大季 矢花
aa
Dependencies: mbed TrapezoidControl QEI
Diff: System/Process/Process.cpp
- Revision:
- 33:656aa14904a5
- Parent:
- 32:90f018b10ad6
- Child:
- 34:cef6c124a52d
diff -r 90f018b10ad6 -r 656aa14904a5 System/Process/Process.cpp
--- a/System/Process/Process.cpp Sat Sep 21 11:28:06 2019 +0000
+++ b/System/Process/Process.cpp Sat Sep 21 13:14:12 2019 +0000
@@ -121,7 +121,11 @@
int mode =1;
int cross=0;//十字数える用
int count=100000;//wait代替え
-int slow=30;
+
+///*********PWM調整用*********///
+int fast =40;
+int normal = 30;
+int slow = 20;
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
@@ -471,13 +475,13 @@
// 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]);
count++;
if(mode==1) {//スタートゾーンから白線検知
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(g[2]==0) {
count=100000;
@@ -491,21 +495,21 @@
mode=3;
mtc2=true;
} else {
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
}
} else if(mode==3) { //横ライントレースから縦ライントレースへ
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -518,13 +522,13 @@
mode=4;
}
} else if(mode==4) { //横ライントレースから縦ライントレースへ
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(g[0]==0) {
count=0;
@@ -534,13 +538,13 @@
} else if(g[0]!=99&&mode==10) { //縦ライントレース
switch(g[0]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(count>100000) {
cross++;
@@ -553,66 +557,66 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -621,9 +625,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -666,9 +670,9 @@
} else if(mode==11) {
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -680,13 +684,13 @@
mode=12;
}
} else if(mode==12) {
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(g[2]==0) {
count=0;
@@ -696,13 +700,13 @@
} else if(mode==20) {
switch(g[2]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(count>70000) {
cross++;
@@ -716,33 +720,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -751,44 +755,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
@@ -829,9 +833,9 @@
} else if(mode==21) {
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -843,13 +847,13 @@
mode=22;
}
} else if(mode==22) {
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(g[0]==0) {
solenoid.solenoid3 = SOLENOID_ON;
@@ -860,13 +864,13 @@
} else if(mode==30) {
switch(g[0]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(count>100000) {
cross++;
@@ -880,66 +884,66 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -948,9 +952,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1020,13 +1024,13 @@
} else if(mode==40) {
switch(g[3]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(count>30000) {
cross++;
@@ -1040,33 +1044,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1075,44 +1079,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
@@ -1179,13 +1183,13 @@
} else if(mode==50) {
switch(g[1]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(count>100000) {
cross++;
@@ -1198,66 +1202,66 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1266,9 +1270,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1338,13 +1342,13 @@
} else if(mode==60) {
switch(g[3]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(count>50000) {
cross++;
@@ -1358,33 +1362,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1393,44 +1397,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
@@ -1502,76 +1506,76 @@
}
break;
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1580,9 +1584,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1623,13 +1627,13 @@
}
}
} else if(mode==100) {
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 23;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
} else {
motor[TIRE_FR].pwm = 0;
@@ -1656,13 +1660,13 @@
}
}
if(mode==1) {//スタートゾーンから白線検知
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(g[2]==0) {
count=100000;
@@ -1676,21 +1680,21 @@
mode=3;
mtc2=true;
} else {
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
}
} else if(mode==3) { //横ライントレースから縦ライントレースへ
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FREE;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = BACK;
@@ -1715,13 +1719,13 @@
} else if(g[1]!=99&&mode==10) { //縦ライントレース
switch(g[1]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(count>100000) {
cross++;
@@ -1734,66 +1738,66 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1802,9 +1806,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1874,13 +1878,13 @@
} else if(mode==20) {
switch(g[2]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(count>70000) {
cross++;
@@ -1894,33 +1898,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1929,44 +1933,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
@@ -2034,13 +2038,13 @@
} else if(mode==30) {
switch(g[1]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(count>100000) {
cross++;
@@ -2053,66 +2057,66 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2121,9 +2125,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2193,13 +2197,13 @@
} else if(mode==40) {
switch(g[3]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(count>30000) {
cross++;
@@ -2213,33 +2217,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2248,44 +2252,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
@@ -2352,13 +2356,13 @@
} else if(mode==50) {
switch(g[0]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(count>100000) {
cross++;
@@ -2371,66 +2375,66 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2439,9 +2443,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2511,13 +2515,13 @@
} else if(mode==60) {
switch(g[3]) {
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
if(count>50000) {
cross++;
@@ -2531,33 +2535,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2566,44 +2570,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
@@ -2675,76 +2679,76 @@
}
break;
case 98:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
break;
case 0:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].pwm = fast;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].pwm = fast;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = slow;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2753,9 +2757,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2796,13 +2800,13 @@
}
}
} else if(mode==100) {
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = slow;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = 23;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = FOR;
} else {
motor[TIRE_FR].pwm = 0;