1459	break;
yabahiro	29:c78a46f51209	1460	case 254:
yabahiro	31:45f97698857b	1461	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1462	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1463	mtc=false;
yabahiro	29:c78a46f51209	1464	break;
yabahiro	29:c78a46f51209	1465	case 1:
yabahiro	31:45f97698857b	1466	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1467	mtc=false;
yabahiro	29:c78a46f51209	1468	break;
yabahiro	29:c78a46f51209	1469	case 3:
yabahiro	31:45f97698857b	1470	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1471	mtc=false;
yabahiro	29:c78a46f51209	1472	break;
yabahiro	29:c78a46f51209	1473	case 2:
yabahiro	31:45f97698857b	1474	motor[TIRE_FR].pwm += 20;
yabahiro	31:45f97698857b	1475	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1476	mtc=false;
yabahiro	29:c78a46f51209	1477	break;
yabahiro	29:c78a46f51209	1478	}
yabahiro	31:45f97698857b	1479	}
yabahiro	31:45f97698857b	1480	} else if(mode==100) {
yabahiro	35:94f026ab4d30	1481	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1482	motor[TIRE_FR].dir = FOR;
yabahiro	35:94f026ab4d30	1483	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1484	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1485	motor[TIRE_BR].pwm = 23;
yabahiro	31:45f97698857b	1486	motor[TIRE_BR].dir = FOR;
yabahiro	35:94f026ab4d30	1487	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1488	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1489	} else {
yabahiro	31:45f97698857b	1490	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1491	motor[TIRE_FR].dir = BRAKE;
yabahiro	31:45f97698857b	1492	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1493	motor[TIRE_FL].dir = BRAKE;
yabahiro	31:45f97698857b	1494	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1495	motor[TIRE_BR].dir = BRAKE;
yabahiro	31:45f97698857b	1496	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1497	motor[TIRE_BL].dir = BRAKE;
yabahiro	31:45f97698857b	1498	}
yabahiro	31:45f97698857b	1499	}
yabahiro	31:45f97698857b	1500	#endif
yabahiro	31:45f97698857b	1501
yabahiro	31:45f97698857b	1502	#if USE_PROCESS_NUM>3
yabahiro	31:45f97698857b	1503	static void Process3()
yabahiro	31:45f97698857b	1504	{
yabahiro	39:f89166d7411c	1505
yabahiro	36:788274604650	1506	}
yabahiro	36:788274604650	1507	#endif
yabahiro	36:788274604650	1508
yabahiro	36:788274604650	1509	#if USE_PROCESS_NUM>4
yabahiro	36:788274604650	1510	static void Process4()
yabahiro	36:788274604650	1511	{
yabahiro	36:788274604650	1512	LedMode(4);
yabahiro	36:788274604650	1513	count++;
yabahiro	31:45f97698857b	1514	if(mode==1) {//スタートゾーンから白線検知
yabahiro	39:f89166d7411c	1515	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1516	motor[TIRE_FR].dir = FOR;
yabahiro	39:f89166d7411c	1517	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1518	motor[TIRE_FL].dir = BACK;
yabahiro	39:f89166d7411c	1519	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1520	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	1521	motor[TIRE_BL].pwm = 45;
yabahiro	31:45f97698857b	1522	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1523	if(g[2]==0) {
yabahiro	31:45f97698857b	1524	count=100000;
yabahiro	31:45f97698857b	1525	cross=0;
yabahiro	36:788274604650	1526	mode=3;
yabahiro	31:45f97698857b	1527	}
yabahiro	36:788274604650	1528	} 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	1529	motor[TIRE_FR].pwm = 40;
kishibekairohan	32:90f018b10ad6	1530	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1531	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1532	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1533	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1534	motor[TIRE_BR].dir = FREE;
yabahiro	39:f89166d7411c	1535	motor[TIRE_BL].pwm = 40;
kishibekairohan	32:90f018b10ad6	1536	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1537	if(g[0]==0) {
yabahiro	36:788274604650	1538	mode=10;
yabahiro	36:788274604650	1539	count=100000;
yabahiro	36:788274604650	1540	}
yabahiro	36:788274604650	1541	} else if(mode==10) { //縦ライントレース
yabahiro	36:788274604650	1542
yabahiro	36:788274604650	1543	if(counts==false&&g[2]==0) {
yabahiro	36:788274604650	1544	cros++;
yabahiro	36:788274604650	1545	counts=true;
yabahiro	36:788274604650	1546	}
yabahiro	36:788274604650	1547	if(counts==true&&g[2]==99) {
yabahiro	36:788274604650	1548	counts=false;
yabahiro	36:788274604650	1549	}
yabahiro	36:788274604650	1550
yabahiro	36:788274604650	1551	if(cros==Twsh) {
yabahiro	36:788274604650	1552	mode=11;
yabahiro	31:45f97698857b	1553	count=0;
yabahiro	36:788274604650	1554	cros=0;
yabahiro	36:788274604650	1555	}//ゆっくりモードに入れなかった時の保険
kishibekairohan	32:90f018b10ad6	1556	switch(g[1]) {
yabahiro	31:45f97698857b	1557	case 98:
kishibekairohan	33:656aa14904a5	1558	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1559	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1560	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1561	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1562	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1563	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1564	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1565	motor[TIRE_BL].dir = BACK;
yabahiro	36:788274604650	1566	mtc=true;
yabahiro	36:788274604650	1567	if(count>80000) {
yabahiro	31:45f97698857b	1568	cross++;
yabahiro	31:45f97698857b	1569	count=0;
yabahiro	31:45f97698857b	1570	}
yabahiro	31:45f97698857b	1571	if(cross==Twsh) {
yabahiro	31:45f97698857b	1572	mode=11;
yabahiro	31:45f97698857b	1573	count=0;
yabahiro	36:788274604650	1574	cross=0;
yabahiro	31:45f97698857b	1575	}
yabahiro	31:45f97698857b	1576	break;
yabahiro	31:45f97698857b	1577	case 0:
kishibekairohan	33:656aa14904a5	1578	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1579	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1580	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1581	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1582	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1583	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1584	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1585	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1586	mtc=true;
yabahiro	31:45f97698857b	1587	break;
yabahiro	31:45f97698857b	1588	case 255:
kishibekairohan	33:656aa14904a5	1589	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1590	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1591	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1592	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1593	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1594	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1595	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1596	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1597	mtc=true;
yabahiro	31:45f97698857b	1598	break;
yabahiro	31:45f97698857b	1599	case 253:
kishibekairohan	33:656aa14904a5	1600	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1601	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1602	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1603	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1604	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1605	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1606	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1607	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1608	mtc=true;
yabahiro	31:45f97698857b	1609	break;
yabahiro	31:45f97698857b	1610	case 254:
kishibekairohan	33:656aa14904a5	1611	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1612	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1613	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1614	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1615	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1616	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1617	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1618	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1619	mtc=true;
yabahiro	31:45f97698857b	1620	break;
yabahiro	31:45f97698857b	1621	case 1:
kishibekairohan	33:656aa14904a5	1622	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1623	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1624	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1625	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1626	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1627	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1628	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1629	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1630	mtc=true;
yabahiro	31:45f97698857b	1631	break;
yabahiro	31:45f97698857b	1632	case 3:
yabahiro	31:45f97698857b	1633	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1634	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1635	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1636	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1637	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1638	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1639	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1640	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1641	mtc=true;
yabahiro	31:45f97698857b	1642	break;
yabahiro	31:45f97698857b	1643	case 2:
yabahiro	31:45f97698857b	1644	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1645	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1646	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1647	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1648	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1649	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1650	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1651	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1652	mtc=true;
yabahiro	31:45f97698857b	1653	break;
yabahiro	31:45f97698857b	1654	}
yabahiro	36:788274604650	1655	if(g[0]!=98&&mtc==true) {
yabahiro	39:f89166d7411c	1656	switch(g[0]) {
yabahiro	31:45f97698857b	1657	case 0:
yabahiro	31:45f97698857b	1658	mtc=false;
yabahiro	31:45f97698857b	1659	break;
yabahiro	31:45f97698857b	1660	case 255:
kishibekairohan	32:90f018b10ad6	1661	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1662	mtc=false;
yabahiro	31:45f97698857b	1663	break;
yabahiro	31:45f97698857b	1664	case 253:
kishibekairohan	32:90f018b10ad6	1665	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1666	mtc=false;
yabahiro	31:45f97698857b	1667	break;
yabahiro	31:45f97698857b	1668	case 254:
kishibekairohan	32:90f018b10ad6	1669	motor[TIRE_FL].pwm += 20;
kishibekairohan	32:90f018b10ad6	1670	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1671	mtc=false;
yabahiro	31:45f97698857b	1672	break;
yabahiro	31:45f97698857b	1673	case 1:
kishibekairohan	32:90f018b10ad6	1674	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1675	mtc=false;
yabahiro	31:45f97698857b	1676	break;
yabahiro	31:45f97698857b	1677	case 3:
kishibekairohan	32:90f018b10ad6	1678	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1679	mtc=false;
yabahiro	31:45f97698857b	1680	break;
yabahiro	31:45f97698857b	1681	case 2:
kishibekairohan	32:90f018b10ad6	1682	motor[TIRE_FR].pwm += 20;
kishibekairohan	32:90f018b10ad6	1683	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1684	mtc=false;
yabahiro	31:45f97698857b	1685	break;
yabahiro	29:c78a46f51209	1686	}
yabahiro	31:45f97698857b	1687	}
yabahiro	31:45f97698857b	1688	} else if(mode==11) {
yabahiro	36:788274604650	1689	motor[TIRE_FR].pwm = normal;
kishibekairohan	32:90f018b10ad6	1690	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1691	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1692	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1693	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1694	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1695	motor[TIRE_BL].pwm = normal;
kishibekairohan	32:90f018b10ad6	1696	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1697	if(g[2]==0) {
yabahiro	31:45f97698857b	1698	count=0;
yabahiro	36:788274604650	1699	cross=0;
yabahiro	31:45f97698857b	1700	mode=20;
yabahiro	39:f89166d7411c	1701	fast=40;
yabahiro	39:f89166d7411c	1702	normal=30;
yabahiro	39:f89166d7411c	1703	slow=20;
yabahiro	31:45f97698857b	1704	}
yabahiro	31:45f97698857b	1705	} else if(mode==20) {
yabahiro	36:788274604650	1706
yabahiro	38:391a0c8e4c16	1707	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	1708	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	38:391a0c8e4c16	1709	}
yabahiro	38:391a0c8e4c16	1710
yabahiro	36:788274604650	1711	if(counts==false&&g[1]==0) {
yabahiro	36:788274604650	1712	cros++;
yabahiro	36:788274604650	1713	counts=true;
yabahiro	36:788274604650	1714	}
yabahiro	36:788274604650	1715	if(counts==true&&g[1]==99) {
yabahiro	36:788274604650	1716	counts=false;
yabahiro	36:788274604650	1717	}
yabahiro	36:788274604650	1718
yabahiro	36:788274604650	1719	if(cros==2) {
yabahiro	38:391a0c8e4c16	1720	//mode=21;
yabahiro	38:391a0c8e4c16	1721	//count=0;
yabahiro	38:391a0c8e4c16	1722	//cros=0;
yabahiro	36:788274604650	1723	}//ゆっくりモードに入れなかった時の保険
yabahiro	36:788274604650	1724
yabahiro	31:45f97698857b	1725	switch(g[2]) {
yabahiro	31:45f97698857b	1726	case 98:
kishibekairohan	33:656aa14904a5	1727	motor[TIRE_FR].pwm = normal;
kishibekairohan	22:c47f29caded6	1728	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1729	motor[TIRE_FL].pwm = normal;
yabahiro	23:694ecfa97839	1730	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1731	motor[TIRE_BR].pwm = normal;
yabahiro	23:694ecfa97839	1732	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1733	motor[TIRE_BL].pwm = normal;
yabahiro	29:c78a46f51209	1734	motor[TIRE_BL].dir = BACK;
yabahiro	36:788274604650	1735	if(count>80000) {
yabahiro	31:45f97698857b	1736	cross++;
yabahiro	31:45f97698857b	1737	count=0;
yabahiro	31:45f97698857b	1738	}
yabahiro	31:45f97698857b	1739	mtc2=true;
yabahiro	36:788274604650	1740	if(cross==2) {
yabahiro	31:45f97698857b	1741	mode=21;
yabahiro	31:45f97698857b	1742	count=0;
yabahiro	31:45f97698857b	1743	cross=0;
yabahiro	31:45f97698857b	1744	}
yabahiro	31:45f97698857b	1745	break;
yabahiro	31:45f97698857b	1746	case 0:
kishibekairohan	33:656aa14904a5	1747	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1748	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1749	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1750	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1751	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1752	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1753	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1754	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1755	mtc2=true;
yabahiro	31:45f97698857b	1756	break;
yabahiro	31:45f97698857b	1757	case 255:
yabahiro	36:788274604650	1758	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1759	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1760	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1761	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1762	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1763	motor[TIRE_BR].dir = BACK;
yabahiro	36:788274604650	1764	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1765	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1766	mtc2=true;
yabahiro	31:45f97698857b	1767	break;
yabahiro	31:45f97698857b	1768	case 253:
yabahiro	31:45f97698857b	1769	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1770	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1771	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1772	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1773	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1774	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1775	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1776	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1777	mtc2=true;
yabahiro	31:45f97698857b	1778	break;
yabahiro	31:45f97698857b	1779	case 254:
yabahiro	31:45f97698857b	1780	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1781	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1782	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1783	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1784	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1785	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1786	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1787	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1788	mtc2=true;
yabahiro	31:45f97698857b	1789	break;
yabahiro	31:45f97698857b	1790	case 1:
kishibekairohan	33:656aa14904a5	1791	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1792	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1793	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1794	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1795	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1796	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1797	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1798	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1799	mtc2=true;
yabahiro	31:45f97698857b	1800	break;
yabahiro	31:45f97698857b	1801	case 3:
kishibekairohan	33:656aa14904a5	1802	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1803	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1804	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1805	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1806	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1807	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1808	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1809	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1810	mtc2=true;
yabahiro	31:45f97698857b	1811	break;
yabahiro	31:45f97698857b	1812	case 2:
kishibekairohan	33:656aa14904a5	1813	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1814	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1815	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1816	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1817	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1818	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1819	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1820	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1821	mtc2=true;
yabahiro	31:45f97698857b	1822	break;
yabahiro	31:45f97698857b	1823	}
yabahiro	31:45f97698857b	1824	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1825	switch(g[3]) {
yabahiro	23:694ecfa97839	1826	case 0:
yabahiro	31:45f97698857b	1827	mtc2=false;
yabahiro	23:694ecfa97839	1828	break;
yabahiro	23:694ecfa97839	1829	case 255:
yabahiro	31:45f97698857b	1830	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1831	mtc2=false;
yabahiro	23:694ecfa97839	1832	break;
yabahiro	23:694ecfa97839	1833	case 253:
yabahiro	31:45f97698857b	1834	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1835	mtc2=false;
yabahiro	23:694ecfa97839	1836	break;
yabahiro	23:694ecfa97839	1837	case 254:
yabahiro	31:45f97698857b	1838	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1839	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1840	mtc2=false;
yabahiro	23:694ecfa97839	1841	break;
yabahiro	23:694ecfa97839	1842	case 1:
yabahiro	31:45f97698857b	1843	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1844	mtc2=false;
yabahiro	23:694ecfa97839	1845	break;
yabahiro	23:694ecfa97839	1846	case 3:
yabahiro	31:45f97698857b	1847	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1848	mtc2=false;
yabahiro	23:694ecfa97839	1849	break;
yabahiro	23:694ecfa97839	1850	case 2:
yabahiro	31:45f97698857b	1851	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1852	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1853	mtc2=false;
yabahiro	29:c78a46f51209	1854	break;
yabahiro	29:c78a46f51209	1855	}
yabahiro	31:45f97698857b	1856	}
yabahiro	31:45f97698857b	1857	} else if(mode==21) {
yabahiro	36:788274604650	1858	motor[TIRE_FR].pwm = normal;
kishibekairohan	32:90f018b10ad6	1859	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1860	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1861	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1862	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1863	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1864	motor[TIRE_BL].pwm = normal;
kishibekairohan	32:90f018b10ad6	1865	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1866	if(g[1]==0) {
yabahiro	31:45f97698857b	1867	mode=30;
yabahiro	36:788274604650	1868	cros=0;
yabahiro	36:788274604650	1869	zyouge=true;
yabahiro	39:f89166d7411c	1870	fast=80;
yabahiro	39:f89166d7411c	1871	normal=60;
yabahiro	39:f89166d7411c	1872	slow=40;
yabahiro	31:45f97698857b	1873	}
yabahiro	31:45f97698857b	1874	} else if(mode==30) {
yabahiro	38:391a0c8e4c16	1875	motor[TIRE_FR].pwm = 60;
yabahiro	38:391a0c8e4c16	1876	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1877	motor[TIRE_FL].pwm = 60;
yabahiro	38:391a0c8e4c16	1878	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1879	motor[TIRE_BR].pwm = 60;
yabahiro	38:391a0c8e4c16	1880	motor[TIRE_BR].dir = FOR;
yabahiro	39:f89166d7411c	1881	motor[TIRE_BL].pwm = 50;
yabahiro	38:391a0c8e4c16	1882	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1883	if(g[1]==98) {
yabahiro	38:391a0c8e4c16	1884	mode=31;
yabahiro	38:391a0c8e4c16	1885	}
yabahiro	39:f89166d7411c	1886	if(g[3]==0) {
yabahiro	39:f89166d7411c	1887	mode=32;
yabahiro	36:788274604650	1888	count=0;
yabahiro	36:788274604650	1889	cros=0;
yabahiro	36:788274604650	1890	}//ゆっくりモードに入れなかった時の保険
yabahiro	38:391a0c8e4c16	1891	/*
kishibekairohan	32:90f018b10ad6	1892	switch(g[1]) {
yabahiro	31:45f97698857b	1893	case 98:
yabahiro	36:788274604650	1894	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1895	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1896	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1897	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1898	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1899	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1900	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1901	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1902	if(count>100000) {
yabahiro	31:45f97698857b	1903	cross++;
yabahiro	31:45f97698857b	1904	count=0;
yabahiro	31:45f97698857b	1905	}
yabahiro	31:45f97698857b	1906	mtc=true;
yabahiro	31:45f97698857b	1907	if(cross==1) {
yabahiro	36:788274604650	1908	if(Twsh==2) {
yabahiro	36:788274604650	1909	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	36:788274604650	1910	}
yabahiro	31:45f97698857b	1911	mode=31;
yabahiro	31:45f97698857b	1912	count=0;
yabahiro	29:c78a46f51209	1913	}
yabahiro	31:45f97698857b	1914	break;
yabahiro	31:45f97698857b	1915	case 0:
yabahiro	36:788274604650	1916	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1917	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1918	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1919	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1920	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1921	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1922	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1923	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1924	mtc=true;
yabahiro	31:45f97698857b	1925	break;
yabahiro	31:45f97698857b	1926	case 255:
yabahiro	36:788274604650	1927	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1928	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1929	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1930	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1931	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1932	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1933	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1934	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1935	mtc=true;
yabahiro	31:45f97698857b	1936	break;
yabahiro	31:45f97698857b	1937	case 253:
yabahiro	36:788274604650	1938	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1939	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1940	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1941	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1942	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1943	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1944	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1945	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1946	mtc=true;
yabahiro	31:45f97698857b	1947	break;
yabahiro	31:45f97698857b	1948	case 254:
yabahiro	36:788274604650	1949	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1950	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1951	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1952	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1953	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1954	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1955	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1956	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1957	mtc=true;
yabahiro	31:45f97698857b	1958	break;
yabahiro	31:45f97698857b	1959	case 1:
yabahiro	36:788274604650	1960	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1961	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1962	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1963	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1964	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1965	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1966	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1967	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1968	mtc=true;
yabahiro	31:45f97698857b	1969	break;
yabahiro	31:45f97698857b	1970	case 3:
yabahiro	31:45f97698857b	1971	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1972	motor[TIRE_FR].dir = FREE;
yabahiro	36:788274604650	1973	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1974	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1975	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1976	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1977	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1978	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1979	mtc=true;
yabahiro	31:45f97698857b	1980	break;
yabahiro	31:45f97698857b	1981	case 2:
yabahiro	31:45f97698857b	1982	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1983	motor[TIRE_FR].dir = FREE;
yabahiro	36:788274604650	1984	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1985	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1986	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1987	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1988	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1989	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1990	mtc=true;
yabahiro	31:45f97698857b	1991	break;
yabahiro	31:45f97698857b	1992	}
kishibekairohan	32:90f018b10ad6	1993	if(g[1]!=98&&mtc==true) {
kishibekairohan	32:90f018b10ad6	1994	switch(g[0]) {
yabahiro	29:c78a46f51209	1995	case 0:
yabahiro	31:45f97698857b	1996	mtc=false;
yabahiro	29:c78a46f51209	1997	break;
yabahiro	29:c78a46f51209	1998	case 255:
kishibekairohan	34:cef6c124a52d	1999	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	2000	mtc=false;
yabahiro	29:c78a46f51209	2001	break;
yabahiro	29:c78a46f51209	2002	case 253:
kishibekairohan	34:cef6c124a52d	2003	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	2004	mtc=false;
yabahiro	29:c78a46f51209	2005	break;
yabahiro	29:c78a46f51209	2006	case 254:
kishibekairohan	34:cef6c124a52d	2007	motor[TIRE_FL].pwm += 20;
kishibekairohan	34:cef6c124a52d	2008	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2009	mtc=false;
yabahiro	29:c78a46f51209	2010	break;
yabahiro	29:c78a46f51209	2011	case 1:
kishibekairohan	34:cef6c124a52d	2012	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	2013	mtc=false;
yabahiro	29:c78a46f51209	2014	break;
yabahiro	29:c78a46f51209	2015	case 3:
kishibekairohan	34:cef6c124a52d	2016	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	2017	mtc=false;
yabahiro	29:c78a46f51209	2018	break;
yabahiro	29:c78a46f51209	2019	case 2:
kishibekairohan	34:cef6c124a52d	2020	motor[TIRE_FR].pwm += 20;
kishibekairohan	34:cef6c124a52d	2021	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2022	mtc=false;
yabahiro	23:694ecfa97839	2023	break;
yabahiro	23:694ecfa97839	2024	}
yabahiro	31:45f97698857b	2025	}
yabahiro	38:391a0c8e4c16	2026	*/
yabahiro	31:45f97698857b	2027	} else if(mode==31) {
yabahiro	39:f89166d7411c	2028	motor[TIRE_FR].pwm = 15;
yabahiro	39:f89166d7411c	2029	motor[TIRE_FR].dir = FOR;
yabahiro	39:f89166d7411c	2030	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2031	motor[TIRE_FL].dir = BACK;
yabahiro	39:f89166d7411c	2032	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2033	motor[TIRE_BR].dir = FOR;
yabahiro	39:f89166d7411c	2034	motor[TIRE_BL].pwm = 15;
yabahiro	39:f89166d7411c	2035	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	2036	if(g[3]==0) {
yabahiro	31:45f97698857b	2037	count=0;
yabahiro	39:f89166d7411c	2038	mode=32;
yabahiro	39:f89166d7411c	2039	}
yabahiro	39:f89166d7411c	2040	} else if(mode==32) {
yabahiro	39:f89166d7411c	2041	motor[TIRE_FR].pwm = 30;
yabahiro	39:f89166d7411c	2042	motor[TIRE_FR].dir = BACK;
yabahiro	39:f89166d7411c	2043	motor[TIRE_FL].pwm = 30;
yabahiro	39:f89166d7411c	2044	motor[TIRE_FL].dir = FOR;
yabahiro	39:f89166d7411c	2045	motor[TIRE_BR].pwm = 30;
yabahiro	39:f89166d7411c	2046	motor[TIRE_BR].dir = BACK;
yabahiro	39:f89166d7411c	2047	motor[TIRE_BL].pwm = 30;
yabahiro	39:f89166d7411c	2048	motor[TIRE_BL].dir = FOR;
yabahiro	39:f89166d7411c	2049	if(g[3]==0) {
yabahiro	39:f89166d7411c	2050	count=0;
yabahiro	39:f89166d7411c	2051	if(Twsh==2) {
yabahiro	39:f89166d7411c	2052	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	39:f89166d7411c	2053	}
yabahiro	31:45f97698857b	2054	mode=40;
yabahiro	31:45f97698857b	2055	}
yabahiro	31:45f97698857b	2056	} else if(mode==40) {
yabahiro	36:788274604650	2057
yabahiro	39:f89166d7411c	2058	if(LIF) {
yabahiro	38:391a0c8e4c16	2059	mode=42;
yabahiro	38:391a0c8e4c16	2060	}
yabahiro	38:391a0c8e4c16	2061
yabahiro	36:788274604650	2062	if(counts==false&&g[0]==0) {
yabahiro	36:788274604650	2063	cros++;
yabahiro	36:788274604650	2064	counts=true;
yabahiro	36:788274604650	2065	}
yabahiro	36:788274604650	2066	if(counts==true&&g[0]==99) {
yabahiro	36:788274604650	2067	counts=false;
yabahiro	36:788274604650	2068	}
yabahiro	36:788274604650	2069
yabahiro	40:7f93984e8ba1	2070	if(cros==1) {
yabahiro	36:788274604650	2071	// mode=41;
yabahiro	36:788274604650	2072	//count=0;
yabahiro	36:788274604650	2073	//cros=0;
yabahiro	36:788274604650	2074	}//ゆっくりモードに入れなかった時の保険
yabahiro	36:788274604650	2075
yabahiro	31:45f97698857b	2076	switch(g[3]) {
yabahiro	31:45f97698857b	2077	case 98:
kishibekairohan	33:656aa14904a5	2078	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2079	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2080	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2081	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2082	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2083	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2084	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2085	motor[TIRE_BL].dir = FOR;
yabahiro	36:788274604650	2086	if(count>20000) {
yabahiro	31:45f97698857b	2087	cross++;
yabahiro	31:45f97698857b	2088	count=0;
yabahiro	31:45f97698857b	2089	}
yabahiro	31:45f97698857b	2090	mtc2=true;
yabahiro	39:f89166d7411c	2091	if(cross==2) {
yabahiro	31:45f97698857b	2092	mode=41;
yabahiro	31:45f97698857b	2093	count=0;
yabahiro	31:45f97698857b	2094	cross=0;
yabahiro	24:41c23c9a5058	2095	}
yabahiro	31:45f97698857b	2096	break;
yabahiro	31:45f97698857b	2097	case 0:
kishibekairohan	33:656aa14904a5	2098	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2099	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2100	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2101	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2102	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2103	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2104	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2105	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2106	mtc2=true;
yabahiro	31:45f97698857b	2107	break;
yabahiro	31:45f97698857b	2108	case 255:
kishibekairohan	33:656aa14904a5	2109	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2110	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2111	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2112	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2113	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2114	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2115	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2116	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2117	mtc2=true;
yabahiro	31:45f97698857b	2118	break;
yabahiro	31:45f97698857b	2119	case 253:
yabahiro	31:45f97698857b	2120	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2121	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2122	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2123	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2124	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2125	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2126	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2127	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2128	mtc2=true;
yabahiro	31:45f97698857b	2129	break;
yabahiro	31:45f97698857b	2130	case 254:
yabahiro	31:45f97698857b	2131	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2132	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2133	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2134	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2135	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2136	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2137	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2138	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2139	mtc2=true;
yabahiro	31:45f97698857b	2140	break;
yabahiro	31:45f97698857b	2141	case 1:
kishibekairohan	33:656aa14904a5	2142	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2143	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2144	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2145	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2146	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2147	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2148	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2149	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2150	mtc2=true;
yabahiro	31:45f97698857b	2151	break;
yabahiro	31:45f97698857b	2152	case 3:
kishibekairohan	33:656aa14904a5	2153	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2154	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2155	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2156	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2157	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2158	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2159	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2160	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2161	mtc2=true;
yabahiro	31:45f97698857b	2162	break;
yabahiro	31:45f97698857b	2163	case 2:
kishibekairohan	33:656aa14904a5	2164	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2165	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2166	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2167	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2168	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2169	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2170	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2171	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2172	mtc2=true;
yabahiro	31:45f97698857b	2173	break;
yabahiro	31:45f97698857b	2174	}
yabahiro	31:45f97698857b	2175	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	2176	switch(g[2]) {
yabahiro	23:694ecfa97839	2177	case 0:
yabahiro	31:45f97698857b	2178	mtc2=false;
yabahiro	23:694ecfa97839	2179	break;
yabahiro	23:694ecfa97839	2180	case 255:
yabahiro	39:f89166d7411c	2181	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	2182	mtc2=false;
yabahiro	23:694ecfa97839	2183	break;
yabahiro	23:694ecfa97839	2184	case 253:
yabahiro	39:f89166d7411c	2185	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	2186	mtc2=false;
yabahiro	23:694ecfa97839	2187	break;
yabahiro	23:694ecfa97839	2188	case 254:
yabahiro	39:f89166d7411c	2189	motor[TIRE_FR].pwm += 20;
yabahiro	39:f89166d7411c	2190	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2191	mtc2=false;
yabahiro	23:694ecfa97839	2192	break;
yabahiro	23:694ecfa97839	2193	case 1:
yabahiro	39:f89166d7411c	2194	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	2195	mtc2=false;
yabahiro	23:694ecfa97839	2196	break;
yabahiro	23:694ecfa97839	2197	case 3:
yabahiro	39:f89166d7411c	2198	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	2199	mtc2=false;
yabahiro	23:694ecfa97839	2200	break;
yabahiro	23:694ecfa97839	2201	case 2:
yabahiro	39:f89166d7411c	2202	motor[TIRE_BR].pwm += 20;
yabahiro	39:f89166d7411c	2203	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2204	mtc2=false;
yabahiro	29:c78a46f51209	2205	break;
yabahiro	29:c78a46f51209	2206	}
yabahiro	31:45f97698857b	2207	}
yabahiro	31:45f97698857b	2208	} else if(mode==41) {
yabahiro	39:f89166d7411c	2209	motor[TIRE_FR].pwm = 30;
kishibekairohan	32:90f018b10ad6	2210	motor[TIRE_FR].dir = BACK;
yabahiro	36:788274604650	2211	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2212	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	2213	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2214	motor[TIRE_BR].dir = FREE;
yabahiro	39:f89166d7411c	2215	motor[TIRE_BL].pwm = 30;
kishibekairohan	32:90f018b10ad6	2216	motor[TIRE_BL].dir = FOR;
yabahiro	36:788274604650	2217	if(g[1]==0) {
yabahiro	31:45f97698857b	2218	count=0;
yabahiro	31:45f97698857b	2219	mode=70;
yabahiro	39:f89166d7411c	2220	normal=60;
yabahiro	39:f89166d7411c	2221	fast=80;
yabahiro	39:f89166d7411c	2222	slow=40;
yabahiro	31:45f97698857b	2223	}
yabahiro	36:788274604650	2224	} else if(mode==70)
kishibekairohan	32:90f018b10ad6	2225	switch(g[0]) {
yabahiro	31:45f97698857b	2226	case 99:
yabahiro	31:45f97698857b	2227	if(count>=100000) {
yabahiro	39:f89166d7411c	2228	cross++;
yabahiro	39:f89166d7411c	2229	mode=100;
yabahiro	39:f89166d7411c	2230	count=0;
yabahiro	39:f89166d7411c	2231	}
yabahiro	39:f89166d7411c	2232	if(cross==3) {
yabahiro	39:f89166d7411c	2233	cross=0;
yabahiro	31:45f97698857b	2234	mode=100;
yabahiro	28:9cd36721cf83	2235	}
yabahiro	31:45f97698857b	2236	break;
yabahiro	31:45f97698857b	2237	case 98:
kishibekairohan	33:656aa14904a5	2238	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2239	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2240	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2241	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2242	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2243	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2244	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2245	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2246	break;
yabahiro	31:45f97698857b	2247	case 0:
kishibekairohan	33:656aa14904a5	2248	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2249	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2250	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2251	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2252	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2253	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2254	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2255	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2256	mtc=true;
yabahiro	31:45f97698857b	2257	break;
yabahiro	31:45f97698857b	2258	case 255:
kishibekairohan	33:656aa14904a5	2259	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2260	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2261	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2262	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2263	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2264	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2265	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2266	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2267	mtc=true;
yabahiro	31:45f97698857b	2268	break;
yabahiro	31:45f97698857b	2269	case 253:
kishibekairohan	33:656aa14904a5	2270	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2271	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2272	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2273	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2274	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2275	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2276	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2277	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2278	mtc=true;
yabahiro	31:45f97698857b	2279	break;
yabahiro	31:45f97698857b	2280	case 254:
kishibekairohan	33:656aa14904a5	2281	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2282	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2283	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2284	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2285	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2286	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2287	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2288	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2289	mtc=true;
yabahiro	31:45f97698857b	2290	break;
yabahiro	31:45f97698857b	2291	case 1:
kishibekairohan	33:656aa14904a5	2292	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2293	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2294	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2295	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2296	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2297	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2298	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2299	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2300	mtc=true;
yabahiro	31:45f97698857b	2301	break;
yabahiro	31:45f97698857b	2302	case 3:
yabahiro	31:45f97698857b	2303	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2304	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2305	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2306	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2307	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2308	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2309	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2310	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2311	mtc=true;
yabahiro	31:45f97698857b	2312	break;
yabahiro	31:45f97698857b	2313	case 2:
yabahiro	31:45f97698857b	2314	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2315	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2316	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2317	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2318	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2319	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2320	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2321	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2322	mtc=true;
yabahiro	31:45f97698857b	2323	break;
yabahiro	31:45f97698857b	2324	}
yabahiro	36:788274604650	2325	if(g[1]!=98&&mtc==true) {
yabahiro	39:f89166d7411c	2326	switch(g[1]) {
yabahiro	36:788274604650	2327	case 0:
yabahiro	36:788274604650	2328	mtc=false;
yabahiro	36:788274604650	2329	break;
yabahiro	36:788274604650	2330	case 255:
yabahiro	36:788274604650	2331	motor[TIRE_BR].pwm += 5;
yabahiro	36:788274604650	2332	mtc=false;
yabahiro	36:788274604650	2333	break;
yabahiro	36:788274604650	2334	case 253:
yabahiro	36:788274604650	2335	motor[TIRE_BR].pwm += 10;
yabahiro	36:788274604650	2336	mtc=false;
yabahiro	36:788274604650	2337	break;
yabahiro	36:788274604650	2338	case 254:
yabahiro	36:788274604650	2339	motor[TIRE_BR].pwm += 20;
yabahiro	36:788274604650	2340	motor[TIRE_BL].pwm = 0;
yabahiro	36:788274604650	2341	mtc=false;
yabahiro	36:788274604650	2342	break;
yabahiro	36:788274604650	2343	case 1:
yabahiro	36:788274604650	2344	motor[TIRE_BL].pwm += 5;
yabahiro	36:788274604650	2345	mtc=false;
yabahiro	36:788274604650	2346	break;
yabahiro	36:788274604650	2347	case 3:
yabahiro	36:788274604650	2348	motor[TIRE_BL].pwm += 10;
yabahiro	36:788274604650	2349	mtc=false;
yabahiro	36:788274604650	2350	break;
yabahiro	36:788274604650	2351	case 2:
yabahiro	36:788274604650	2352	motor[TIRE_BL].pwm += 20;
yabahiro	36:788274604650	2353	motor[TIRE_BR].pwm = 0;
yabahiro	36:788274604650	2354	mtc=false;
yabahiro	36:788274604650	2355	break;
yabahiro	24:41c23c9a5058	2356	}
yabahiro	31:45f97698857b	2357	} else if(mode==100) {
yabahiro	36:788274604650	2358	motor[TIRE_FR].pwm = 20;
kishibekairohan	32:90f018b10ad6	2359	motor[TIRE_FR].dir = BACK;
yabahiro	36:788274604650	2360	motor[TIRE_FL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2361	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2362	motor[TIRE_BR].pwm = 23;
kishibekairohan	32:90f018b10ad6	2363	motor[TIRE_BR].dir = BACK;
yabahiro	36:788274604650	2364	motor[TIRE_BL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2365	motor[TIRE_BL].dir = FOR;
yabahiro	39:f89166d7411c	2366	if(StertSW) {
yabahiro	39:f89166d7411c	2367	SW_flag = true;
yabahiro	39:f89166d7411c	2368	}
yabahiro	40:7f93984e8ba1	2369	if(SW_flag ==true) {
yabahiro	39:f89166d7411c	2370	motor[TIRE_FR].pwm = 100;
yabahiro	40:7f93984e8ba1	2371	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2372	motor[TIRE_FL].pwm = 100;
yabahiro	40:7f93984e8ba1	2373	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2374	motor[TIRE_BR].pwm = 100;
yabahiro	40:7f93984e8ba1	2375	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2376	motor[TIRE_BL].pwm = 100;
yabahiro	40:7f93984e8ba1	2377	motor[TIRE_BL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2378	fast=60;
yabahiro	40:7f93984e8ba1	2379	normal=40;
yabahiro	40:7f93984e8ba1	2380	slow=20;
yabahiro	40:7f93984e8ba1	2381	mode =1;
yabahiro	40:7f93984e8ba1	2382	cross=0;//十字数える用
yabahiro	40:7f93984e8ba1	2383	cros=0;
yabahiro	40:7f93984e8ba1	2384	count=100000;//wait代替え
yabahiro	40:7f93984e8ba1	2385	UP_flag = false;
yabahiro	39:f89166d7411c	2386	SW_flag = false;
yabahiro	40:7f93984e8ba1	2387	Air_flag = false;
yabahiro	40:7f93984e8ba1	2388	zyouge=false;
yabahiro	40:7f93984e8ba1	2389	zyougedo=false;
yabahiro	40:7f93984e8ba1	2390	dz1=true;
yabahiro	40:7f93984e8ba1	2391	dz1i=false;
yabahiro	40:7f93984e8ba1	2392	dz2=true;
yabahiro	40:7f93984e8ba1	2393	dz2i=false;
yabahiro	40:7f93984e8ba1	2394	dz3=true;
yabahiro	40:7f93984e8ba1	2395	dz3i=false;
yabahiro	40:7f93984e8ba1	2396	dz4=true;
yabahiro	40:7f93984e8ba1	2397	dz4i=false;
yabahiro	40:7f93984e8ba1	2398	through=false;
yabahiro	40:7f93984e8ba1	2399	counts=false;
yabahiro	40:7f93984e8ba1	2400	mtc=false;
yabahiro	40:7f93984e8ba1	2401	mtc2 = false;
yabahiro	40:7f93984e8ba1	2402	current = 0;
yabahiro	40:7f93984e8ba1	2403	if(StertSW==false) {
yabahiro	40:7f93984e8ba1	2404	SW_flag = false;
yabahiro	40:7f93984e8ba1	2405	}
yabahiro	39:f89166d7411c	2406	}
yabahiro	21:1f1e9c585da8	2407	}
yabahiro	40:7f93984e8ba1	2408
yabahiro	40:7f93984e8ba1	2409
kishibekairohan	13:b6e02d6261d7	2410	}
kishibekairohan	13:b6e02d6261d7	2411	#endif
kishibekairohan	13:b6e02d6261d7	2412
kishibekairohan	13:b6e02d6261d7	2413	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	2414	static void Process5()
yabahiro	21:1f1e9c585da8	2415	{
yabahiro	40:7f93984e8ba1	2416	LedMode(5);
yabahiro	40:7f93984e8ba1	2417	count++;
yabahiro	40:7f93984e8ba1	2418	if(mode==1) {//スタートゾーンから白線検知
yabahiro	41:e1dd6d97f17d	2419	fast=50;
yabahiro	40:7f93984e8ba1	2420	normal=30;
yabahiro	40:7f93984e8ba1	2421	slow=20;
yabahiro	41:e1dd6d97f17d	2422	motor[TIRE_FR].pwm = 35;
yabahiro	40:7f93984e8ba1	2423	motor[TIRE_FR].dir = FOR;
yabahiro	41:e1dd6d97f17d	2424	motor[TIRE_FL].pwm = 35;
yabahiro	40:7f93984e8ba1	2425	motor[TIRE_FL].dir = BACK;
yabahiro	41:e1dd6d97f17d	2426	motor[TIRE_BR].pwm = 35;
yabahiro	40:7f93984e8ba1	2427	motor[TIRE_BR].dir = FOR;
yabahiro	41:e1dd6d97f17d	2428	motor[TIRE_BL].pwm = 32;
yabahiro	40:7f93984e8ba1	2429	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2430	if(g[2]==0) {
yabahiro	40:7f93984e8ba1	2431	count=100000;
yabahiro	40:7f93984e8ba1	2432	cross=0;
yabahiro	40:7f93984e8ba1	2433	mode=3;
yabahiro	40:7f93984e8ba1	2434	}
yabahiro	40:7f93984e8ba1	2435	} 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	2436	motor[TIRE_FR].pwm = 27;
yabahiro	40:7f93984e8ba1	2437	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2438	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2439	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2440	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2441	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2442	motor[TIRE_BL].pwm = 25;
yabahiro	40:7f93984e8ba1	2443	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2444	if(g[0]==0) {
yabahiro	40:7f93984e8ba1	2445	mode=10;
yabahiro	40:7f93984e8ba1	2446	count=100000;
yabahiro	40:7f93984e8ba1	2447	}
yabahiro	40:7f93984e8ba1	2448	} else if(mode==10) { //縦ライントレース
yabahiro	40:7f93984e8ba1	2449
yabahiro	40:7f93984e8ba1	2450	if(counts==false&&g[2]==0) {
yabahiro	40:7f93984e8ba1	2451	cros++;
yabahiro	40:7f93984e8ba1	2452	counts=true;
yabahiro	40:7f93984e8ba1	2453	}
yabahiro	40:7f93984e8ba1	2454	if(counts==true&&g[2]==99) {
yabahiro	40:7f93984e8ba1	2455	counts=false;
yabahiro	40:7f93984e8ba1	2456	}
yabahiro	40:7f93984e8ba1	2457
yabahiro	40:7f93984e8ba1	2458	if(cros==Twsh) {
yabahiro	40:7f93984e8ba1	2459	mode=11;
yabahiro	40:7f93984e8ba1	2460	count=0;
yabahiro	40:7f93984e8ba1	2461	cros=0;
yabahiro	40:7f93984e8ba1	2462	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2463	switch(g[1]) {
yabahiro	40:7f93984e8ba1	2464	case 98:
yabahiro	40:7f93984e8ba1	2465	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2466	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2467	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2468	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2469	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2470	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2471	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2472	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2473	mtc=true;
yabahiro	40:7f93984e8ba1	2474	if(count>80000) {
yabahiro	40:7f93984e8ba1	2475	cross++;
yabahiro	40:7f93984e8ba1	2476	count=0;
yabahiro	40:7f93984e8ba1	2477	}
yabahiro	40:7f93984e8ba1	2478	if(cross==Twsh) {
yabahiro	40:7f93984e8ba1	2479	mode=11;
yabahiro	40:7f93984e8ba1	2480	count=0;
yabahiro	40:7f93984e8ba1	2481	cross=0;
yabahiro	40:7f93984e8ba1	2482	}
yabahiro	40:7f93984e8ba1	2483	break;
yabahiro	40:7f93984e8ba1	2484	case 0:
yabahiro	40:7f93984e8ba1	2485	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2486	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2487	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2488	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2489	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2490	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2491	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2492	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2493	mtc=true;
yabahiro	40:7f93984e8ba1	2494	break;
yabahiro	40:7f93984e8ba1	2495	case 255:
yabahiro	40:7f93984e8ba1	2496	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2497	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2498	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2499	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2500	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2501	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2502	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2503	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2504	mtc=true;
yabahiro	40:7f93984e8ba1	2505	break;
yabahiro	40:7f93984e8ba1	2506	case 253:
yabahiro	40:7f93984e8ba1	2507	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2508	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2509	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2510	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2511	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2512	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2513	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2514	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2515	mtc=true;
yabahiro	40:7f93984e8ba1	2516	break;
yabahiro	40:7f93984e8ba1	2517	case 254:
yabahiro	40:7f93984e8ba1	2518	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2519	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2520	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2521	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2522	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2523	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2524	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2525	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2526	mtc=true;
yabahiro	40:7f93984e8ba1	2527	break;
yabahiro	40:7f93984e8ba1	2528	case 1:
yabahiro	40:7f93984e8ba1	2529	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2530	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2531	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2532	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2533	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2534	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2535	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2536	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2537	mtc=true;
yabahiro	40:7f93984e8ba1	2538	break;
yabahiro	40:7f93984e8ba1	2539	case 3:
yabahiro	40:7f93984e8ba1	2540	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2541	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2542	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2543	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2544	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2545	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2546	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2547	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2548	mtc=true;
yabahiro	40:7f93984e8ba1	2549	break;
yabahiro	40:7f93984e8ba1	2550	case 2:
yabahiro	40:7f93984e8ba1	2551	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2552	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2553	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2554	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2555	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2556	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2557	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2558	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2559	mtc=true;
yabahiro	40:7f93984e8ba1	2560	break;
yabahiro	40:7f93984e8ba1	2561	}
yabahiro	40:7f93984e8ba1	2562	if(g[0]!=98&&mtc==true) {
yabahiro	40:7f93984e8ba1	2563	switch(g[0]) {
yabahiro	40:7f93984e8ba1	2564	case 0:
yabahiro	40:7f93984e8ba1	2565	mtc=false;
yabahiro	40:7f93984e8ba1	2566	break;
yabahiro	40:7f93984e8ba1	2567	case 255:
yabahiro	40:7f93984e8ba1	2568	motor[TIRE_FL].pwm += 5;
yabahiro	40:7f93984e8ba1	2569	mtc=false;
yabahiro	40:7f93984e8ba1	2570	break;
yabahiro	40:7f93984e8ba1	2571	case 253:
yabahiro	40:7f93984e8ba1	2572	motor[TIRE_FL].pwm += 10;
yabahiro	40:7f93984e8ba1	2573	mtc=false;
yabahiro	40:7f93984e8ba1	2574	break;
yabahiro	40:7f93984e8ba1	2575	case 254:
yabahiro	40:7f93984e8ba1	2576	motor[TIRE_FL].pwm += 20;
yabahiro	40:7f93984e8ba1	2577	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2578	mtc=false;
yabahiro	40:7f93984e8ba1	2579	break;
yabahiro	40:7f93984e8ba1	2580	case 1:
yabahiro	40:7f93984e8ba1	2581	motor[TIRE_FR].pwm += 5;
yabahiro	40:7f93984e8ba1	2582	mtc=false;
yabahiro	40:7f93984e8ba1	2583	break;
yabahiro	40:7f93984e8ba1	2584	case 3:
yabahiro	40:7f93984e8ba1	2585	motor[TIRE_FR].pwm += 10;
yabahiro	40:7f93984e8ba1	2586	mtc=false;
yabahiro	40:7f93984e8ba1	2587	break;
yabahiro	40:7f93984e8ba1	2588	case 2:
yabahiro	40:7f93984e8ba1	2589	motor[TIRE_FR].pwm += 20;
yabahiro	40:7f93984e8ba1	2590	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2591	mtc=false;
yabahiro	40:7f93984e8ba1	2592	break;
yabahiro	40:7f93984e8ba1	2593	}
yabahiro	40:7f93984e8ba1	2594	}
yabahiro	40:7f93984e8ba1	2595	} else if(mode==11) {
yabahiro	40:7f93984e8ba1	2596	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2597	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2598	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2599	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2600	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2601	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2602	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2603	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2604	if(g[2]==0) {
yabahiro	40:7f93984e8ba1	2605	count=0;
yabahiro	40:7f93984e8ba1	2606	cross=0;
yabahiro	40:7f93984e8ba1	2607	mode=20;
yabahiro	40:7f93984e8ba1	2608	}
yabahiro	40:7f93984e8ba1	2609	} else if(mode==20) {
yabahiro	40:7f93984e8ba1	2610
yabahiro	40:7f93984e8ba1	2611	if(Twsh==2) {
yabahiro	40:7f93984e8ba1	2612	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	40:7f93984e8ba1	2613	}
yabahiro	40:7f93984e8ba1	2614
yabahiro	40:7f93984e8ba1	2615	if(counts==false&&g[1]==0) {
yabahiro	40:7f93984e8ba1	2616	cros++;
yabahiro	40:7f93984e8ba1	2617	counts=true;
yabahiro	40:7f93984e8ba1	2618	}
yabahiro	40:7f93984e8ba1	2619	if(counts==true&&g[1]==99) {
yabahiro	40:7f93984e8ba1	2620	counts=false;
yabahiro	40:7f93984e8ba1	2621	}
yabahiro	40:7f93984e8ba1	2622
yabahiro	40:7f93984e8ba1	2623	if(cros==2) {
yabahiro	40:7f93984e8ba1	2624	//mode=21;
yabahiro	40:7f93984e8ba1	2625	//count=0;
yabahiro	40:7f93984e8ba1	2626	//cros=0;
yabahiro	40:7f93984e8ba1	2627	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2628
yabahiro	40:7f93984e8ba1	2629	switch(g[2]) {
yabahiro	40:7f93984e8ba1	2630	case 98:
yabahiro	40:7f93984e8ba1	2631	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2632	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2633	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2634	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2635	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2636	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2637	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2638	motor[TIRE_BL].dir = BACK;
yabahiro	41:e1dd6d97f17d	2639	if(count>50000) {
yabahiro	40:7f93984e8ba1	2640	cross++;
yabahiro	40:7f93984e8ba1	2641	count=0;
yabahiro	40:7f93984e8ba1	2642	}
yabahiro	40:7f93984e8ba1	2643	mtc2=true;
yabahiro	40:7f93984e8ba1	2644	if(cross==1) {
yabahiro	40:7f93984e8ba1	2645	fast=30;
yabahiro	40:7f93984e8ba1	2646	normal=20;
yabahiro	40:7f93984e8ba1	2647	slow=20;
yabahiro	40:7f93984e8ba1	2648	}
yabahiro	40:7f93984e8ba1	2649	if(cross==2) {
yabahiro	40:7f93984e8ba1	2650	mode=21;
yabahiro	40:7f93984e8ba1	2651	cross=0;
yabahiro	41:e1dd6d97f17d	2652	count=0;
yabahiro	40:7f93984e8ba1	2653	}
yabahiro	40:7f93984e8ba1	2654	break;
yabahiro	40:7f93984e8ba1	2655	case 0:
yabahiro	40:7f93984e8ba1	2656	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2657	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2658	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2659	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2660	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2661	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2662	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2663	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2664	mtc2=true;
yabahiro	40:7f93984e8ba1	2665	break;
yabahiro	40:7f93984e8ba1	2666	case 255:
yabahiro	40:7f93984e8ba1	2667	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2668	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2669	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2670	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2671	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2672	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2673	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2674	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2675	mtc2=true;
yabahiro	40:7f93984e8ba1	2676	break;
yabahiro	40:7f93984e8ba1	2677	case 253:
yabahiro	40:7f93984e8ba1	2678	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2679	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2680	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2681	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2682	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2683	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2684	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2685	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2686	mtc2=true;
yabahiro	40:7f93984e8ba1	2687	break;
yabahiro	40:7f93984e8ba1	2688	case 254:
yabahiro	40:7f93984e8ba1	2689	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2690	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2691	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2692	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2693	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2694	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2695	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2696	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2697	mtc2=true;
yabahiro	40:7f93984e8ba1	2698	break;
yabahiro	40:7f93984e8ba1	2699	case 1:
yabahiro	40:7f93984e8ba1	2700	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2701	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2702	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2703	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2704	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2705	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2706	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2707	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2708	mtc2=true;
yabahiro	40:7f93984e8ba1	2709	break;
yabahiro	40:7f93984e8ba1	2710	case 3:
yabahiro	40:7f93984e8ba1	2711	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2712	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2713	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2714	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2715	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2716	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2717	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2718	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2719	mtc2=true;
yabahiro	40:7f93984e8ba1	2720	break;
yabahiro	40:7f93984e8ba1	2721	case 2:
yabahiro	40:7f93984e8ba1	2722	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2723	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2724	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2725	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2726	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2727	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2728	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2729	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2730	mtc2=true;
yabahiro	40:7f93984e8ba1	2731	break;
yabahiro	40:7f93984e8ba1	2732	}
yabahiro	40:7f93984e8ba1	2733	if(g[2]!=98&&mtc2==true) {
yabahiro	40:7f93984e8ba1	2734	switch(g[3]) {
yabahiro	40:7f93984e8ba1	2735	case 0:
yabahiro	40:7f93984e8ba1	2736	mtc2=false;
yabahiro	40:7f93984e8ba1	2737	break;
yabahiro	40:7f93984e8ba1	2738	case 255:
yabahiro	40:7f93984e8ba1	2739	motor[TIRE_BL].pwm += 5;
yabahiro	40:7f93984e8ba1	2740	mtc2=false;
yabahiro	40:7f93984e8ba1	2741	break;
yabahiro	40:7f93984e8ba1	2742	case 253:
yabahiro	40:7f93984e8ba1	2743	motor[TIRE_BL].pwm += 10;
yabahiro	40:7f93984e8ba1	2744	mtc2=false;
yabahiro	40:7f93984e8ba1	2745	break;
yabahiro	40:7f93984e8ba1	2746	case 254:
yabahiro	40:7f93984e8ba1	2747	motor[TIRE_BL].pwm += 20;
yabahiro	40:7f93984e8ba1	2748	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2749	mtc2=false;
yabahiro	40:7f93984e8ba1	2750	break;
yabahiro	40:7f93984e8ba1	2751	case 1:
yabahiro	40:7f93984e8ba1	2752	motor[TIRE_FL].pwm += 5;
yabahiro	40:7f93984e8ba1	2753	mtc2=false;
yabahiro	40:7f93984e8ba1	2754	break;
yabahiro	40:7f93984e8ba1	2755	case 3:
yabahiro	40:7f93984e8ba1	2756	motor[TIRE_FL].pwm += 10;
yabahiro	40:7f93984e8ba1	2757	mtc2=false;
yabahiro	40:7f93984e8ba1	2758	break;
yabahiro	40:7f93984e8ba1	2759	case 2:
yabahiro	40:7f93984e8ba1	2760	motor[TIRE_FL].pwm += 20;
yabahiro	40:7f93984e8ba1	2761	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2762	mtc2=false;
yabahiro	40:7f93984e8ba1	2763	break;
yabahiro	40:7f93984e8ba1	2764	}
yabahiro	40:7f93984e8ba1	2765	}
yabahiro	40:7f93984e8ba1	2766	} else if(mode==21) {
yabahiro	40:7f93984e8ba1	2767	motor[TIRE_FR].pwm = 20;
yabahiro	41:e1dd6d97f17d	2768	motor[TIRE_FR].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2769	motor[TIRE_FL].pwm = 20;
yabahiro	41:e1dd6d97f17d	2770	motor[TIRE_FL].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2771	motor[TIRE_BR].pwm = 20;
yabahiro	41:e1dd6d97f17d	2772	motor[TIRE_BR].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2773	motor[TIRE_BL].pwm = 20;
yabahiro	41:e1dd6d97f17d	2774	motor[TIRE_BL].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2775	if(count<=100000) {
yabahiro	41:e1dd6d97f17d	2776	mode=22;
yabahiro	41:e1dd6d97f17d	2777	}
yabahiro	41:e1dd6d97f17d	2778	} else if(mode==22) {
yabahiro	41:e1dd6d97f17d	2779	motor[TIRE_FR].pwm = 20;
yabahiro	40:7f93984e8ba1	2780	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2781	motor[TIRE_FL].pwm = 20;
yabahiro	40:7f93984e8ba1	2782	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2783	motor[TIRE_BR].pwm = 20;
yabahiro	40:7f93984e8ba1	2784	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2785	motor[TIRE_BL].pwm = 20;
yabahiro	40:7f93984e8ba1	2786	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2787	if(g[2]!=98) {
yabahiro	40:7f93984e8ba1	2788	mode=30;
yabahiro	40:7f93984e8ba1	2789	}
yabahiro	40:7f93984e8ba1	2790	} else if(mode==30) {
yabahiro	41:e1dd6d97f17d	2791	motor[TIRE_FR].pwm = 64;
yabahiro	40:7f93984e8ba1	2792	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2793	motor[TIRE_FL].pwm = 60;
yabahiro	40:7f93984e8ba1	2794	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2795	motor[TIRE_BR].pwm = 60;
yabahiro	40:7f93984e8ba1	2796	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2797	motor[TIRE_BL].pwm = 60;
yabahiro	40:7f93984e8ba1	2798	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2799	if(g[1]==98) {
yabahiro	40:7f93984e8ba1	2800	mode=31;
yabahiro	41:e1dd6d97f17d	2801	count=0;
yabahiro	40:7f93984e8ba1	2802	}
yabahiro	40:7f93984e8ba1	2803	} else if(mode==31) {
yabahiro	41:e1dd6d97f17d	2804	motor[TIRE_FR].pwm = 10;
yabahiro	41:e1dd6d97f17d	2805	motor[TIRE_FR].dir = FREE;
yabahiro	41:e1dd6d97f17d	2806	motor[TIRE_FL].pwm = 10;
yabahiro	41:e1dd6d97f17d	2807	motor[TIRE_FL].dir = FREE;
yabahiro	41:e1dd6d97f17d	2808	motor[TIRE_BR].pwm = 10;
yabahiro	41:e1dd6d97f17d	2809	motor[TIRE_BR].dir = FREE;
yabahiro	41:e1dd6d97f17d	2810	motor[TIRE_BL].pwm = 10;
yabahiro	41:e1dd6d97f17d	2811	motor[TIRE_BL].dir = FREE;
yabahiro	41:e1dd6d97f17d	2812	if(count>=10000) {
yabahiro	41:e1dd6d97f17d	2813	mode=32;
yabahiro	40:7f93984e8ba1	2814	count=0;
yabahiro	40:7f93984e8ba1	2815	}
yabahiro	40:7f93984e8ba1	2816	} else if(mode==32) {
yabahiro	41:e1dd6d97f17d	2817	motor[TIRE_FR].pwm = 5;
yabahiro	41:e1dd6d97f17d	2818	motor[TIRE_FR].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2819	motor[TIRE_FL].pwm = 5;
yabahiro	41:e1dd6d97f17d	2820	motor[TIRE_FL].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2821	motor[TIRE_BR].pwm = 5;
yabahiro	41:e1dd6d97f17d	2822	motor[TIRE_BR].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2823	motor[TIRE_BL].pwm = 5;
yabahiro	41:e1dd6d97f17d	2824	motor[TIRE_BL].dir = BRAKE;
yabahiro	41:e1dd6d97f17d	2825	if(count>=40000) {
yabahiro	41:e1dd6d97f17d	2826	mode=33;
yabahiro	41:e1dd6d97f17d	2827	count=0;
yabahiro	41:e1dd6d97f17d	2828	}
yabahiro	41:e1dd6d97f17d	2829	} else if(mode==33) {
yabahiro	41:e1dd6d97f17d	2830	motor[TIRE_FR].pwm = 0;
yabahiro	41:e1dd6d97f17d	2831	motor[TIRE_FR].dir = FREE;
yabahiro	41:e1dd6d97f17d	2832	motor[TIRE_FL].pwm = 25;
yabahiro	41:e1dd6d97f17d	2833	motor[TIRE_FL].dir = BACK;
yabahiro	41:e1dd6d97f17d	2834	motor[TIRE_BR].pwm = 25;
yabahiro	41:e1dd6d97f17d	2835	motor[TIRE_BR].dir = FOR;
yabahiro	41:e1dd6d97f17d	2836	motor[TIRE_BL].pwm = 0;
yabahiro	41:e1dd6d97f17d	2837	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2838	if(g[3]==0) {
yabahiro	40:7f93984e8ba1	2839	count=0;
yabahiro	40:7f93984e8ba1	2840	if(Twsh==2) {
yabahiro	40:7f93984e8ba1	2841	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	40:7f93984e8ba1	2842	}
yabahiro	40:7f93984e8ba1	2843	mode=40;
yabahiro	40:7f93984e8ba1	2844	}
yabahiro	40:7f93984e8ba1	2845	} else if(mode==40) {
yabahiro	41:e1dd6d97f17d	2846	if(LIF\|\|LIB) {
yabahiro	40:7f93984e8ba1	2847	mode=42;
yabahiro	40:7f93984e8ba1	2848	}
yabahiro	40:7f93984e8ba1	2849
yabahiro	40:7f93984e8ba1	2850	if(counts==false&&g[0]==0) {
yabahiro	40:7f93984e8ba1	2851	cros++;
yabahiro	40:7f93984e8ba1	2852	counts=true;
yabahiro	40:7f93984e8ba1	2853	}
yabahiro	40:7f93984e8ba1	2854	if(counts==true&&g[0]==99) {
yabahiro	40:7f93984e8ba1	2855	counts=false;
yabahiro	40:7f93984e8ba1	2856	}
yabahiro	40:7f93984e8ba1	2857
yabahiro	40:7f93984e8ba1	2858	if(cros==2) {
yabahiro	40:7f93984e8ba1	2859	// mode=41;
yabahiro	40:7f93984e8ba1	2860	//count=0;
yabahiro	40:7f93984e8ba1	2861	//cros=0;
yabahiro	40:7f93984e8ba1	2862	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2863
yabahiro	40:7f93984e8ba1	2864	switch(g[3]) {
yabahiro	40:7f93984e8ba1	2865	case 98:
yabahiro	40:7f93984e8ba1	2866	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2867	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2868	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2869	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2870	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2871	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2872	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2873	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2874	if(count>20000) {
yabahiro	40:7f93984e8ba1	2875	cross++;
yabahiro	40:7f93984e8ba1	2876	count=0;
yabahiro	40:7f93984e8ba1	2877	}
yabahiro	40:7f93984e8ba1	2878	mtc2=true;
yabahiro	40:7f93984e8ba1	2879	if(cross==1) {
yabahiro	40:7f93984e8ba1	2880	mode=41;
yabahiro	40:7f93984e8ba1	2881	count=0;
yabahiro	40:7f93984e8ba1	2882	cross=0;
yabahiro	40:7f93984e8ba1	2883	}
yabahiro	40:7f93984e8ba1	2884	break;
yabahiro	40:7f93984e8ba1	2885	case 0:
yabahiro	40:7f93984e8ba1	2886	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2887	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2888	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2889	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2890	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2891	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2892	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2893	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2894	mtc2=true;
yabahiro	40:7f93984e8ba1	2895	break;
yabahiro	40:7f93984e8ba1	2896	case 255:
yabahiro	40:7f93984e8ba1	2897	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2898	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2899	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2900	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2901	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2902	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2903	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2904	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2905	mtc2=true;
yabahiro	40:7f93984e8ba1	2906	break;
yabahiro	40:7f93984e8ba1	2907	case 253:
yabahiro	40:7f93984e8ba1	2908	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2909	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2910	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2911	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2912	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2913	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2914	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2915	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2916	mtc2=true;
yabahiro	40:7f93984e8ba1	2917	break;
yabahiro	40:7f93984e8ba1	2918	case 254:
yabahiro	40:7f93984e8ba1	2919	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2920	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2921	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2922	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2923	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2924	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2925	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2926	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2927	mtc2=true;
yabahiro	40:7f93984e8ba1	2928	break;
yabahiro	40:7f93984e8ba1	2929	case 1:
yabahiro	40:7f93984e8ba1	2930	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2931	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2932	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2933	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2934	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2935	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2936	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2937	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2938	mtc2=true;
yabahiro	40:7f93984e8ba1	2939	break;
yabahiro	40:7f93984e8ba1	2940	case 3:
yabahiro	40:7f93984e8ba1	2941	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2942	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2943	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2944	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2945	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2946	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2947	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2948	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2949	mtc2=true;
yabahiro	40:7f93984e8ba1	2950	break;
yabahiro	40:7f93984e8ba1	2951	case 2:
yabahiro	40:7f93984e8ba1	2952	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2953	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2954	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2955	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2956	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2957	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2958	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2959	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2960	mtc2=true;
yabahiro	40:7f93984e8ba1	2961	break;
yabahiro	40:7f93984e8ba1	2962	}
yabahiro	40:7f93984e8ba1	2963	if(g[2]!=98&&mtc2==true) {
yabahiro	40:7f93984e8ba1	2964	switch(g[2]) {
yabahiro	40:7f93984e8ba1	2965	case 0:
yabahiro	40:7f93984e8ba1	2966	mtc2=false;
yabahiro	40:7f93984e8ba1	2967	break;
yabahiro	40:7f93984e8ba1	2968	case 255:
yabahiro	40:7f93984e8ba1	2969	motor[TIRE_FR].pwm += 5;
yabahiro	40:7f93984e8ba1	2970	mtc2=false;
yabahiro	40:7f93984e8ba1	2971	break;
yabahiro	40:7f93984e8ba1	2972	case 253:
yabahiro	40:7f93984e8ba1	2973	motor[TIRE_FR].pwm += 10;
yabahiro	40:7f93984e8ba1	2974	mtc2=false;
yabahiro	40:7f93984e8ba1	2975	break;
yabahiro	40:7f93984e8ba1	2976	case 254:
yabahiro	40:7f93984e8ba1	2977	motor[TIRE_FR].pwm += 20;
yabahiro	40:7f93984e8ba1	2978	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2979	mtc2=false;
yabahiro	40:7f93984e8ba1	2980	break;
yabahiro	40:7f93984e8ba1	2981	case 1:
yabahiro	40:7f93984e8ba1	2982	motor[TIRE_BR].pwm += 5;
yabahiro	40:7f93984e8ba1	2983	mtc2=false;
yabahiro	40:7f93984e8ba1	2984	break;
yabahiro	40:7f93984e8ba1	2985	case 3:
yabahiro	40:7f93984e8ba1	2986	motor[TIRE_BR].pwm += 10;
yabahiro	40:7f93984e8ba1	2987	mtc2=false;
yabahiro	40:7f93984e8ba1	2988	break;
yabahiro	40:7f93984e8ba1	2989	case 2:
yabahiro	40:7f93984e8ba1	2990	motor[TIRE_BR].pwm += 20;
yabahiro	40:7f93984e8ba1	2991	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2992	mtc2=false;
yabahiro	40:7f93984e8ba1	2993	break;
yabahiro	40:7f93984e8ba1	2994	}
yabahiro	40:7f93984e8ba1	2995	}
yabahiro	40:7f93984e8ba1	2996	} else if(mode==41) {
yabahiro	41:e1dd6d97f17d	2997	if(LIF\|\|LIB) {
yabahiro	41:e1dd6d97f17d	2998	mode=42;
yabahiro	41:e1dd6d97f17d	2999	}
yabahiro	40:7f93984e8ba1	3000	motor[TIRE_FR].pwm = 30;
yabahiro	40:7f93984e8ba1	3001	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3002	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	3003	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	3004	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3005	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	3006	motor[TIRE_BL].pwm = 30;
yabahiro	40:7f93984e8ba1	3007	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3008	if(g[1]==0) {
yabahiro	40:7f93984e8ba1	3009	count=0;
yabahiro	40:7f93984e8ba1	3010	mode=70;
yabahiro	40:7f93984e8ba1	3011	normal=60;
yabahiro	40:7f93984e8ba1	3012	fast=80;
yabahiro	40:7f93984e8ba1	3013	slow=40;
yabahiro	40:7f93984e8ba1	3014	}
yabahiro	40:7f93984e8ba1	3015	} else if(mode==42) {
yabahiro	41:e1dd6d97f17d	3016	motor[TIRE_FR].pwm = 0;
yabahiro	41:e1dd6d97f17d	3017	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	3018	motor[TIRE_FL].pwm = 30;
yabahiro	40:7f93984e8ba1	3019	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3020	motor[TIRE_BR].pwm = 30;
yabahiro	40:7f93984e8ba1	3021	motor[TIRE_BR].dir = BACK;
yabahiro	41:e1dd6d97f17d	3022	motor[TIRE_BL].pwm = 0;
yabahiro	41:e1dd6d97f17d	3023	motor[TIRE_BL].dir = FREE;
yabahiro	41:e1dd6d97f17d	3024	if(g[0]==0) {
yabahiro	40:7f93984e8ba1	3025	count=0;
yabahiro	40:7f93984e8ba1	3026	mode=70;
yabahiro	40:7f93984e8ba1	3027	normal=60;
yabahiro	40:7f93984e8ba1	3028	fast=80;
yabahiro	40:7f93984e8ba1	3029	slow=40;
yabahiro	40:7f93984e8ba1	3030	}
yabahiro	40:7f93984e8ba1	3031
yabahiro	40:7f93984e8ba1	3032	} else if(mode==70)
yabahiro	40:7f93984e8ba1	3033	switch(g[0]) {
yabahiro	40:7f93984e8ba1	3034	case 99:
yabahiro	40:7f93984e8ba1	3035	if(count>=100000) {
yabahiro	40:7f93984e8ba1	3036	cross++;
yabahiro	40:7f93984e8ba1	3037	mode=100;
yabahiro	40:7f93984e8ba1	3038	count=0;
yabahiro	40:7f93984e8ba1	3039	}
yabahiro	41:e1dd6d97f17d	3040	if(cross==2) {
yabahiro	40:7f93984e8ba1	3041	cross=0;
yabahiro	40:7f93984e8ba1	3042	mode=100;
yabahiro	40:7f93984e8ba1	3043	}
yabahiro	40:7f93984e8ba1	3044	break;
yabahiro	40:7f93984e8ba1	3045	case 98:
yabahiro	40:7f93984e8ba1	3046	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	3047	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3048	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	3049	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3050	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	3051	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3052	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	3053	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3054	break;
yabahiro	40:7f93984e8ba1	3055	case 0:
yabahiro	40:7f93984e8ba1	3056	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	3057	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3058	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	3059	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3060	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	3061	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3062	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	3063	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3064	mtc=true;
yabahiro	40:7f93984e8ba1	3065	break;
yabahiro	40:7f93984e8ba1	3066	case 255:
yabahiro	40:7f93984e8ba1	3067	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	3068	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3069	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	3070	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3071	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	3072	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3073	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	3074	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3075	mtc=true;
yabahiro	40:7f93984e8ba1	3076	break;
yabahiro	40:7f93984e8ba1	3077	case 253:
yabahiro	40:7f93984e8ba1	3078	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	3079	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3080	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	3081	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	3082	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3083	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	3084	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	3085	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3086	mtc=true;
yabahiro	40:7f93984e8ba1	3087	break;
yabahiro	40:7f93984e8ba1	3088	case 254:
yabahiro	40:7f93984e8ba1	3089	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	3090	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3091	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	3092	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	3093	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3094	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	3095	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	3096	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3097	mtc=true;
yabahiro	40:7f93984e8ba1	3098	break;
yabahiro	40:7f93984e8ba1	3099	case 1:
yabahiro	40:7f93984e8ba1	3100	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	3101	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3102	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	3103	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3104	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	3105	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3106	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	3107	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3108	mtc=true;
yabahiro	40:7f93984e8ba1	3109	break;
yabahiro	40:7f93984e8ba1	3110	case 3:
yabahiro	40:7f93984e8ba1	3111	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	3112	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	3113	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	3114	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3115	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	3116	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3117	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3118	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	3119	mtc=true;
yabahiro	40:7f93984e8ba1	3120	break;
yabahiro	40:7f93984e8ba1	3121	case 2:
yabahiro	40:7f93984e8ba1	3122	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	3123	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	3124	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	3125	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3126	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	3127	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3128	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3129	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	3130	mtc=true;
yabahiro	40:7f93984e8ba1	3131	break;
yabahiro	40:7f93984e8ba1	3132	}
yabahiro	40:7f93984e8ba1	3133	if(g[1]!=98&&mtc==true) {
yabahiro	40:7f93984e8ba1	3134	switch(g[1]) {
yabahiro	40:7f93984e8ba1	3135	case 0:
yabahiro	40:7f93984e8ba1	3136	mtc=false;
yabahiro	40:7f93984e8ba1	3137	break;
yabahiro	40:7f93984e8ba1	3138	case 255:
yabahiro	40:7f93984e8ba1	3139	motor[TIRE_BR].pwm += 5;
yabahiro	40:7f93984e8ba1	3140	mtc=false;
yabahiro	40:7f93984e8ba1	3141	break;
yabahiro	40:7f93984e8ba1	3142	case 253:
yabahiro	40:7f93984e8ba1	3143	motor[TIRE_BR].pwm += 10;
yabahiro	40:7f93984e8ba1	3144	mtc=false;
yabahiro	40:7f93984e8ba1	3145	break;
yabahiro	40:7f93984e8ba1	3146	case 254:
yabahiro	40:7f93984e8ba1	3147	motor[TIRE_BR].pwm += 20;
yabahiro	40:7f93984e8ba1	3148	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3149	mtc=false;
yabahiro	40:7f93984e8ba1	3150	break;
yabahiro	40:7f93984e8ba1	3151	case 1:
yabahiro	40:7f93984e8ba1	3152	motor[TIRE_BL].pwm += 5;
yabahiro	40:7f93984e8ba1	3153	mtc=false;
yabahiro	40:7f93984e8ba1	3154	break;
yabahiro	40:7f93984e8ba1	3155	case 3:
yabahiro	40:7f93984e8ba1	3156	motor[TIRE_BL].pwm += 10;
yabahiro	40:7f93984e8ba1	3157	mtc=false;
yabahiro	40:7f93984e8ba1	3158	break;
yabahiro	40:7f93984e8ba1	3159	case 2:
yabahiro	40:7f93984e8ba1	3160	motor[TIRE_BL].pwm += 20;
yabahiro	40:7f93984e8ba1	3161	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3162	mtc=false;
yabahiro	40:7f93984e8ba1	3163	break;
yabahiro	40:7f93984e8ba1	3164	}
yabahiro	40:7f93984e8ba1	3165	} else if(mode==100) {
yabahiro	40:7f93984e8ba1	3166	motor[TIRE_FR].pwm = 20;
yabahiro	40:7f93984e8ba1	3167	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3168	motor[TIRE_FL].pwm = 20;
yabahiro	40:7f93984e8ba1	3169	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3170	motor[TIRE_BR].pwm = 23;
yabahiro	40:7f93984e8ba1	3171	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3172	motor[TIRE_BL].pwm = 20;
yabahiro	40:7f93984e8ba1	3173	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3174	if(StertSW) {
yabahiro	40:7f93984e8ba1	3175	SW_flag = true;
yabahiro	40:7f93984e8ba1	3176	}
yabahiro	40:7f93984e8ba1	3177	if(SW_flag ==true) {
yabahiro	40:7f93984e8ba1	3178	motor[TIRE_FR].pwm = 100;
yabahiro	40:7f93984e8ba1	3179	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3180	motor[TIRE_FL].pwm = 100;
yabahiro	40:7f93984e8ba1	3181	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3182	motor[TIRE_BR].pwm = 100;
yabahiro	40:7f93984e8ba1	3183	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3184	motor[TIRE_BL].pwm = 100;
yabahiro	40:7f93984e8ba1	3185	motor[TIRE_BL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3186	fast=60;
yabahiro	40:7f93984e8ba1	3187	normal=40;
yabahiro	40:7f93984e8ba1	3188	slow=20;
yabahiro	40:7f93984e8ba1	3189	mode =1;
yabahiro	40:7f93984e8ba1	3190	cross=0;//十字数える用
yabahiro	40:7f93984e8ba1	3191	cros=0;
yabahiro	40:7f93984e8ba1	3192	count=100000;//wait代替え
yabahiro	40:7f93984e8ba1	3193	UP_flag = false;
yabahiro	40:7f93984e8ba1	3194	SW_flag = false;
yabahiro	40:7f93984e8ba1	3195	Air_flag = false;
yabahiro	40:7f93984e8ba1	3196	zyouge=false;
yabahiro	40:7f93984e8ba1	3197	zyougedo=false;
yabahiro	40:7f93984e8ba1	3198	dz1=true;
yabahiro	40:7f93984e8ba1	3199	dz1i=false;
yabahiro	40:7f93984e8ba1	3200	dz2=true;
yabahiro	40:7f93984e8ba1	3201	dz2i=false;
yabahiro	40:7f93984e8ba1	3202	dz3=true;
yabahiro	40:7f93984e8ba1	3203	dz3i=false;
yabahiro	40:7f93984e8ba1	3204	dz4=true;
yabahiro	40:7f93984e8ba1	3205	dz4i=false;
yabahiro	40:7f93984e8ba1	3206	through=false;
yabahiro	40:7f93984e8ba1	3207	counts=false;
yabahiro	40:7f93984e8ba1	3208	mtc=false;
yabahiro	40:7f93984e8ba1	3209	mtc2 = false;
yabahiro	40:7f93984e8ba1	3210	current = 0;
yabahiro	40:7f93984e8ba1	3211	if(StertSW==false) {
yabahiro	40:7f93984e8ba1	3212	SW_flag = false;
yabahiro	40:7f93984e8ba1	3213	}
yabahiro	40:7f93984e8ba1	3214	}
yabahiro	40:7f93984e8ba1	3215	}
yabahiro	40:7f93984e8ba1	3216
yabahiro	40:7f93984e8ba1	3217
yabahiro	21:1f1e9c585da8	3218
kishibekairohan	13:b6e02d6261d7	3219	}
kishibekairohan	13:b6e02d6261d7	3220	#endif
kishibekairohan	13:b6e02d6261d7	3221
kishibekairohan	13:b6e02d6261d7	3222	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	3223	static void Process6()
kishibekairohan	13:b6e02d6261d7	3224	{
yabahiro	21:1f1e9c585da8	3225
kishibekairohan	13:b6e02d6261d7	3226	}
kishibekairohan	13:b6e02d6261d7	3227	#endif
kishibekairohan	13:b6e02d6261d7	3228
kishibekairohan	13:b6e02d6261d7	3229	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	3230	static void Process7()
kishibekairohan	13:b6e02d6261d7	3231	{
yabahiro	21:1f1e9c585da8	3232
kishibekairohan	12:c09b3e08a316	3233	}
kishibekairohan	12:c09b3e08a316	3234	#endif
kishibekairohan	12:c09b3e08a316	3235
yabahiro	21:1f1e9c585da8	3236	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	3237	static void Process8()
kishibekairohan	12:c09b3e08a316	3238	{
yabahiro	21:1f1e9c585da8	3239
kishibekairohan	12:c09b3e08a316	3240	}
kishibekairohan	12:c09b3e08a316	3241	#endif
kishibekairohan	12:c09b3e08a316	3242
kishibekairohan	13:b6e02d6261d7	3243	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	3244	static void Process9()
kishibekairohan	12:c09b3e08a316	3245	{
yabahiro	21:1f1e9c585da8	3246
t_yamamoto	0:669ef71cba68	3247	}
t_yamamoto	0:669ef71cba68	3248	#endif
t_yamamoto	0:669ef71cba68	3249	#endif
t_yamamoto	0:669ef71cba68	3250	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	3251
t_yamamoto	0:669ef71cba68	3252	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	3253	{
t_yamamoto	0:669ef71cba68	3254
yabahiro	21:1f1e9c585da8	3255	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	3256	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	3257	#endif
t_yamamoto	0:669ef71cba68	3258
yabahiro	21:1f1e9c585da8	3259	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	3260	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	21:1f1e9c585da8	3261	motor[i].dir = FREE;
yabahiro	21:1f1e9c585da8	3262	motor[i].pwm = 0;
yabahiro	21:1f1e9c585da8	3263	}
yabahiro	21:1f1e9c585da8	3264	#endif
t_yamamoto	0:669ef71cba68	3265	}
t_yamamoto	0:669ef71cba68	3266
yabahiro	21:1f1e9c585da8	3267	/*
yabahiro	21:1f1e9c585da8	3268	void BuzzerTimer_func()
yabahiro	21:1f1e9c585da8	3269	{
kishibekairohan	16:3f2c2d89372b	3270	buzzer = !buzzer;
kishibekairohan	17:50dc4b449e69	3271	//LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan	11:028a150943b5	3272	}
yabahiro	21:1f1e9c585da8	3273	*/
yabahiro	21:1f1e9c585da8	3274	void TapeLedEms_func()
yabahiro	21:1f1e9c585da8	3275	{
kishibekairohan	16:3f2c2d89372b	3276	sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan	9:f93fc79a49ea	3277	}
kishibekairohan	16:3f2c2d89372b	3278
kishibekairohan	16:3f2c2d89372b	3279	#pragma region USER-DEFINED-FUNCTIONS
kishibekairohan	16:3f2c2d89372b	3280
kishibekairohan	16:3f2c2d89372b	3281
t_yamamoto	0:669ef71cba68	3282	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	02 Oct 2019
Imports:	0
Forks:	0
Commits:	44
Dependents:	0
Dependencies:	3
Followers:	1

System/Process/Process.cpp@41:e1dd6d97f17d, 2019-09-29 (annotated)

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