2019_Master_NEWMODE - aa

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大季矢花 / Mbed 2 deprecated 2019_Master_NEWMODE

Dependencies: mbed TrapezoidControl QEI

System/Process/Process.cpp@40:7f93984e8ba1, 2019-09-28 (annotated)

Committer:: yabahiro
Date:: Sat Sep 28 13:15:16 2019 +0000
Revision:: 40:7f93984e8ba1
Parent:: 39:f89166d7411c
Child:: 41:e1dd6d97f17d

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	31:45f97698857b	185	int mode =1;
yabahiro	31:45f97698857b	186	int cross=0;//十字数える用
yabahiro	35:94f026ab4d30	187	int cros=0;
yabahiro	31:45f97698857b	188	int count=100000;//wait代替え
kishibekairohan	33:656aa14904a5	189
kishibekairohan	33:656aa14904a5	190	///*******PWM調整用*******///
yabahiro	40:7f93984e8ba1	191	int fast =60;
yabahiro	40:7f93984e8ba1	192	int normal = 40;
yabahiro	40:7f93984e8ba1	193	int slow = 20;
yabahiro	31:45f97698857b	194
t_yamamoto	0:669ef71cba68	195	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	196
t_yamamoto	0:669ef71cba68	197	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	198	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	199	static void Process0(void);
t_yamamoto	0:669ef71cba68	200	#endif
t_yamamoto	0:669ef71cba68	201	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	202	static void Process1(void);
t_yamamoto	0:669ef71cba68	203	#endif
t_yamamoto	0:669ef71cba68	204	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	205	static void Process2(void);
t_yamamoto	0:669ef71cba68	206	#endif
t_yamamoto	0:669ef71cba68	207	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	208	static void Process3(void);
t_yamamoto	0:669ef71cba68	209	#endif
t_yamamoto	0:669ef71cba68	210	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	211	static void Process4(void);
t_yamamoto	0:669ef71cba68	212	#endif
t_yamamoto	0:669ef71cba68	213	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	214	static void Process5(void);
t_yamamoto	0:669ef71cba68	215	#endif
t_yamamoto	0:669ef71cba68	216	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	217	static void Process6(void);
t_yamamoto	0:669ef71cba68	218	#endif
t_yamamoto	0:669ef71cba68	219	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	220	static void Process7(void);
t_yamamoto	0:669ef71cba68	221	#endif
t_yamamoto	0:669ef71cba68	222	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	223	static void Process8(void);
t_yamamoto	0:669ef71cba68	224	#endif
t_yamamoto	0:669ef71cba68	225	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	226	static void Process9(void);
t_yamamoto	0:669ef71cba68	227	#endif
t_yamamoto	0:669ef71cba68	228	#endif
t_yamamoto	0:669ef71cba68	229
t_yamamoto	0:669ef71cba68	230	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	231	{
yabahiro	21:1f1e9c585da8	232	#pragma region USER-DEFINED_VARIABLE_INIT
yabahiro	21:1f1e9c585da8	233	/Replace here with the initialization code of your variables./
yabahiro	21:1f1e9c585da8	234	#pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto	0:669ef71cba68	235
yabahiro	21:1f1e9c585da8	236	lock = true;
yabahiro	21:1f1e9c585da8	237	processChangeComp = true;
yabahiro	21:1f1e9c585da8	238	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	239
yabahiro	21:1f1e9c585da8	240	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	241	#if USE_PROCESS_NUM>0
yabahiro	21:1f1e9c585da8	242	Process[0] = Process0;
yabahiro	21:1f1e9c585da8	243	#endif
yabahiro	21:1f1e9c585da8	244	#if USE_PROCESS_NUM>1
yabahiro	21:1f1e9c585da8	245	Process[1] = Process1;
yabahiro	21:1f1e9c585da8	246	#endif
yabahiro	21:1f1e9c585da8	247	#if USE_PROCESS_NUM>2
yabahiro	21:1f1e9c585da8	248	Process[2] = Process2;
yabahiro	21:1f1e9c585da8	249	#endif
yabahiro	21:1f1e9c585da8	250	#if USE_PROCESS_NUM>3
yabahiro	21:1f1e9c585da8	251	Process[3] = Process3;
yabahiro	21:1f1e9c585da8	252	#endif
yabahiro	21:1f1e9c585da8	253	#if USE_PROCESS_NUM>4
yabahiro	21:1f1e9c585da8	254	Process[4] = Process4;
yabahiro	21:1f1e9c585da8	255	#endif
yabahiro	21:1f1e9c585da8	256	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	257	Process[5] = Process5;
yabahiro	21:1f1e9c585da8	258	#endif
yabahiro	21:1f1e9c585da8	259	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	260	Process[6] = Process6;
yabahiro	21:1f1e9c585da8	261	#endif
yabahiro	21:1f1e9c585da8	262	#if USE_PROCESS_NUM>7
yabahiro	21:1f1e9c585da8	263	Process[7] = Process7;
yabahiro	21:1f1e9c585da8	264	#endif
yabahiro	21:1f1e9c585da8	265	#if USE_PROCESS_NUM>8
yabahiro	21:1f1e9c585da8	266	Process[8] = Process8;
yabahiro	21:1f1e9c585da8	267	#endif
yabahiro	21:1f1e9c585da8	268	#if USE_PROCESS_NUM>9
yabahiro	21:1f1e9c585da8	269	Process[9] = Process9;
yabahiro	21:1f1e9c585da8	270	#endif
yabahiro	21:1f1e9c585da8	271	#endif
t_yamamoto	0:669ef71cba68	272	}
t_yamamoto	0:669ef71cba68	273
t_yamamoto	0:669ef71cba68	274	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	275	{
yabahiro	21:1f1e9c585da8	276	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	277	if(controller->Button.HOME) lock = false;
yabahiro	21:1f1e9c585da8	278
yabahiro	21:1f1e9c585da8	279	if(controller->Button.START && processChangeComp) {
yabahiro	21:1f1e9c585da8	280	current++;
yabahiro	21:1f1e9c585da8	281	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
yabahiro	21:1f1e9c585da8	282	processChangeComp = false;
yabahiro	21:1f1e9c585da8	283	} else if(controller->Button.SELECT && processChangeComp) {
yabahiro	21:1f1e9c585da8	284	current--;
yabahiro	21:1f1e9c585da8	285	if (current < 0) current = 0;
yabahiro	21:1f1e9c585da8	286	processChangeComp = false;
yabahiro	21:1f1e9c585da8	287	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
yabahiro	21:1f1e9c585da8	288	#endif
yabahiro	21:1f1e9c585da8	289
yabahiro	21:1f1e9c585da8	290	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	291	ACTUATORHUB::MOTOR::Motor::Update(motor);
yabahiro	21:1f1e9c585da8	292	#endif
yabahiro	21:1f1e9c585da8	293
yabahiro	21:1f1e9c585da8	294	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	295	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
yabahiro	21:1f1e9c585da8	296	#endif
yabahiro	21:1f1e9c585da8	297
yabahiro	21:1f1e9c585da8	298	#ifdef USE_RS485
yabahiro	21:1f1e9c585da8	299	ACTUATORHUB::ActuatorHub::Update();
yabahiro	21:1f1e9c585da8	300	#endif
yabahiro	21:1f1e9c585da8	301
yabahiro	21:1f1e9c585da8	302	}
yabahiro	21:1f1e9c585da8	303
yabahiro	21:1f1e9c585da8	304	int g[8];
yabahiro	21:1f1e9c585da8	305
yabahiro	21:1f1e9c585da8	306	void SystemProcess()
yabahiro	21:1f1e9c585da8	307	{
yabahiro	21:1f1e9c585da8	308	SystemProcessInitialize();
yabahiro	21:1f1e9c585da8	309
yabahiro	21:1f1e9c585da8	310	while(1) {
yabahiro	21:1f1e9c585da8	311	for(int i = 0; i < 8; i++) {
yabahiro	21:1f1e9c585da8	312	g[i] = LineHub::GetPara(i);
yabahiro	21:1f1e9c585da8	313	}
yabahiro	35:94f026ab4d30	314
yabahiro	36:788274604650	315	//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	316
yabahiro	21:1f1e9c585da8	317	#ifdef USE_MU
yabahiro	21:1f1e9c585da8	318	controller = CONTROLLER::Controller::GetData();
yabahiro	21:1f1e9c585da8	319	#endif
yabahiro	21:1f1e9c585da8	320
yabahiro	21:1f1e9c585da8	321	#ifdef USE_ERRORCHECK
yabahiro	21:1f1e9c585da8	322	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) {
yabahiro	21:1f1e9c585da8	323	CONTROLLER::Controller::DataReset();
yabahiro	21:1f1e9c585da8	324	AllActuatorReset();
yabahiro	21:1f1e9c585da8	325	lock = true;
yabahiro	21:1f1e9c585da8	326	} else
yabahiro	21:1f1e9c585da8	327	#endif
yabahiro	21:1f1e9c585da8	328	{
yabahiro	21:1f1e9c585da8	329
yabahiro	21:1f1e9c585da8	330	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	331	if(!lock) {
yabahiro	21:1f1e9c585da8	332	Process[current]();
yabahiro	21:1f1e9c585da8	333	} else
yabahiro	21:1f1e9c585da8	334	#endif
yabahiro	21:1f1e9c585da8	335	{
yabahiro	21:1f1e9c585da8	336	//ロック時の処理
yabahiro	21:1f1e9c585da8	337	}
yabahiro	21:1f1e9c585da8	338	}
yabahiro	21:1f1e9c585da8	339	/*
yabahiro	21:1f1e9c585da8	340	//Emergency!
yabahiro	21:1f1e9c585da8	341	if(!EMG_0 && !EMG_1 && !EMGflag) {
yabahiro	21:1f1e9c585da8	342	buzzer = 0;
yabahiro	21:1f1e9c585da8	343	BuzzerTimer.attach(BuzzerTimer_func, 1);
yabahiro	21:1f1e9c585da8	344	EMGflag = true;
yabahiro	21:1f1e9c585da8	345	LED_DEBUG0 = 1;
yabahiro	21:1f1e9c585da8	346	}
yabahiro	21:1f1e9c585da8	347	if(EMG_0 && EMG_1 && EMGflag) {
yabahiro	21:1f1e9c585da8	348	buzzer = 1;
yabahiro	21:1f1e9c585da8	349	BuzzerTimer.detach();
yabahiro	21:1f1e9c585da8	350	EMGflag = false;
yabahiro	21:1f1e9c585da8	351	}
yabahiro	21:1f1e9c585da8	352	*/
yabahiro	21:1f1e9c585da8	353	SystemProcessUpdate();
yabahiro	21:1f1e9c585da8	354	}
t_yamamoto	0:669ef71cba68	355	}
t_yamamoto	0:669ef71cba68	356
t_yamamoto	0:669ef71cba68	357	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	358	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	359	#if USE_PROCESS_NUM>0
yabahiro	21:1f1e9c585da8	360	static void Process0()
yabahiro	21:1f1e9c585da8	361	{
yabahiro	36:788274604650	362	mode=1;
yabahiro	36:788274604650	363	LedMode(1);
yabahiro	35:94f026ab4d30	364	if(ThSW) {
yabahiro	35:94f026ab4d30	365	Twsh=1;
yabahiro	35:94f026ab4d30	366	} else {
yabahiro	35:94f026ab4d30	367	Twsh=2;
yabahiro	31:45f97698857b	368	}
yabahiro	36:788274604650	369
yabahiro	25:38d4964e8aad	370	if(StertSW) {
yabahiro	36:788274604650	371	if(ZoneSW) {
yabahiro	31:45f97698857b	372	mode=1;
yabahiro	31:45f97698857b	373	current = 2;
yabahiro	31:45f97698857b	374	} else {
yabahiro	31:45f97698857b	375	mode=1;
yabahiro	40:7f93984e8ba1	376	current = 5;
yabahiro	31:45f97698857b	377	}
yabahiro	25:38d4964e8aad	378	}
yabahiro	35:94f026ab4d30	379	if(DWSW) {
yabahiro	35:94f026ab4d30	380	zyouge=true;
yabahiro	35:94f026ab4d30	381	}
yabahiro	39:f89166d7411c	382	if(DOSW) {
yabahiro	39:f89166d7411c	383	zyougedo=true;
yabahiro	39:f89166d7411c	384	}
yabahiro	35:94f026ab4d30	385	if(AIRSW) {
yabahiro	35:94f026ab4d30	386	if(SW_flag==false) {
yabahiro	35:94f026ab4d30	387	if(Air_flag==false) {
yabahiro	35:94f026ab4d30	388	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	35:94f026ab4d30	389	Air_flag=true;
yabahiro	35:94f026ab4d30	390	SW_flag=true;
yabahiro	35:94f026ab4d30	391	} else {
yabahiro	35:94f026ab4d30	392	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	35:94f026ab4d30	393	Air_flag=false;
yabahiro	35:94f026ab4d30	394	SW_flag=true;
yabahiro	35:94f026ab4d30	395	}
yabahiro	35:94f026ab4d30	396	}
yabahiro	35:94f026ab4d30	397	} else {
yabahiro	35:94f026ab4d30	398	SW_flag=false;
yabahiro	31:45f97698857b	399	}
yabahiro	31:45f97698857b	400
yabahiro	35:94f026ab4d30	401	if(zyouge) {
yabahiro	35:94f026ab4d30	402	if(Twsh==1) {
yabahiro	35:94f026ab4d30	403	motor[MOTOR_0].pwm = 220;
yabahiro	35:94f026ab4d30	404	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	405	if(UPLS) {
yabahiro	35:94f026ab4d30	406	motor[MOTOR_0].pwm = 100;
yabahiro	35:94f026ab4d30	407	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	408	zyouge=false;
yabahiro	35:94f026ab4d30	409	}
yabahiro	35:94f026ab4d30	410	}
yabahiro	35:94f026ab4d30	411	if(Twsh==2) {
yabahiro	37:7cfa39c41245	412	motor[MOTOR_0].pwm = 230;
yabahiro	35:94f026ab4d30	413	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	414	if(UPLS2) {
yabahiro	35:94f026ab4d30	415	motor[MOTOR_0].pwm = 100;
yabahiro	35:94f026ab4d30	416	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	417	zyouge=false;
yabahiro	35:94f026ab4d30	418	}
yabahiro	31:45f97698857b	419	}
yabahiro	39:f89166d7411c	420	}
yabahiro	39:f89166d7411c	421	if(zyougedo) {
yabahiro	39:f89166d7411c	422	motor[MOTOR_0].pwm = 50;
yabahiro	39:f89166d7411c	423	motor[MOTOR_0].dir = BACK;
yabahiro	39:f89166d7411c	424	if(DOLS) {
yabahiro	39:f89166d7411c	425	motor[MOTOR_0].pwm = 100;
yabahiro	39:f89166d7411c	426	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:f89166d7411c	427	zyougedo=false;
yabahiro	39:f89166d7411c	428	}
yabahiro	31:45f97698857b	429	}
yabahiro	35:94f026ab4d30	430	}
yabahiro	31:45f97698857b	431
t_yamamoto	0:669ef71cba68	432	#endif
t_yamamoto	0:669ef71cba68	433
t_yamamoto	0:669ef71cba68	434	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	435	static void Process1()
t_yamamoto	0:669ef71cba68	436	{
yabahiro	36:788274604650	437	mtc=false;
yabahiro	36:788274604650	438	mtc2 = false;
yabahiro	36:788274604650	439	LedMode(2);
yabahiro	31:45f97698857b	440	mode=1;
yabahiro	27:545148741493	441	cross=0;
yabahiro	35:94f026ab4d30	442	Twsh=1;
yabahiro	21:1f1e9c585da8	443	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	444	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	445	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	446	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	447
yabahiro	21:1f1e9c585da8	448	motor[TIRE_FR].pwm = Setpwm(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	449	motor[TIRE_FL].pwm = Setpwm(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	450	motor[TIRE_BR].pwm = Setpwm(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	451	motor[TIRE_BL].pwm = Setpwm(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	452
yabahiro	21:1f1e9c585da8	453	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	454
yabahiro	21:1f1e9c585da8	455	if(controller->Button.UP) {
yabahiro	35:94f026ab4d30	456	motor[MOTOR_0].pwm =200;
yabahiro	21:1f1e9c585da8	457	motor[MOTOR_0].dir = FOR;
yabahiro	35:94f026ab4d30	458	if(UPLS) {
yabahiro	35:94f026ab4d30	459	motor[MOTOR_0].pwm = 0;
yabahiro	35:94f026ab4d30	460	motor[MOTOR_0].dir = BRAKE;
yabahiro	35:94f026ab4d30	461	}
yabahiro	21:1f1e9c585da8	462	}
yabahiro	21:1f1e9c585da8	463	if(controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	464	motor[MOTOR_0].pwm = 50;
yabahiro	21:1f1e9c585da8	465	motor[MOTOR_0].dir = BACK;
yabahiro	21:1f1e9c585da8	466	}
yabahiro	21:1f1e9c585da8	467	} else {
yabahiro	21:1f1e9c585da8	468	motor[MOTOR_0].pwm = 0;
yabahiro	21:1f1e9c585da8	469	motor[MOTOR_0].dir = BRAKE;
yabahiro	21:1f1e9c585da8	470	}
yabahiro	21:1f1e9c585da8	471
yabahiro	21:1f1e9c585da8	472	if(controller->Button.Y) {
yabahiro	21:1f1e9c585da8	473	if(dz2==true) {
yabahiro	21:1f1e9c585da8	474	if(dz2i==false) {
yabahiro	21:1f1e9c585da8	475	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	476	dz2i=true;
yabahiro	21:1f1e9c585da8	477	} else {
yabahiro	21:1f1e9c585da8	478	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	479	dz2i=false;
yabahiro	21:1f1e9c585da8	480	}
yabahiro	21:1f1e9c585da8	481	dz2=false;
yabahiro	21:1f1e9c585da8	482	}
yabahiro	21:1f1e9c585da8	483	} else {
yabahiro	21:1f1e9c585da8	484	dz2=true;
yabahiro	21:1f1e9c585da8	485	}
yabahiro	21:1f1e9c585da8	486
yabahiro	21:1f1e9c585da8	487	if(controller->Button.A) {
yabahiro	21:1f1e9c585da8	488	if(dz3==true) {
yabahiro	21:1f1e9c585da8	489	if(dz3i==false) {
yabahiro	30:9450dc1d53cc	490
yabahiro	21:1f1e9c585da8	491	dz3i=true;
yabahiro	21:1f1e9c585da8	492	} else {
yabahiro	21:1f1e9c585da8	493	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	494	dz3i=false;
yabahiro	21:1f1e9c585da8	495	}
yabahiro	21:1f1e9c585da8	496	dz3=false;
yabahiro	21:1f1e9c585da8	497	}
yabahiro	21:1f1e9c585da8	498	} else {
yabahiro	21:1f1e9c585da8	499	dz3=true;
yabahiro	21:1f1e9c585da8	500	}
yabahiro	21:1f1e9c585da8	501
yabahiro	21:1f1e9c585da8	502	if(controller->Button.B) {
yabahiro	21:1f1e9c585da8	503	if(dz4==true) {
yabahiro	21:1f1e9c585da8	504	if(dz4i==false) {
yabahiro	21:1f1e9c585da8	505	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	506	dz4i=true;
yabahiro	21:1f1e9c585da8	507	} else {
yabahiro	21:1f1e9c585da8	508	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	509	dz4i=false;
yabahiro	21:1f1e9c585da8	510	}
yabahiro	21:1f1e9c585da8	511	dz4=false;
yabahiro	21:1f1e9c585da8	512	}
yabahiro	21:1f1e9c585da8	513	} else {
yabahiro	21:1f1e9c585da8	514	dz4=true;
yabahiro	21:1f1e9c585da8	515	}
yabahiro	21:1f1e9c585da8	516	/*
yabahiro	21:1f1e9c585da8	517	if(controller->Button.RIGHT){
yabahiro	21:1f1e9c585da8	518	motor[MOTOR_1].dir = FOR;
yabahiro	21:1f1e9c585da8	519	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	520	if (ARM_1){
yabahiro	21:1f1e9c585da8	521	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	522	}
yabahiro	21:1f1e9c585da8	523	}
yabahiro	21:1f1e9c585da8	524	else if(controller->Button.LEFT){
yabahiro	21:1f1e9c585da8	525	motor[MOTOR_1].dir = BACK;
yabahiro	21:1f1e9c585da8	526	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	527	if (ARM_0){
yabahiro	21:1f1e9c585da8	528	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	529	}
yabahiro	21:1f1e9c585da8	530	}
yabahiro	21:1f1e9c585da8	531	*/
t_yamamoto	0:669ef71cba68	532	}
t_yamamoto	0:669ef71cba68	533	#endif
t_yamamoto	0:669ef71cba68	534
t_yamamoto	0:669ef71cba68	535	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	536	static void Process2()
yabahiro	21:1f1e9c585da8	537	{
yabahiro	36:788274604650	538	LedMode(3);
yabahiro	31:45f97698857b	539	// 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	540	count++;
yabahiro	31:45f97698857b	541	if(mode==1) {//スタートゾーンから白線検知
kishibekairohan	33:656aa14904a5	542	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	543	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	544	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	545	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	546	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	547	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	548	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	549	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	550	if(g[2]==0) {
yabahiro	31:45f97698857b	551	count=100000;
yabahiro	31:45f97698857b	552	cross=0;
yabahiro	31:45f97698857b	553	mode=3;
yabahiro	31:45f97698857b	554	}
yabahiro	31:45f97698857b	555	} 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	556	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	557	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	558	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	559	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	560	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	561	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	562	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	563	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	564	if(g[0]==0) {
yabahiro	35:94f026ab4d30	565	mode=10;
yabahiro	35:94f026ab4d30	566	count=100000;
yabahiro	31:45f97698857b	567	}
yabahiro	35:94f026ab4d30	568	} else if(mode==10) { //縦ライントレース
yabahiro	35:94f026ab4d30	569
yabahiro	35:94f026ab4d30	570	if(counts==false&&g[2]==0) {
yabahiro	35:94f026ab4d30	571	cros++;
yabahiro	35:94f026ab4d30	572	counts=true;
yabahiro	31:45f97698857b	573	}
yabahiro	35:94f026ab4d30	574	if(counts==true&&g[2]==99) {
yabahiro	35:94f026ab4d30	575	counts=false;
yabahiro	35:94f026ab4d30	576	}
yabahiro	35:94f026ab4d30	577
yabahiro	35:94f026ab4d30	578	if(cros==Twsh) {
yabahiro	35:94f026ab4d30	579	mode=11;
yabahiro	31:45f97698857b	580	count=0;
yabahiro	35:94f026ab4d30	581	cros=0;
yabahiro	35:94f026ab4d30	582	}//ゆっくりモードに入れなかった時の保険
yabahiro	31:45f97698857b	583	switch(g[0]) {
yabahiro	31:45f97698857b	584	case 98:
kishibekairohan	33:656aa14904a5	585	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	586	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	587	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	588	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	589	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	590	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	591	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	592	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	593	mtc=true;
yabahiro	35:94f026ab4d30	594	if(count>80000) {
yabahiro	31:45f97698857b	595	cross++;
yabahiro	31:45f97698857b	596	count=0;
yabahiro	31:45f97698857b	597	}
yabahiro	31:45f97698857b	598	if(cross==Twsh) {
yabahiro	31:45f97698857b	599	mode=11;
yabahiro	31:45f97698857b	600	count=0;
yabahiro	35:94f026ab4d30	601	cross=0;
yabahiro	31:45f97698857b	602	}
yabahiro	31:45f97698857b	603	break;
yabahiro	31:45f97698857b	604	case 0:
kishibekairohan	33:656aa14904a5	605	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	606	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	607	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	608	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	609	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	610	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	611	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	612	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	613	mtc=true;
yabahiro	31:45f97698857b	614	break;
yabahiro	31:45f97698857b	615	case 255:
kishibekairohan	33:656aa14904a5	616	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	617	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	618	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	619	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	620	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	621	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	622	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	623	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	624	mtc=true;
yabahiro	31:45f97698857b	625	break;
yabahiro	31:45f97698857b	626	case 253:
kishibekairohan	33:656aa14904a5	627	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	628	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	629	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	630	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	631	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	632	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	633	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	634	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	635	mtc=true;
yabahiro	31:45f97698857b	636	break;
yabahiro	31:45f97698857b	637	case 254:
kishibekairohan	33:656aa14904a5	638	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	639	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	640	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	641	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	642	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	643	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	644	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	645	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	646	mtc=true;
yabahiro	31:45f97698857b	647	break;
yabahiro	31:45f97698857b	648	case 1:
kishibekairohan	33:656aa14904a5	649	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	650	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	651	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	652	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	653	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	654	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	655	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	656	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	657	mtc=true;
yabahiro	31:45f97698857b	658	break;
yabahiro	31:45f97698857b	659	case 3:
yabahiro	31:45f97698857b	660	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	661	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	662	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	663	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	664	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	665	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	666	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	667	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	668	mtc=true;
yabahiro	31:45f97698857b	669	break;
yabahiro	31:45f97698857b	670	case 2:
yabahiro	31:45f97698857b	671	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	672	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	673	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	674	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	675	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	676	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	677	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	678	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	679	mtc=true;
yabahiro	31:45f97698857b	680	break;
yabahiro	31:45f97698857b	681	}
yabahiro	31:45f97698857b	682	if(g[0]!=98&&mtc==true) {
yabahiro	31:45f97698857b	683	switch(g[1]) {
yabahiro	31:45f97698857b	684	case 0:
yabahiro	31:45f97698857b	685	mtc=false;
yabahiro	31:45f97698857b	686	break;
yabahiro	31:45f97698857b	687	case 255:
yabahiro	31:45f97698857b	688	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	689	mtc=false;
yabahiro	31:45f97698857b	690	break;
yabahiro	31:45f97698857b	691	case 253:
yabahiro	31:45f97698857b	692	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	693	mtc=false;
yabahiro	31:45f97698857b	694	break;
yabahiro	31:45f97698857b	695	case 254:
yabahiro	31:45f97698857b	696	motor[TIRE_BR].pwm += 20;
yabahiro	31:45f97698857b	697	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	698	mtc=false;
yabahiro	31:45f97698857b	699	break;
yabahiro	31:45f97698857b	700	case 1:
yabahiro	31:45f97698857b	701	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	702	mtc=false;
yabahiro	31:45f97698857b	703	break;
yabahiro	31:45f97698857b	704	case 3:
yabahiro	31:45f97698857b	705	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	706	mtc=false;
yabahiro	31:45f97698857b	707	break;
yabahiro	31:45f97698857b	708	case 2:
yabahiro	31:45f97698857b	709	motor[TIRE_BL].pwm += 20;
yabahiro	31:45f97698857b	710	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	711	mtc=false;
yabahiro	31:45f97698857b	712	break;
yabahiro	21:1f1e9c585da8	713	}
yabahiro	31:45f97698857b	714	}
yabahiro	31:45f97698857b	715	} else if(mode==11) {
yabahiro	31:45f97698857b	716	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	717	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	718	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	719	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	720	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	721	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	722	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	723	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	724	if(g[2]==0) {
yabahiro	31:45f97698857b	725	count=0;
yabahiro	31:45f97698857b	726	cross=0;
yabahiro	31:45f97698857b	727	mode=20;
yabahiro	31:45f97698857b	728	}
yabahiro	31:45f97698857b	729	} else if(mode==20) {
yabahiro	35:94f026ab4d30	730
yabahiro	38:391a0c8e4c16	731	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	732	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	38:391a0c8e4c16	733	}
yabahiro	35:94f026ab4d30	734	if(counts==false&&g[0]==0) {
yabahiro	35:94f026ab4d30	735	cros++;
yabahiro	35:94f026ab4d30	736	counts=true;
yabahiro	35:94f026ab4d30	737	}
yabahiro	35:94f026ab4d30	738	if(counts==true&&g[0]==99) {
yabahiro	35:94f026ab4d30	739	counts=false;
yabahiro	35:94f026ab4d30	740	}
yabahiro	35:94f026ab4d30	741
yabahiro	35:94f026ab4d30	742	if(cros==2) {
yabahiro	37:7cfa39c41245	743
yabahiro	37:7cfa39c41245	744	// mode=21;
yabahiro	37:7cfa39c41245	745	// count=0;
yabahiro	37:7cfa39c41245	746	// cros=0;
yabahiro	35:94f026ab4d30	747	}//ゆっくりモードに入れなかった時の保険
yabahiro	35:94f026ab4d30	748
yabahiro	31:45f97698857b	749	switch(g[2]) {
yabahiro	31:45f97698857b	750	case 98:
kishibekairohan	33:656aa14904a5	751	motor[TIRE_FR].pwm = normal;
kishibekairohan	22:c47f29caded6	752	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	753	motor[TIRE_FL].pwm = normal;
kishibekairohan	22:c47f29caded6	754	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	755	motor[TIRE_BR].pwm = normal;
kishibekairohan	22:c47f29caded6	756	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	757	motor[TIRE_BL].pwm = normal;
kishibekairohan	22:c47f29caded6	758	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	759	if(count>80000) {
yabahiro	31:45f97698857b	760	cross++;
yabahiro	31:45f97698857b	761	count=0;
yabahiro	31:45f97698857b	762	}
yabahiro	31:45f97698857b	763	mtc2=true;
yabahiro	35:94f026ab4d30	764	if(cross==2) {
yabahiro	31:45f97698857b	765	mode=21;
yabahiro	31:45f97698857b	766	count=0;
yabahiro	31:45f97698857b	767	cross=0;
yabahiro	31:45f97698857b	768	}
yabahiro	31:45f97698857b	769	break;
yabahiro	31:45f97698857b	770	case 0:
kishibekairohan	33:656aa14904a5	771	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	772	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	773	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	774	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	775	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	776	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	777	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	778	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	779	mtc2=true;
yabahiro	31:45f97698857b	780	break;
yabahiro	31:45f97698857b	781	case 255:
kishibekairohan	33:656aa14904a5	782	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	783	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	784	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	785	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	786	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	787	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	788	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	789	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	790	mtc2=true;
yabahiro	31:45f97698857b	791	break;
yabahiro	31:45f97698857b	792	case 253:
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 = slow;
yabahiro	31:45f97698857b	796	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	797	motor[TIRE_BR].pwm = slow;
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	mtc2=true;
yabahiro	31:45f97698857b	802	break;
yabahiro	31:45f97698857b	803	case 254:
yabahiro	31:45f97698857b	804	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	805	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	806	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	807	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	808	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	809	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	810	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	811	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	812	mtc2=true;
yabahiro	31:45f97698857b	813	break;
yabahiro	31:45f97698857b	814	case 1:
kishibekairohan	33:656aa14904a5	815	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	816	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	817	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	818	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	819	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	820	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	821	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	822	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	823	mtc2=true;
yabahiro	31:45f97698857b	824	break;
yabahiro	31:45f97698857b	825	case 3:
kishibekairohan	33:656aa14904a5	826	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	827	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	828	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	829	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	830	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	831	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	832	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	833	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	834	mtc2=true;
yabahiro	31:45f97698857b	835	break;
yabahiro	31:45f97698857b	836	case 2:
kishibekairohan	33:656aa14904a5	837	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	838	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	839	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	840	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	841	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	842	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	843	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	844	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	845	mtc2=true;
yabahiro	31:45f97698857b	846	break;
yabahiro	31:45f97698857b	847	}
yabahiro	31:45f97698857b	848	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	849	switch(g[3]) {
yabahiro	29:c78a46f51209	850	case 0:
yabahiro	31:45f97698857b	851	mtc2=false;
yabahiro	29:c78a46f51209	852	break;
yabahiro	29:c78a46f51209	853	case 255:
yabahiro	31:45f97698857b	854	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	855	mtc2=false;
yabahiro	29:c78a46f51209	856	break;
yabahiro	29:c78a46f51209	857	case 253:
yabahiro	31:45f97698857b	858	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	859	mtc2=false;
yabahiro	29:c78a46f51209	860	break;
yabahiro	29:c78a46f51209	861	case 254:
yabahiro	31:45f97698857b	862	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	863	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	864	mtc2=false;
yabahiro	29:c78a46f51209	865	break;
yabahiro	29:c78a46f51209	866	case 1:
yabahiro	31:45f97698857b	867	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	868	mtc2=false;
yabahiro	29:c78a46f51209	869	break;
yabahiro	29:c78a46f51209	870	case 3:
yabahiro	31:45f97698857b	871	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	872	mtc2=false;
yabahiro	29:c78a46f51209	873	break;
yabahiro	29:c78a46f51209	874	case 2:
yabahiro	31:45f97698857b	875	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	876	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	877	mtc2=false;
yabahiro	29:c78a46f51209	878	break;
yabahiro	29:c78a46f51209	879	}
yabahiro	31:45f97698857b	880	}
yabahiro	31:45f97698857b	881	} else if(mode==21) {
yabahiro	31:45f97698857b	882	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	883	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	884	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	885	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	886	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	887	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	888	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	889	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	890	if(g[0]==0) {
yabahiro	31:45f97698857b	891	mode=30;
yabahiro	35:94f026ab4d30	892	cros=0;
yabahiro	35:94f026ab4d30	893	zyouge=true;
yabahiro	31:45f97698857b	894	}
yabahiro	31:45f97698857b	895	} else if(mode==30) {
yabahiro	38:391a0c8e4c16	896	motor[TIRE_FR].pwm = 62;
yabahiro	38:391a0c8e4c16	897	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	898	motor[TIRE_FL].pwm = 60;
yabahiro	38:391a0c8e4c16	899	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	900	motor[TIRE_BR].pwm = 60;
yabahiro	38:391a0c8e4c16	901	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	902	motor[TIRE_BL].pwm = 62;
yabahiro	38:391a0c8e4c16	903	motor[TIRE_BL].dir = FOR;
yabahiro	38:391a0c8e4c16	904	if(g[0]==98) {
yabahiro	35:94f026ab4d30	905	mode=31;
yabahiro	38:391a0c8e4c16	906	}
yabahiro	38:391a0c8e4c16	907	if(g[3]==0) {
yabahiro	38:391a0c8e4c16	908	mode=32;
yabahiro	35:94f026ab4d30	909	count=0;
yabahiro	35:94f026ab4d30	910	cros=0;
yabahiro	35:94f026ab4d30	911	}//ゆっくりモードに入れなかった時の保険
yabahiro	38:391a0c8e4c16	912	/*
yabahiro	38:391a0c8e4c16	913	if(g[0]==98) {
yabahiro	38:391a0c8e4c16	914	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	915	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	38:391a0c8e4c16	916	}
yabahiro	38:391a0c8e4c16	917	mode=31;
yabahiro	38:391a0c8e4c16	918	count=0;
yabahiro	38:391a0c8e4c16	919	}
yabahiro	31:45f97698857b	920	switch(g[0]) {
yabahiro	31:45f97698857b	921	case 98:
yabahiro	35:94f026ab4d30	922	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	923	motor[TIRE_FR].dir = BACK;
yabahiro	35:94f026ab4d30	924	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	925	motor[TIRE_FL].dir = FOR;
yabahiro	35:94f026ab4d30	926	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	927	motor[TIRE_BR].dir = BACK;
yabahiro	35:94f026ab4d30	928	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	929	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	930	if(count>100000) {
yabahiro	31:45f97698857b	931	cross++;
yabahiro	31:45f97698857b	932	count=0;
yabahiro	31:45f97698857b	933	}
yabahiro	31:45f97698857b	934	mtc=true;
yabahiro	31:45f97698857b	935	if(cross==1) {
yabahiro	35:94f026ab4d30	936	if(Twsh==2) {
yabahiro	35:94f026ab4d30	937	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	35:94f026ab4d30	938	}
yabahiro	31:45f97698857b	939	mode=31;
yabahiro	31:45f97698857b	940	count=0;
yabahiro	29:c78a46f51209	941	}
yabahiro	31:45f97698857b	942	break;
yabahiro	31:45f97698857b	943	case 0:
yabahiro	38:391a0c8e4c16	944	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	945	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	946	motor[TIRE_FL].pwm = 80;
yabahiro	31:45f97698857b	947	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	948	motor[TIRE_BR].pwm = 80;
yabahiro	31:45f97698857b	949	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	950	motor[TIRE_BL].pwm = 80;
yabahiro	31:45f97698857b	951	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	952	mtc=true;
yabahiro	31:45f97698857b	953	break;
yabahiro	31:45f97698857b	954	case 255:
yabahiro	38:391a0c8e4c16	955	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	956	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	957	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	958	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	959	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	960	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	961	motor[TIRE_BL].pwm = 80;
yabahiro	31:45f97698857b	962	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	963	mtc=true;
yabahiro	31:45f97698857b	964	break;
yabahiro	31:45f97698857b	965	case 253:
yabahiro	38:391a0c8e4c16	966	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	967	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	968	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	969	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	970	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	971	motor[TIRE_BR].dir = FREE;
yabahiro	38:391a0c8e4c16	972	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	973	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	974	mtc=true;
yabahiro	31:45f97698857b	975	break;
yabahiro	31:45f97698857b	976	case 254:
yabahiro	38:391a0c8e4c16	977	motor[TIRE_FR].pwm = 50;
yabahiro	31:45f97698857b	978	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	979	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	980	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	981	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	982	motor[TIRE_BR].dir = FREE;
yabahiro	38:391a0c8e4c16	983	motor[TIRE_BL].pwm = 50;
yabahiro	31:45f97698857b	984	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	985	mtc=true;
yabahiro	31:45f97698857b	986	break;
yabahiro	31:45f97698857b	987	case 1:
yabahiro	38:391a0c8e4c16	988	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	989	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	990	motor[TIRE_FL].pwm = 80;
yabahiro	31:45f97698857b	991	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	992	motor[TIRE_BR].pwm = 80;
yabahiro	31:45f97698857b	993	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	994	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	995	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	996	mtc=true;
yabahiro	31:45f97698857b	997	break;
yabahiro	31:45f97698857b	998	case 3:
yabahiro	31:45f97698857b	999	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1000	motor[TIRE_FR].dir = FREE;
yabahiro	38:391a0c8e4c16	1001	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1002	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1003	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1004	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1005	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1006	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1007	mtc=true;
yabahiro	31:45f97698857b	1008	break;
yabahiro	31:45f97698857b	1009	case 2:
yabahiro	31:45f97698857b	1010	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1011	motor[TIRE_FR].dir = FREE;
yabahiro	38:391a0c8e4c16	1012	motor[TIRE_FL].pwm = 50;
yabahiro	31:45f97698857b	1013	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1014	motor[TIRE_BR].pwm = 50;
yabahiro	31:45f97698857b	1015	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1016	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1017	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1018	mtc=true;
yabahiro	31:45f97698857b	1019	break;
yabahiro	31:45f97698857b	1020	}
yabahiro	31:45f97698857b	1021	if(g[0]!=98&&mtc==true) {
yabahiro	31:45f97698857b	1022	switch(g[1]) {
yabahiro	29:c78a46f51209	1023	case 0:
yabahiro	31:45f97698857b	1024	mtc=false;
yabahiro	29:c78a46f51209	1025	break;
yabahiro	29:c78a46f51209	1026	case 255:
yabahiro	31:45f97698857b	1027	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	1028	mtc=false;
yabahiro	29:c78a46f51209	1029	break;
yabahiro	29:c78a46f51209	1030	case 253:
yabahiro	31:45f97698857b	1031	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	1032	mtc=false;
yabahiro	29:c78a46f51209	1033	break;
yabahiro	29:c78a46f51209	1034	case 254:
yabahiro	31:45f97698857b	1035	motor[TIRE_BR].pwm += 20;
yabahiro	31:45f97698857b	1036	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1037	mtc=false;
yabahiro	29:c78a46f51209	1038	break;
yabahiro	29:c78a46f51209	1039	case 1:
yabahiro	31:45f97698857b	1040	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1041	mtc=false;
yabahiro	29:c78a46f51209	1042	break;
yabahiro	29:c78a46f51209	1043	case 3:
yabahiro	31:45f97698857b	1044	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1045	mtc=false;
yabahiro	29:c78a46f51209	1046	break;
yabahiro	29:c78a46f51209	1047	case 2:
yabahiro	31:45f97698857b	1048	motor[TIRE_BL].pwm += 20;
yabahiro	31:45f97698857b	1049	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1050	mtc=false;
yabahiro	29:c78a46f51209	1051	break;
yabahiro	29:c78a46f51209	1052	}
yabahiro	38:391a0c8e4c16	1053
yabahiro	31:45f97698857b	1054	}
yabahiro	38:391a0c8e4c16	1055	} else if(mode==31) {
yabahiro	38:391a0c8e4c16	1056	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	1057	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	1058	motor[TIRE_FL].pwm = 10;
yabahiro	38:391a0c8e4c16	1059	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1060	motor[TIRE_BR].pwm = 10;
yabahiro	38:391a0c8e4c16	1061	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1062	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1063	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	1064	if(g[3]==0) {
yabahiro	31:45f97698857b	1065	count=0;
yabahiro	31:45f97698857b	1066	mode=40;
yabahiro	31:45f97698857b	1067	}
yabahiro	38:391a0c8e4c16	1068	*/
yabahiro	38:391a0c8e4c16	1069
yabahiro	38:391a0c8e4c16	1070	} else if(mode==31) {
yabahiro	38:391a0c8e4c16	1071	motor[TIRE_FR].pwm = 15;
yabahiro	38:391a0c8e4c16	1072	motor[TIRE_FR].dir = BACK;
yabahiro	38:391a0c8e4c16	1073	motor[TIRE_FL].pwm = 15;
yabahiro	38:391a0c8e4c16	1074	motor[TIRE_FL].dir = FOR;
yabahiro	38:391a0c8e4c16	1075	motor[TIRE_BR].pwm = 15;
yabahiro	38:391a0c8e4c16	1076	motor[TIRE_BR].dir = BACK;
yabahiro	38:391a0c8e4c16	1077	motor[TIRE_BL].pwm = 15;
yabahiro	38:391a0c8e4c16	1078	motor[TIRE_BL].dir = FOR;
yabahiro	38:391a0c8e4c16	1079	if(g[3]==0) {
yabahiro	38:391a0c8e4c16	1080	count=0;
yabahiro	38:391a0c8e4c16	1081	mode=32;
yabahiro	38:391a0c8e4c16	1082	}
yabahiro	38:391a0c8e4c16	1083	} else if(mode==32) {
yabahiro	38:391a0c8e4c16	1084	motor[TIRE_FR].pwm = 30;
yabahiro	38:391a0c8e4c16	1085	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1086	motor[TIRE_FL].pwm = 30;
yabahiro	38:391a0c8e4c16	1087	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1088	motor[TIRE_BR].pwm = 30;
yabahiro	38:391a0c8e4c16	1089	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1090	motor[TIRE_BL].pwm = 30;
yabahiro	38:391a0c8e4c16	1091	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1092	if(g[3]==0) {
yabahiro	38:391a0c8e4c16	1093	count=0;
yabahiro	39:f89166d7411c	1094	if(Twsh==2) {
yabahiro	39:f89166d7411c	1095	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	39:f89166d7411c	1096	}
yabahiro	38:391a0c8e4c16	1097	mode=40;
yabahiro	38:391a0c8e4c16	1098	}
yabahiro	31:45f97698857b	1099	} else if(mode==40) {
yabahiro	38:391a0c8e4c16	1100	if(LIB) {
yabahiro	38:391a0c8e4c16	1101	mode=42;
yabahiro	38:391a0c8e4c16	1102	}
yabahiro	35:94f026ab4d30	1103	if(counts==false&&g[0]==0) {
yabahiro	35:94f026ab4d30	1104	cros++;
yabahiro	35:94f026ab4d30	1105	counts=true;
yabahiro	35:94f026ab4d30	1106	}
yabahiro	35:94f026ab4d30	1107	if(counts==true&&g[0]==99) {
yabahiro	35:94f026ab4d30	1108	counts=false;
yabahiro	35:94f026ab4d30	1109	}
yabahiro	35:94f026ab4d30	1110
yabahiro	38:391a0c8e4c16	1111	if(cros==1) {
yabahiro	36:788274604650	1112	// mode=41;
yabahiro	35:94f026ab4d30	1113	//count=0;
yabahiro	35:94f026ab4d30	1114	//cros=0;
yabahiro	35:94f026ab4d30	1115	}//ゆっくりモードに入れなかった時の保険
yabahiro	35:94f026ab4d30	1116
yabahiro	31:45f97698857b	1117	switch(g[3]) {
yabahiro	31:45f97698857b	1118	case 98:
kishibekairohan	33:656aa14904a5	1119	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1120	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1121	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1122	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1123	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1124	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1125	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1126	motor[TIRE_BL].dir = FOR;
yabahiro	35:94f026ab4d30	1127	if(count>20000) {
yabahiro	31:45f97698857b	1128	cross++;
yabahiro	31:45f97698857b	1129	count=0;
yabahiro	31:45f97698857b	1130	}
yabahiro	31:45f97698857b	1131	mtc2=true;
yabahiro	38:391a0c8e4c16	1132	if(cross==2) {
yabahiro	31:45f97698857b	1133	mode=41;
yabahiro	31:45f97698857b	1134	count=0;
yabahiro	31:45f97698857b	1135	cross=0;
kishibekairohan	22:c47f29caded6	1136	}
yabahiro	31:45f97698857b	1137	break;
yabahiro	31:45f97698857b	1138	case 0:
kishibekairohan	33:656aa14904a5	1139	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1140	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1141	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1142	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1143	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1144	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1145	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1146	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1147	mtc2=true;
yabahiro	31:45f97698857b	1148	break;
yabahiro	31:45f97698857b	1149	case 255:
kishibekairohan	33:656aa14904a5	1150	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1151	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1152	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1153	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1154	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1155	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1156	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1157	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1158	mtc2=true;
yabahiro	31:45f97698857b	1159	break;
yabahiro	31:45f97698857b	1160	case 253:
yabahiro	31:45f97698857b	1161	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1162	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1163	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1164	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1165	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1166	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1167	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1168	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1169	mtc2=true;
yabahiro	31:45f97698857b	1170	break;
yabahiro	31:45f97698857b	1171	case 254:
yabahiro	31:45f97698857b	1172	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1173	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1174	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1175	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1176	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1177	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1178	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1179	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1180	mtc2=true;
yabahiro	31:45f97698857b	1181	break;
yabahiro	31:45f97698857b	1182	case 1:
kishibekairohan	33:656aa14904a5	1183	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1184	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	1185	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1186	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1187	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1188	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1189	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1190	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1191	mtc2=true;
yabahiro	31:45f97698857b	1192	break;
yabahiro	31:45f97698857b	1193	case 3:
kishibekairohan	33:656aa14904a5	1194	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1195	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1196	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1197	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1198	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1199	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1200	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1201	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1202	mtc2=true;
yabahiro	31:45f97698857b	1203	break;
yabahiro	31:45f97698857b	1204	case 2:
kishibekairohan	33:656aa14904a5	1205	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1206	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1207	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1208	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1209	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1210	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1211	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1212	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1213	mtc2=true;
yabahiro	31:45f97698857b	1214	break;
yabahiro	31:45f97698857b	1215	}
yabahiro	31:45f97698857b	1216	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1217	switch(g[2]) {
yabahiro	29:c78a46f51209	1218	case 0:
yabahiro	31:45f97698857b	1219	mtc2=false;
yabahiro	29:c78a46f51209	1220	break;
yabahiro	29:c78a46f51209	1221	case 255:
yabahiro	31:45f97698857b	1222	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1223	mtc2=false;
yabahiro	29:c78a46f51209	1224	break;
yabahiro	29:c78a46f51209	1225	case 253:
yabahiro	31:45f97698857b	1226	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1227	mtc2=false;
yabahiro	29:c78a46f51209	1228	break;
yabahiro	29:c78a46f51209	1229	case 254:
yabahiro	31:45f97698857b	1230	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	1231	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1232	mtc2=false;
yabahiro	29:c78a46f51209	1233	break;
yabahiro	29:c78a46f51209	1234	case 1:
yabahiro	31:45f97698857b	1235	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1236	mtc2=false;
yabahiro	29:c78a46f51209	1237	break;
yabahiro	29:c78a46f51209	1238	case 3:
yabahiro	31:45f97698857b	1239	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1240	mtc2=false;
yabahiro	29:c78a46f51209	1241	break;
yabahiro	29:c78a46f51209	1242	case 2:
yabahiro	31:45f97698857b	1243	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1244	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1245	mtc2=false;
yabahiro	29:c78a46f51209	1246	break;
yabahiro	29:c78a46f51209	1247	}
yabahiro	31:45f97698857b	1248	}
yabahiro	31:45f97698857b	1249	} else if(mode==41) {
yabahiro	31:45f97698857b	1250	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1251	motor[TIRE_FR].dir = FREE;
yabahiro	35:94f026ab4d30	1252	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1253	motor[TIRE_FL].dir = BACK;
yabahiro	35:94f026ab4d30	1254	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1255	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1256	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1257	motor[TIRE_BL].dir = FREE;
yabahiro	35:94f026ab4d30	1258	if(g[1]==0) {
yabahiro	31:45f97698857b	1259	count=0;
yabahiro	31:45f97698857b	1260	mode=70;
yabahiro	31:45f97698857b	1261	}
yabahiro	38:391a0c8e4c16	1262	} else if(mode==42) {
yabahiro	38:391a0c8e4c16	1263	motor[TIRE_FR].pwm = 20;
yabahiro	38:391a0c8e4c16	1264	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1265	motor[TIRE_FL].pwm = 0;
yabahiro	38:391a0c8e4c16	1266	motor[TIRE_FL].dir = FREE;
yabahiro	38:391a0c8e4c16	1267	motor[TIRE_BR].pwm = 0;
yabahiro	38:391a0c8e4c16	1268	motor[TIRE_BR].dir = FREE;
yabahiro	38:391a0c8e4c16	1269	motor[TIRE_BL].pwm = 20;
yabahiro	38:391a0c8e4c16	1270	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1271	if(g[1]==0) {
yabahiro	38:391a0c8e4c16	1272	count=0;
yabahiro	38:391a0c8e4c16	1273	mode=70;
yabahiro	38:391a0c8e4c16	1274	}
yabahiro	31:45f97698857b	1275	} else if(mode==70) {
yabahiro	31:45f97698857b	1276	switch(g[1]) {
yabahiro	31:45f97698857b	1277	case 99:
yabahiro	31:45f97698857b	1278	if(count>=100000) {
yabahiro	31:45f97698857b	1279	mode=100;
yabahiro	29:c78a46f51209	1280	}
yabahiro	31:45f97698857b	1281	break;
yabahiro	31:45f97698857b	1282	case 98:
kishibekairohan	33:656aa14904a5	1283	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1284	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1285	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1286	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1287	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1288	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1289	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1290	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1291	break;
yabahiro	31:45f97698857b	1292	case 0:
yabahiro	38:391a0c8e4c16	1293	motor[TIRE_FR].pwm = 80;
yabahiro	31:45f97698857b	1294	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1295	motor[TIRE_FL].pwm = 80;
yabahiro	31:45f97698857b	1296	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1297	motor[TIRE_BR].pwm = 80;
yabahiro	31:45f97698857b	1298	motor[TIRE_BR].dir = FOR;
yabahiro	38:391a0c8e4c16	1299	motor[TIRE_BL].pwm = 80;
yabahiro	31:45f97698857b	1300	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1301	mtc=true;
yabahiro	31:45f97698857b	1302	break;
yabahiro	31:45f97698857b	1303	case 255:
kishibekairohan	33:656aa14904a5	1304	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1305	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1306	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1307	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1308	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1309	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1310	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1311	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1312	mtc=true;
yabahiro	31:45f97698857b	1313	break;
yabahiro	31:45f97698857b	1314	case 253:
kishibekairohan	33:656aa14904a5	1315	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1316	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1317	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1318	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1319	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1320	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1321	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1322	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1323	mtc=true;
yabahiro	31:45f97698857b	1324	break;
yabahiro	31:45f97698857b	1325	case 254:
kishibekairohan	33:656aa14904a5	1326	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1327	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1328	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1329	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1330	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1331	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1332	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1333	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1334	mtc=true;
yabahiro	31:45f97698857b	1335	break;
yabahiro	31:45f97698857b	1336	case 1:
kishibekairohan	33:656aa14904a5	1337	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1338	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1339	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1340	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1341	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1342	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1343	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1344	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1345	mtc=true;
yabahiro	31:45f97698857b	1346	break;
yabahiro	31:45f97698857b	1347	case 3:
yabahiro	31:45f97698857b	1348	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1349	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1350	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1351	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1352	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1353	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1354	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1355	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1356	mtc=true;
yabahiro	31:45f97698857b	1357	break;
yabahiro	31:45f97698857b	1358	case 2:
yabahiro	31:45f97698857b	1359	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1360	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1361	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1362	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1363	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1364	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1365	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1366	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1367	mtc=true;
yabahiro	31:45f97698857b	1368	break;
yabahiro	31:45f97698857b	1369	}
yabahiro	31:45f97698857b	1370	if(g[1]!=98&&mtc==true) {
yabahiro	31:45f97698857b	1371	switch(g[0]) {
yabahiro	29:c78a46f51209	1372	case 0:
yabahiro	31:45f97698857b	1373	mtc=false;
yabahiro	29:c78a46f51209	1374	break;
yabahiro	29:c78a46f51209	1375	case 255:
yabahiro	31:45f97698857b	1376	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1377	mtc=false;
yabahiro	29:c78a46f51209	1378	break;
yabahiro	29:c78a46f51209	1379	case 253:
yabahiro	31:45f97698857b	1380	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1381	mtc=false;
yabahiro	29:c78a46f51209	1382	break;
yabahiro	29:c78a46f51209	1383	case 254:
yabahiro	31:45f97698857b	1384	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1385	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1386	mtc=false;
yabahiro	29:c78a46f51209	1387	break;
yabahiro	29:c78a46f51209	1388	case 1:
yabahiro	31:45f97698857b	1389	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1390	mtc=false;
yabahiro	29:c78a46f51209	1391	break;
yabahiro	29:c78a46f51209	1392	case 3:
yabahiro	31:45f97698857b	1393	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1394	mtc=false;
yabahiro	29:c78a46f51209	1395	break;
yabahiro	29:c78a46f51209	1396	case 2:
yabahiro	31:45f97698857b	1397	motor[TIRE_FR].pwm += 20;
yabahiro	31:45f97698857b	1398	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1399	mtc=false;
yabahiro	29:c78a46f51209	1400	break;
yabahiro	29:c78a46f51209	1401	}
yabahiro	31:45f97698857b	1402	}
yabahiro	31:45f97698857b	1403	} else if(mode==100) {
yabahiro	35:94f026ab4d30	1404	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1405	motor[TIRE_FR].dir = FOR;
yabahiro	35:94f026ab4d30	1406	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1407	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1408	motor[TIRE_BR].pwm = 23;
yabahiro	31:45f97698857b	1409	motor[TIRE_BR].dir = FOR;
yabahiro	35:94f026ab4d30	1410	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1411	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1412	} else {
yabahiro	31:45f97698857b	1413	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1414	motor[TIRE_FR].dir = BRAKE;
yabahiro	31:45f97698857b	1415	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1416	motor[TIRE_FL].dir = BRAKE;
yabahiro	31:45f97698857b	1417	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1418	motor[TIRE_BR].dir = BRAKE;
yabahiro	31:45f97698857b	1419	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1420	motor[TIRE_BL].dir = BRAKE;
yabahiro	31:45f97698857b	1421	}
yabahiro	31:45f97698857b	1422	}
yabahiro	31:45f97698857b	1423	#endif
yabahiro	31:45f97698857b	1424
yabahiro	31:45f97698857b	1425	#if USE_PROCESS_NUM>3
yabahiro	31:45f97698857b	1426	static void Process3()
yabahiro	31:45f97698857b	1427	{
yabahiro	39:f89166d7411c	1428
yabahiro	36:788274604650	1429	}
yabahiro	36:788274604650	1430	#endif
yabahiro	36:788274604650	1431
yabahiro	36:788274604650	1432	#if USE_PROCESS_NUM>4
yabahiro	36:788274604650	1433	static void Process4()
yabahiro	36:788274604650	1434	{
yabahiro	36:788274604650	1435	LedMode(4);
yabahiro	36:788274604650	1436	count++;
yabahiro	31:45f97698857b	1437	if(mode==1) {//スタートゾーンから白線検知
yabahiro	39:f89166d7411c	1438	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1439	motor[TIRE_FR].dir = FOR;
yabahiro	39:f89166d7411c	1440	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1441	motor[TIRE_FL].dir = BACK;
yabahiro	39:f89166d7411c	1442	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1443	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	1444	motor[TIRE_BL].pwm = 45;
yabahiro	31:45f97698857b	1445	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1446	if(g[2]==0) {
yabahiro	31:45f97698857b	1447	count=100000;
yabahiro	31:45f97698857b	1448	cross=0;
yabahiro	36:788274604650	1449	mode=3;
yabahiro	31:45f97698857b	1450	}
yabahiro	36:788274604650	1451	} 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	1452	motor[TIRE_FR].pwm = 40;
kishibekairohan	32:90f018b10ad6	1453	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1454	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1455	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1456	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1457	motor[TIRE_BR].dir = FREE;
yabahiro	39:f89166d7411c	1458	motor[TIRE_BL].pwm = 40;
kishibekairohan	32:90f018b10ad6	1459	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1460	if(g[0]==0) {
yabahiro	36:788274604650	1461	mode=10;
yabahiro	36:788274604650	1462	count=100000;
yabahiro	36:788274604650	1463	}
yabahiro	36:788274604650	1464	} else if(mode==10) { //縦ライントレース
yabahiro	36:788274604650	1465
yabahiro	36:788274604650	1466	if(counts==false&&g[2]==0) {
yabahiro	36:788274604650	1467	cros++;
yabahiro	36:788274604650	1468	counts=true;
yabahiro	36:788274604650	1469	}
yabahiro	36:788274604650	1470	if(counts==true&&g[2]==99) {
yabahiro	36:788274604650	1471	counts=false;
yabahiro	36:788274604650	1472	}
yabahiro	36:788274604650	1473
yabahiro	36:788274604650	1474	if(cros==Twsh) {
yabahiro	36:788274604650	1475	mode=11;
yabahiro	31:45f97698857b	1476	count=0;
yabahiro	36:788274604650	1477	cros=0;
yabahiro	36:788274604650	1478	}//ゆっくりモードに入れなかった時の保険
kishibekairohan	32:90f018b10ad6	1479	switch(g[1]) {
yabahiro	31:45f97698857b	1480	case 98:
kishibekairohan	33:656aa14904a5	1481	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1482	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1483	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1484	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1485	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1486	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1487	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1488	motor[TIRE_BL].dir = BACK;
yabahiro	36:788274604650	1489	mtc=true;
yabahiro	36:788274604650	1490	if(count>80000) {
yabahiro	31:45f97698857b	1491	cross++;
yabahiro	31:45f97698857b	1492	count=0;
yabahiro	31:45f97698857b	1493	}
yabahiro	31:45f97698857b	1494	if(cross==Twsh) {
yabahiro	31:45f97698857b	1495	mode=11;
yabahiro	31:45f97698857b	1496	count=0;
yabahiro	36:788274604650	1497	cross=0;
yabahiro	31:45f97698857b	1498	}
yabahiro	31:45f97698857b	1499	break;
yabahiro	31:45f97698857b	1500	case 0:
kishibekairohan	33:656aa14904a5	1501	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1502	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1503	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1504	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1505	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1506	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1507	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1508	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1509	mtc=true;
yabahiro	31:45f97698857b	1510	break;
yabahiro	31:45f97698857b	1511	case 255:
kishibekairohan	33:656aa14904a5	1512	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1513	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1514	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1515	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1516	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1517	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1518	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1519	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1520	mtc=true;
yabahiro	31:45f97698857b	1521	break;
yabahiro	31:45f97698857b	1522	case 253:
kishibekairohan	33:656aa14904a5	1523	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1524	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1525	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1526	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1527	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1528	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1529	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1530	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1531	mtc=true;
yabahiro	31:45f97698857b	1532	break;
yabahiro	31:45f97698857b	1533	case 254:
kishibekairohan	33:656aa14904a5	1534	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1535	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1536	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1537	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1538	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1539	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1540	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1541	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1542	mtc=true;
yabahiro	31:45f97698857b	1543	break;
yabahiro	31:45f97698857b	1544	case 1:
kishibekairohan	33:656aa14904a5	1545	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1546	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1547	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1548	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1549	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1550	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	1551	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1552	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1553	mtc=true;
yabahiro	31:45f97698857b	1554	break;
yabahiro	31:45f97698857b	1555	case 3:
yabahiro	31:45f97698857b	1556	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1557	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1558	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1559	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1560	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1561	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1562	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1563	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1564	mtc=true;
yabahiro	31:45f97698857b	1565	break;
yabahiro	31:45f97698857b	1566	case 2:
yabahiro	31:45f97698857b	1567	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1568	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1569	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1570	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	1571	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1572	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1573	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1574	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1575	mtc=true;
yabahiro	31:45f97698857b	1576	break;
yabahiro	31:45f97698857b	1577	}
yabahiro	36:788274604650	1578	if(g[0]!=98&&mtc==true) {
yabahiro	39:f89166d7411c	1579	switch(g[0]) {
yabahiro	31:45f97698857b	1580	case 0:
yabahiro	31:45f97698857b	1581	mtc=false;
yabahiro	31:45f97698857b	1582	break;
yabahiro	31:45f97698857b	1583	case 255:
kishibekairohan	32:90f018b10ad6	1584	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1585	mtc=false;
yabahiro	31:45f97698857b	1586	break;
yabahiro	31:45f97698857b	1587	case 253:
kishibekairohan	32:90f018b10ad6	1588	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1589	mtc=false;
yabahiro	31:45f97698857b	1590	break;
yabahiro	31:45f97698857b	1591	case 254:
kishibekairohan	32:90f018b10ad6	1592	motor[TIRE_FL].pwm += 20;
kishibekairohan	32:90f018b10ad6	1593	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1594	mtc=false;
yabahiro	31:45f97698857b	1595	break;
yabahiro	31:45f97698857b	1596	case 1:
kishibekairohan	32:90f018b10ad6	1597	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1598	mtc=false;
yabahiro	31:45f97698857b	1599	break;
yabahiro	31:45f97698857b	1600	case 3:
kishibekairohan	32:90f018b10ad6	1601	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1602	mtc=false;
yabahiro	31:45f97698857b	1603	break;
yabahiro	31:45f97698857b	1604	case 2:
kishibekairohan	32:90f018b10ad6	1605	motor[TIRE_FR].pwm += 20;
kishibekairohan	32:90f018b10ad6	1606	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1607	mtc=false;
yabahiro	31:45f97698857b	1608	break;
yabahiro	29:c78a46f51209	1609	}
yabahiro	31:45f97698857b	1610	}
yabahiro	31:45f97698857b	1611	} else if(mode==11) {
yabahiro	36:788274604650	1612	motor[TIRE_FR].pwm = normal;
kishibekairohan	32:90f018b10ad6	1613	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1614	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1615	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1616	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1617	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1618	motor[TIRE_BL].pwm = normal;
kishibekairohan	32:90f018b10ad6	1619	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1620	if(g[2]==0) {
yabahiro	31:45f97698857b	1621	count=0;
yabahiro	36:788274604650	1622	cross=0;
yabahiro	31:45f97698857b	1623	mode=20;
yabahiro	39:f89166d7411c	1624	fast=40;
yabahiro	39:f89166d7411c	1625	normal=30;
yabahiro	39:f89166d7411c	1626	slow=20;
yabahiro	31:45f97698857b	1627	}
yabahiro	31:45f97698857b	1628	} else if(mode==20) {
yabahiro	36:788274604650	1629
yabahiro	38:391a0c8e4c16	1630	if(Twsh==2) {
yabahiro	38:391a0c8e4c16	1631	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	38:391a0c8e4c16	1632	}
yabahiro	38:391a0c8e4c16	1633
yabahiro	36:788274604650	1634	if(counts==false&&g[1]==0) {
yabahiro	36:788274604650	1635	cros++;
yabahiro	36:788274604650	1636	counts=true;
yabahiro	36:788274604650	1637	}
yabahiro	36:788274604650	1638	if(counts==true&&g[1]==99) {
yabahiro	36:788274604650	1639	counts=false;
yabahiro	36:788274604650	1640	}
yabahiro	36:788274604650	1641
yabahiro	36:788274604650	1642	if(cros==2) {
yabahiro	38:391a0c8e4c16	1643	//mode=21;
yabahiro	38:391a0c8e4c16	1644	//count=0;
yabahiro	38:391a0c8e4c16	1645	//cros=0;
yabahiro	36:788274604650	1646	}//ゆっくりモードに入れなかった時の保険
yabahiro	36:788274604650	1647
yabahiro	31:45f97698857b	1648	switch(g[2]) {
yabahiro	31:45f97698857b	1649	case 98:
kishibekairohan	33:656aa14904a5	1650	motor[TIRE_FR].pwm = normal;
kishibekairohan	22:c47f29caded6	1651	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1652	motor[TIRE_FL].pwm = normal;
yabahiro	23:694ecfa97839	1653	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1654	motor[TIRE_BR].pwm = normal;
yabahiro	23:694ecfa97839	1655	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1656	motor[TIRE_BL].pwm = normal;
yabahiro	29:c78a46f51209	1657	motor[TIRE_BL].dir = BACK;
yabahiro	36:788274604650	1658	if(count>80000) {
yabahiro	31:45f97698857b	1659	cross++;
yabahiro	31:45f97698857b	1660	count=0;
yabahiro	31:45f97698857b	1661	}
yabahiro	31:45f97698857b	1662	mtc2=true;
yabahiro	36:788274604650	1663	if(cross==2) {
yabahiro	31:45f97698857b	1664	mode=21;
yabahiro	31:45f97698857b	1665	count=0;
yabahiro	31:45f97698857b	1666	cross=0;
yabahiro	31:45f97698857b	1667	}
yabahiro	31:45f97698857b	1668	break;
yabahiro	31:45f97698857b	1669	case 0:
kishibekairohan	33:656aa14904a5	1670	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1671	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1672	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1673	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1674	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1675	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1676	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1677	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1678	mtc2=true;
yabahiro	31:45f97698857b	1679	break;
yabahiro	31:45f97698857b	1680	case 255:
yabahiro	36:788274604650	1681	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1682	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1683	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	1684	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1685	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	1686	motor[TIRE_BR].dir = BACK;
yabahiro	36:788274604650	1687	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1688	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1689	mtc2=true;
yabahiro	31:45f97698857b	1690	break;
yabahiro	31:45f97698857b	1691	case 253:
yabahiro	31:45f97698857b	1692	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1693	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1694	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1695	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1696	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1697	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1698	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1699	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1700	mtc2=true;
yabahiro	31:45f97698857b	1701	break;
yabahiro	31:45f97698857b	1702	case 254:
yabahiro	31:45f97698857b	1703	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1704	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	1705	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	1706	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1707	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	1708	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1709	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1710	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1711	mtc2=true;
yabahiro	31:45f97698857b	1712	break;
yabahiro	31:45f97698857b	1713	case 1:
kishibekairohan	33:656aa14904a5	1714	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	1715	motor[TIRE_FR].dir = FOR;
kishibekairohan	33:656aa14904a5	1716	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	1717	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	1718	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	1719	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	1720	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	1721	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1722	mtc2=true;
yabahiro	31:45f97698857b	1723	break;
yabahiro	31:45f97698857b	1724	case 3:
kishibekairohan	33:656aa14904a5	1725	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	1726	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1727	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1728	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1729	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1730	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1731	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	1732	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1733	mtc2=true;
yabahiro	31:45f97698857b	1734	break;
yabahiro	31:45f97698857b	1735	case 2:
kishibekairohan	33:656aa14904a5	1736	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	1737	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1738	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1739	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1740	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1741	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	1742	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	1743	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1744	mtc2=true;
yabahiro	31:45f97698857b	1745	break;
yabahiro	31:45f97698857b	1746	}
yabahiro	31:45f97698857b	1747	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1748	switch(g[3]) {
yabahiro	23:694ecfa97839	1749	case 0:
yabahiro	31:45f97698857b	1750	mtc2=false;
yabahiro	23:694ecfa97839	1751	break;
yabahiro	23:694ecfa97839	1752	case 255:
yabahiro	31:45f97698857b	1753	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1754	mtc2=false;
yabahiro	23:694ecfa97839	1755	break;
yabahiro	23:694ecfa97839	1756	case 253:
yabahiro	31:45f97698857b	1757	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1758	mtc2=false;
yabahiro	23:694ecfa97839	1759	break;
yabahiro	23:694ecfa97839	1760	case 254:
yabahiro	31:45f97698857b	1761	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1762	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1763	mtc2=false;
yabahiro	23:694ecfa97839	1764	break;
yabahiro	23:694ecfa97839	1765	case 1:
yabahiro	31:45f97698857b	1766	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1767	mtc2=false;
yabahiro	23:694ecfa97839	1768	break;
yabahiro	23:694ecfa97839	1769	case 3:
yabahiro	31:45f97698857b	1770	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1771	mtc2=false;
yabahiro	23:694ecfa97839	1772	break;
yabahiro	23:694ecfa97839	1773	case 2:
yabahiro	31:45f97698857b	1774	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1775	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1776	mtc2=false;
yabahiro	29:c78a46f51209	1777	break;
yabahiro	29:c78a46f51209	1778	}
yabahiro	31:45f97698857b	1779	}
yabahiro	31:45f97698857b	1780	} else if(mode==21) {
yabahiro	36:788274604650	1781	motor[TIRE_FR].pwm = normal;
kishibekairohan	32:90f018b10ad6	1782	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1783	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1784	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	1785	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1786	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1787	motor[TIRE_BL].pwm = normal;
kishibekairohan	32:90f018b10ad6	1788	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1789	if(g[1]==0) {
yabahiro	31:45f97698857b	1790	mode=30;
yabahiro	36:788274604650	1791	cros=0;
yabahiro	36:788274604650	1792	zyouge=true;
yabahiro	39:f89166d7411c	1793	fast=80;
yabahiro	39:f89166d7411c	1794	normal=60;
yabahiro	39:f89166d7411c	1795	slow=40;
yabahiro	31:45f97698857b	1796	}
yabahiro	31:45f97698857b	1797	} else if(mode==30) {
yabahiro	38:391a0c8e4c16	1798	motor[TIRE_FR].pwm = 60;
yabahiro	38:391a0c8e4c16	1799	motor[TIRE_FR].dir = FOR;
yabahiro	38:391a0c8e4c16	1800	motor[TIRE_FL].pwm = 60;
yabahiro	38:391a0c8e4c16	1801	motor[TIRE_FL].dir = BACK;
yabahiro	38:391a0c8e4c16	1802	motor[TIRE_BR].pwm = 60;
yabahiro	38:391a0c8e4c16	1803	motor[TIRE_BR].dir = FOR;
yabahiro	39:f89166d7411c	1804	motor[TIRE_BL].pwm = 50;
yabahiro	38:391a0c8e4c16	1805	motor[TIRE_BL].dir = BACK;
yabahiro	38:391a0c8e4c16	1806	if(g[1]==98) {
yabahiro	38:391a0c8e4c16	1807	mode=31;
yabahiro	38:391a0c8e4c16	1808	}
yabahiro	39:f89166d7411c	1809	if(g[3]==0) {
yabahiro	39:f89166d7411c	1810	mode=32;
yabahiro	36:788274604650	1811	count=0;
yabahiro	36:788274604650	1812	cros=0;
yabahiro	36:788274604650	1813	}//ゆっくりモードに入れなかった時の保険
yabahiro	38:391a0c8e4c16	1814	/*
kishibekairohan	32:90f018b10ad6	1815	switch(g[1]) {
yabahiro	31:45f97698857b	1816	case 98:
yabahiro	36:788274604650	1817	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1818	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1819	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1820	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1821	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1822	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1823	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1824	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1825	if(count>100000) {
yabahiro	31:45f97698857b	1826	cross++;
yabahiro	31:45f97698857b	1827	count=0;
yabahiro	31:45f97698857b	1828	}
yabahiro	31:45f97698857b	1829	mtc=true;
yabahiro	31:45f97698857b	1830	if(cross==1) {
yabahiro	36:788274604650	1831	if(Twsh==2) {
yabahiro	36:788274604650	1832	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	36:788274604650	1833	}
yabahiro	31:45f97698857b	1834	mode=31;
yabahiro	31:45f97698857b	1835	count=0;
yabahiro	29:c78a46f51209	1836	}
yabahiro	31:45f97698857b	1837	break;
yabahiro	31:45f97698857b	1838	case 0:
yabahiro	36:788274604650	1839	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1840	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1841	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1842	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1843	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1844	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1845	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1846	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1847	mtc=true;
yabahiro	31:45f97698857b	1848	break;
yabahiro	31:45f97698857b	1849	case 255:
yabahiro	36:788274604650	1850	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1851	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1852	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1853	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1854	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1855	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1856	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1857	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1858	mtc=true;
yabahiro	31:45f97698857b	1859	break;
yabahiro	31:45f97698857b	1860	case 253:
yabahiro	36:788274604650	1861	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1862	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1863	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1864	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1865	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1866	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1867	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1868	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1869	mtc=true;
yabahiro	31:45f97698857b	1870	break;
yabahiro	31:45f97698857b	1871	case 254:
yabahiro	36:788274604650	1872	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1873	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1874	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1875	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1876	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1877	motor[TIRE_BR].dir = FREE;
yabahiro	36:788274604650	1878	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1879	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1880	mtc=true;
yabahiro	31:45f97698857b	1881	break;
yabahiro	31:45f97698857b	1882	case 1:
yabahiro	36:788274604650	1883	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1884	motor[TIRE_FR].dir = FOR;
yabahiro	36:788274604650	1885	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1886	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1887	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1888	motor[TIRE_BR].dir = FOR;
yabahiro	36:788274604650	1889	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1890	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1891	mtc=true;
yabahiro	31:45f97698857b	1892	break;
yabahiro	31:45f97698857b	1893	case 3:
yabahiro	31:45f97698857b	1894	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1895	motor[TIRE_FR].dir = FREE;
yabahiro	36:788274604650	1896	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1897	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1898	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1899	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1900	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1901	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1902	mtc=true;
yabahiro	31:45f97698857b	1903	break;
yabahiro	31:45f97698857b	1904	case 2:
yabahiro	31:45f97698857b	1905	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1906	motor[TIRE_FR].dir = FREE;
yabahiro	36:788274604650	1907	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1908	motor[TIRE_FL].dir = BACK;
yabahiro	36:788274604650	1909	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1910	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1911	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1912	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1913	mtc=true;
yabahiro	31:45f97698857b	1914	break;
yabahiro	31:45f97698857b	1915	}
kishibekairohan	32:90f018b10ad6	1916	if(g[1]!=98&&mtc==true) {
kishibekairohan	32:90f018b10ad6	1917	switch(g[0]) {
yabahiro	29:c78a46f51209	1918	case 0:
yabahiro	31:45f97698857b	1919	mtc=false;
yabahiro	29:c78a46f51209	1920	break;
yabahiro	29:c78a46f51209	1921	case 255:
kishibekairohan	34:cef6c124a52d	1922	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1923	mtc=false;
yabahiro	29:c78a46f51209	1924	break;
yabahiro	29:c78a46f51209	1925	case 253:
kishibekairohan	34:cef6c124a52d	1926	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1927	mtc=false;
yabahiro	29:c78a46f51209	1928	break;
yabahiro	29:c78a46f51209	1929	case 254:
kishibekairohan	34:cef6c124a52d	1930	motor[TIRE_FL].pwm += 20;
kishibekairohan	34:cef6c124a52d	1931	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1932	mtc=false;
yabahiro	29:c78a46f51209	1933	break;
yabahiro	29:c78a46f51209	1934	case 1:
kishibekairohan	34:cef6c124a52d	1935	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1936	mtc=false;
yabahiro	29:c78a46f51209	1937	break;
yabahiro	29:c78a46f51209	1938	case 3:
kishibekairohan	34:cef6c124a52d	1939	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1940	mtc=false;
yabahiro	29:c78a46f51209	1941	break;
yabahiro	29:c78a46f51209	1942	case 2:
kishibekairohan	34:cef6c124a52d	1943	motor[TIRE_FR].pwm += 20;
kishibekairohan	34:cef6c124a52d	1944	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1945	mtc=false;
yabahiro	23:694ecfa97839	1946	break;
yabahiro	23:694ecfa97839	1947	}
yabahiro	31:45f97698857b	1948	}
yabahiro	38:391a0c8e4c16	1949	*/
yabahiro	31:45f97698857b	1950	} else if(mode==31) {
yabahiro	39:f89166d7411c	1951	motor[TIRE_FR].pwm = 15;
yabahiro	39:f89166d7411c	1952	motor[TIRE_FR].dir = FOR;
yabahiro	39:f89166d7411c	1953	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	1954	motor[TIRE_FL].dir = BACK;
yabahiro	39:f89166d7411c	1955	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	1956	motor[TIRE_BR].dir = FOR;
yabahiro	39:f89166d7411c	1957	motor[TIRE_BL].pwm = 15;
yabahiro	39:f89166d7411c	1958	motor[TIRE_BL].dir = BACK;
yabahiro	35:94f026ab4d30	1959	if(g[3]==0) {
yabahiro	31:45f97698857b	1960	count=0;
yabahiro	39:f89166d7411c	1961	mode=32;
yabahiro	39:f89166d7411c	1962	}
yabahiro	39:f89166d7411c	1963	} else if(mode==32) {
yabahiro	39:f89166d7411c	1964	motor[TIRE_FR].pwm = 30;
yabahiro	39:f89166d7411c	1965	motor[TIRE_FR].dir = BACK;
yabahiro	39:f89166d7411c	1966	motor[TIRE_FL].pwm = 30;
yabahiro	39:f89166d7411c	1967	motor[TIRE_FL].dir = FOR;
yabahiro	39:f89166d7411c	1968	motor[TIRE_BR].pwm = 30;
yabahiro	39:f89166d7411c	1969	motor[TIRE_BR].dir = BACK;
yabahiro	39:f89166d7411c	1970	motor[TIRE_BL].pwm = 30;
yabahiro	39:f89166d7411c	1971	motor[TIRE_BL].dir = FOR;
yabahiro	39:f89166d7411c	1972	if(g[3]==0) {
yabahiro	39:f89166d7411c	1973	count=0;
yabahiro	39:f89166d7411c	1974	if(Twsh==2) {
yabahiro	39:f89166d7411c	1975	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	39:f89166d7411c	1976	}
yabahiro	31:45f97698857b	1977	mode=40;
yabahiro	31:45f97698857b	1978	}
yabahiro	31:45f97698857b	1979	} else if(mode==40) {
yabahiro	36:788274604650	1980
yabahiro	39:f89166d7411c	1981	if(LIF) {
yabahiro	38:391a0c8e4c16	1982	mode=42;
yabahiro	38:391a0c8e4c16	1983	}
yabahiro	38:391a0c8e4c16	1984
yabahiro	36:788274604650	1985	if(counts==false&&g[0]==0) {
yabahiro	36:788274604650	1986	cros++;
yabahiro	36:788274604650	1987	counts=true;
yabahiro	36:788274604650	1988	}
yabahiro	36:788274604650	1989	if(counts==true&&g[0]==99) {
yabahiro	36:788274604650	1990	counts=false;
yabahiro	36:788274604650	1991	}
yabahiro	36:788274604650	1992
yabahiro	40:7f93984e8ba1	1993	if(cros==1) {
yabahiro	36:788274604650	1994	// mode=41;
yabahiro	36:788274604650	1995	//count=0;
yabahiro	36:788274604650	1996	//cros=0;
yabahiro	36:788274604650	1997	}//ゆっくりモードに入れなかった時の保険
yabahiro	36:788274604650	1998
yabahiro	31:45f97698857b	1999	switch(g[3]) {
yabahiro	31:45f97698857b	2000	case 98:
kishibekairohan	33:656aa14904a5	2001	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2002	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2003	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2004	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2005	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2006	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2007	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2008	motor[TIRE_BL].dir = FOR;
yabahiro	36:788274604650	2009	if(count>20000) {
yabahiro	31:45f97698857b	2010	cross++;
yabahiro	31:45f97698857b	2011	count=0;
yabahiro	31:45f97698857b	2012	}
yabahiro	31:45f97698857b	2013	mtc2=true;
yabahiro	39:f89166d7411c	2014	if(cross==2) {
yabahiro	31:45f97698857b	2015	mode=41;
yabahiro	31:45f97698857b	2016	count=0;
yabahiro	31:45f97698857b	2017	cross=0;
yabahiro	24:41c23c9a5058	2018	}
yabahiro	31:45f97698857b	2019	break;
yabahiro	31:45f97698857b	2020	case 0:
kishibekairohan	33:656aa14904a5	2021	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2022	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2023	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2024	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2025	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2026	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2027	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2028	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2029	mtc2=true;
yabahiro	31:45f97698857b	2030	break;
yabahiro	31:45f97698857b	2031	case 255:
kishibekairohan	33:656aa14904a5	2032	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2033	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2034	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2035	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2036	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2037	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2038	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2039	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2040	mtc2=true;
yabahiro	31:45f97698857b	2041	break;
yabahiro	31:45f97698857b	2042	case 253:
yabahiro	31:45f97698857b	2043	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2044	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2045	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2046	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2047	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2048	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2049	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2050	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2051	mtc2=true;
yabahiro	31:45f97698857b	2052	break;
yabahiro	31:45f97698857b	2053	case 254:
yabahiro	31:45f97698857b	2054	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2055	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2056	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2057	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2058	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2059	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2060	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2061	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2062	mtc2=true;
yabahiro	31:45f97698857b	2063	break;
yabahiro	31:45f97698857b	2064	case 1:
kishibekairohan	33:656aa14904a5	2065	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2066	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2067	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2068	motor[TIRE_FL].dir = BACK;
kishibekairohan	33:656aa14904a5	2069	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2070	motor[TIRE_BR].dir = FOR;
kishibekairohan	33:656aa14904a5	2071	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2072	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2073	mtc2=true;
yabahiro	31:45f97698857b	2074	break;
yabahiro	31:45f97698857b	2075	case 3:
kishibekairohan	33:656aa14904a5	2076	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2077	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2078	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2079	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2080	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2081	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2082	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2083	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2084	mtc2=true;
yabahiro	31:45f97698857b	2085	break;
yabahiro	31:45f97698857b	2086	case 2:
kishibekairohan	33:656aa14904a5	2087	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2088	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2089	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2090	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2091	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2092	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2093	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2094	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2095	mtc2=true;
yabahiro	31:45f97698857b	2096	break;
yabahiro	31:45f97698857b	2097	}
yabahiro	31:45f97698857b	2098	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	2099	switch(g[2]) {
yabahiro	23:694ecfa97839	2100	case 0:
yabahiro	31:45f97698857b	2101	mtc2=false;
yabahiro	23:694ecfa97839	2102	break;
yabahiro	23:694ecfa97839	2103	case 255:
yabahiro	39:f89166d7411c	2104	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	2105	mtc2=false;
yabahiro	23:694ecfa97839	2106	break;
yabahiro	23:694ecfa97839	2107	case 253:
yabahiro	39:f89166d7411c	2108	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	2109	mtc2=false;
yabahiro	23:694ecfa97839	2110	break;
yabahiro	23:694ecfa97839	2111	case 254:
yabahiro	39:f89166d7411c	2112	motor[TIRE_FR].pwm += 20;
yabahiro	39:f89166d7411c	2113	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2114	mtc2=false;
yabahiro	23:694ecfa97839	2115	break;
yabahiro	23:694ecfa97839	2116	case 1:
yabahiro	39:f89166d7411c	2117	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	2118	mtc2=false;
yabahiro	23:694ecfa97839	2119	break;
yabahiro	23:694ecfa97839	2120	case 3:
yabahiro	39:f89166d7411c	2121	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	2122	mtc2=false;
yabahiro	23:694ecfa97839	2123	break;
yabahiro	23:694ecfa97839	2124	case 2:
yabahiro	39:f89166d7411c	2125	motor[TIRE_BR].pwm += 20;
yabahiro	39:f89166d7411c	2126	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2127	mtc2=false;
yabahiro	29:c78a46f51209	2128	break;
yabahiro	29:c78a46f51209	2129	}
yabahiro	31:45f97698857b	2130	}
yabahiro	31:45f97698857b	2131	} else if(mode==41) {
yabahiro	39:f89166d7411c	2132	motor[TIRE_FR].pwm = 30;
kishibekairohan	32:90f018b10ad6	2133	motor[TIRE_FR].dir = BACK;
yabahiro	36:788274604650	2134	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2135	motor[TIRE_FL].dir = FREE;
yabahiro	36:788274604650	2136	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2137	motor[TIRE_BR].dir = FREE;
yabahiro	39:f89166d7411c	2138	motor[TIRE_BL].pwm = 30;
kishibekairohan	32:90f018b10ad6	2139	motor[TIRE_BL].dir = FOR;
yabahiro	36:788274604650	2140	if(g[1]==0) {
yabahiro	31:45f97698857b	2141	count=0;
yabahiro	31:45f97698857b	2142	mode=70;
yabahiro	39:f89166d7411c	2143	normal=60;
yabahiro	39:f89166d7411c	2144	fast=80;
yabahiro	39:f89166d7411c	2145	slow=40;
yabahiro	31:45f97698857b	2146	}
yabahiro	36:788274604650	2147	} else if(mode==70)
kishibekairohan	32:90f018b10ad6	2148	switch(g[0]) {
yabahiro	31:45f97698857b	2149	case 99:
yabahiro	31:45f97698857b	2150	if(count>=100000) {
yabahiro	39:f89166d7411c	2151	cross++;
yabahiro	39:f89166d7411c	2152	mode=100;
yabahiro	39:f89166d7411c	2153	count=0;
yabahiro	39:f89166d7411c	2154	}
yabahiro	39:f89166d7411c	2155	if(cross==3) {
yabahiro	39:f89166d7411c	2156	cross=0;
yabahiro	31:45f97698857b	2157	mode=100;
yabahiro	28:9cd36721cf83	2158	}
yabahiro	31:45f97698857b	2159	break;
yabahiro	31:45f97698857b	2160	case 98:
kishibekairohan	33:656aa14904a5	2161	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2162	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2163	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2164	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2165	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2166	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2167	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2168	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2169	break;
yabahiro	31:45f97698857b	2170	case 0:
kishibekairohan	33:656aa14904a5	2171	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2172	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2173	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2174	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2175	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2176	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2177	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2178	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2179	mtc=true;
yabahiro	31:45f97698857b	2180	break;
yabahiro	31:45f97698857b	2181	case 255:
kishibekairohan	33:656aa14904a5	2182	motor[TIRE_FR].pwm = fast;
yabahiro	31:45f97698857b	2183	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2184	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2185	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2186	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2187	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2188	motor[TIRE_BL].pwm = fast;
yabahiro	31:45f97698857b	2189	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2190	mtc=true;
yabahiro	31:45f97698857b	2191	break;
yabahiro	31:45f97698857b	2192	case 253:
kishibekairohan	33:656aa14904a5	2193	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2194	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2195	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2196	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2197	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2198	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2199	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2200	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2201	mtc=true;
yabahiro	31:45f97698857b	2202	break;
yabahiro	31:45f97698857b	2203	case 254:
kishibekairohan	33:656aa14904a5	2204	motor[TIRE_FR].pwm = normal;
yabahiro	31:45f97698857b	2205	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2206	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2207	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2208	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2209	motor[TIRE_BR].dir = FREE;
kishibekairohan	33:656aa14904a5	2210	motor[TIRE_BL].pwm = normal;
yabahiro	31:45f97698857b	2211	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2212	mtc=true;
yabahiro	31:45f97698857b	2213	break;
yabahiro	31:45f97698857b	2214	case 1:
kishibekairohan	33:656aa14904a5	2215	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	2216	motor[TIRE_FR].dir = BACK;
kishibekairohan	33:656aa14904a5	2217	motor[TIRE_FL].pwm = fast;
yabahiro	31:45f97698857b	2218	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2219	motor[TIRE_BR].pwm = fast;
yabahiro	31:45f97698857b	2220	motor[TIRE_BR].dir = BACK;
kishibekairohan	33:656aa14904a5	2221	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	2222	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2223	mtc=true;
yabahiro	31:45f97698857b	2224	break;
yabahiro	31:45f97698857b	2225	case 3:
yabahiro	31:45f97698857b	2226	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2227	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2228	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	2229	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2230	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	2231	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2232	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2233	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2234	mtc=true;
yabahiro	31:45f97698857b	2235	break;
yabahiro	31:45f97698857b	2236	case 2:
yabahiro	31:45f97698857b	2237	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2238	motor[TIRE_FR].dir = FREE;
kishibekairohan	33:656aa14904a5	2239	motor[TIRE_FL].pwm = normal;
yabahiro	31:45f97698857b	2240	motor[TIRE_FL].dir = FOR;
kishibekairohan	33:656aa14904a5	2241	motor[TIRE_BR].pwm = normal;
yabahiro	31:45f97698857b	2242	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2243	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2244	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2245	mtc=true;
yabahiro	31:45f97698857b	2246	break;
yabahiro	31:45f97698857b	2247	}
yabahiro	36:788274604650	2248	if(g[1]!=98&&mtc==true) {
yabahiro	39:f89166d7411c	2249	switch(g[1]) {
yabahiro	36:788274604650	2250	case 0:
yabahiro	36:788274604650	2251	mtc=false;
yabahiro	36:788274604650	2252	break;
yabahiro	36:788274604650	2253	case 255:
yabahiro	36:788274604650	2254	motor[TIRE_BR].pwm += 5;
yabahiro	36:788274604650	2255	mtc=false;
yabahiro	36:788274604650	2256	break;
yabahiro	36:788274604650	2257	case 253:
yabahiro	36:788274604650	2258	motor[TIRE_BR].pwm += 10;
yabahiro	36:788274604650	2259	mtc=false;
yabahiro	36:788274604650	2260	break;
yabahiro	36:788274604650	2261	case 254:
yabahiro	36:788274604650	2262	motor[TIRE_BR].pwm += 20;
yabahiro	36:788274604650	2263	motor[TIRE_BL].pwm = 0;
yabahiro	36:788274604650	2264	mtc=false;
yabahiro	36:788274604650	2265	break;
yabahiro	36:788274604650	2266	case 1:
yabahiro	36:788274604650	2267	motor[TIRE_BL].pwm += 5;
yabahiro	36:788274604650	2268	mtc=false;
yabahiro	36:788274604650	2269	break;
yabahiro	36:788274604650	2270	case 3:
yabahiro	36:788274604650	2271	motor[TIRE_BL].pwm += 10;
yabahiro	36:788274604650	2272	mtc=false;
yabahiro	36:788274604650	2273	break;
yabahiro	36:788274604650	2274	case 2:
yabahiro	36:788274604650	2275	motor[TIRE_BL].pwm += 20;
yabahiro	36:788274604650	2276	motor[TIRE_BR].pwm = 0;
yabahiro	36:788274604650	2277	mtc=false;
yabahiro	36:788274604650	2278	break;
yabahiro	24:41c23c9a5058	2279	}
yabahiro	31:45f97698857b	2280	} else if(mode==100) {
yabahiro	36:788274604650	2281	motor[TIRE_FR].pwm = 20;
kishibekairohan	32:90f018b10ad6	2282	motor[TIRE_FR].dir = BACK;
yabahiro	36:788274604650	2283	motor[TIRE_FL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2284	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2285	motor[TIRE_BR].pwm = 23;
kishibekairohan	32:90f018b10ad6	2286	motor[TIRE_BR].dir = BACK;
yabahiro	36:788274604650	2287	motor[TIRE_BL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2288	motor[TIRE_BL].dir = FOR;
yabahiro	39:f89166d7411c	2289	if(StertSW) {
yabahiro	39:f89166d7411c	2290	SW_flag = true;
yabahiro	39:f89166d7411c	2291	}
yabahiro	40:7f93984e8ba1	2292	if(SW_flag ==true) {
yabahiro	39:f89166d7411c	2293	motor[TIRE_FR].pwm = 100;
yabahiro	40:7f93984e8ba1	2294	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2295	motor[TIRE_FL].pwm = 100;
yabahiro	40:7f93984e8ba1	2296	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2297	motor[TIRE_BR].pwm = 100;
yabahiro	40:7f93984e8ba1	2298	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2299	motor[TIRE_BL].pwm = 100;
yabahiro	40:7f93984e8ba1	2300	motor[TIRE_BL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	2301	fast=60;
yabahiro	40:7f93984e8ba1	2302	normal=40;
yabahiro	40:7f93984e8ba1	2303	slow=20;
yabahiro	40:7f93984e8ba1	2304	mode =1;
yabahiro	40:7f93984e8ba1	2305	cross=0;//十字数える用
yabahiro	40:7f93984e8ba1	2306	cros=0;
yabahiro	40:7f93984e8ba1	2307	count=100000;//wait代替え
yabahiro	40:7f93984e8ba1	2308	UP_flag = false;
yabahiro	39:f89166d7411c	2309	SW_flag = false;
yabahiro	40:7f93984e8ba1	2310	Air_flag = false;
yabahiro	40:7f93984e8ba1	2311	zyouge=false;
yabahiro	40:7f93984e8ba1	2312	zyougedo=false;
yabahiro	40:7f93984e8ba1	2313	dz1=true;
yabahiro	40:7f93984e8ba1	2314	dz1i=false;
yabahiro	40:7f93984e8ba1	2315	dz2=true;
yabahiro	40:7f93984e8ba1	2316	dz2i=false;
yabahiro	40:7f93984e8ba1	2317	dz3=true;
yabahiro	40:7f93984e8ba1	2318	dz3i=false;
yabahiro	40:7f93984e8ba1	2319	dz4=true;
yabahiro	40:7f93984e8ba1	2320	dz4i=false;
yabahiro	40:7f93984e8ba1	2321	through=false;
yabahiro	40:7f93984e8ba1	2322	counts=false;
yabahiro	40:7f93984e8ba1	2323	mtc=false;
yabahiro	40:7f93984e8ba1	2324	mtc2 = false;
yabahiro	40:7f93984e8ba1	2325	current = 0;
yabahiro	40:7f93984e8ba1	2326	if(StertSW==false) {
yabahiro	40:7f93984e8ba1	2327	SW_flag = false;
yabahiro	40:7f93984e8ba1	2328	}
yabahiro	39:f89166d7411c	2329	}
yabahiro	21:1f1e9c585da8	2330	}
yabahiro	40:7f93984e8ba1	2331
yabahiro	40:7f93984e8ba1	2332
kishibekairohan	13:b6e02d6261d7	2333	}
kishibekairohan	13:b6e02d6261d7	2334	#endif
kishibekairohan	13:b6e02d6261d7	2335
kishibekairohan	13:b6e02d6261d7	2336	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	2337	static void Process5()
yabahiro	21:1f1e9c585da8	2338	{
yabahiro	40:7f93984e8ba1	2339	LedMode(5);
yabahiro	40:7f93984e8ba1	2340	count++;
yabahiro	40:7f93984e8ba1	2341	if(mode==1) {//スタートゾーンから白線検知
yabahiro	40:7f93984e8ba1	2342	fast=40;
yabahiro	40:7f93984e8ba1	2343	normal=30;
yabahiro	40:7f93984e8ba1	2344	slow=20;
yabahiro	40:7f93984e8ba1	2345	motor[TIRE_FR].pwm = 40;
yabahiro	40:7f93984e8ba1	2346	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2347	motor[TIRE_FL].pwm = 40;
yabahiro	40:7f93984e8ba1	2348	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2349	motor[TIRE_BR].pwm = 40;
yabahiro	40:7f93984e8ba1	2350	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2351	motor[TIRE_BL].pwm = 40;
yabahiro	40:7f93984e8ba1	2352	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2353	if(g[2]==0) {
yabahiro	40:7f93984e8ba1	2354	count=100000;
yabahiro	40:7f93984e8ba1	2355	cross=0;
yabahiro	40:7f93984e8ba1	2356	mode=3;
yabahiro	40:7f93984e8ba1	2357	}
yabahiro	40:7f93984e8ba1	2358	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	40:7f93984e8ba1	2359	motor[TIRE_FR].pwm = 25;
yabahiro	40:7f93984e8ba1	2360	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2361	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2362	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2363	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2364	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2365	motor[TIRE_BL].pwm = 25;
yabahiro	40:7f93984e8ba1	2366	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2367	if(g[0]==0) {
yabahiro	40:7f93984e8ba1	2368	mode=10;
yabahiro	40:7f93984e8ba1	2369	count=100000;
yabahiro	40:7f93984e8ba1	2370	}
yabahiro	40:7f93984e8ba1	2371	} else if(mode==10) { //縦ライントレース
yabahiro	40:7f93984e8ba1	2372
yabahiro	40:7f93984e8ba1	2373	if(counts==false&&g[2]==0) {
yabahiro	40:7f93984e8ba1	2374	cros++;
yabahiro	40:7f93984e8ba1	2375	counts=true;
yabahiro	40:7f93984e8ba1	2376	}
yabahiro	40:7f93984e8ba1	2377	if(counts==true&&g[2]==99) {
yabahiro	40:7f93984e8ba1	2378	counts=false;
yabahiro	40:7f93984e8ba1	2379	}
yabahiro	40:7f93984e8ba1	2380
yabahiro	40:7f93984e8ba1	2381	if(cros==Twsh) {
yabahiro	40:7f93984e8ba1	2382	mode=11;
yabahiro	40:7f93984e8ba1	2383	count=0;
yabahiro	40:7f93984e8ba1	2384	cros=0;
yabahiro	40:7f93984e8ba1	2385	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2386	switch(g[1]) {
yabahiro	40:7f93984e8ba1	2387	case 98:
yabahiro	40:7f93984e8ba1	2388	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2389	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2390	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2391	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2392	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2393	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2394	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2395	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2396	mtc=true;
yabahiro	40:7f93984e8ba1	2397	if(count>80000) {
yabahiro	40:7f93984e8ba1	2398	cross++;
yabahiro	40:7f93984e8ba1	2399	count=0;
yabahiro	40:7f93984e8ba1	2400	}
yabahiro	40:7f93984e8ba1	2401	if(cross==Twsh) {
yabahiro	40:7f93984e8ba1	2402	mode=11;
yabahiro	40:7f93984e8ba1	2403	count=0;
yabahiro	40:7f93984e8ba1	2404	cross=0;
yabahiro	40:7f93984e8ba1	2405	}
yabahiro	40:7f93984e8ba1	2406	break;
yabahiro	40:7f93984e8ba1	2407	case 0:
yabahiro	40:7f93984e8ba1	2408	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2409	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2410	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2411	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2412	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2413	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2414	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2415	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2416	mtc=true;
yabahiro	40:7f93984e8ba1	2417	break;
yabahiro	40:7f93984e8ba1	2418	case 255:
yabahiro	40:7f93984e8ba1	2419	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2420	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2421	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2422	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2423	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2424	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2425	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2426	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2427	mtc=true;
yabahiro	40:7f93984e8ba1	2428	break;
yabahiro	40:7f93984e8ba1	2429	case 253:
yabahiro	40:7f93984e8ba1	2430	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2431	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2432	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2433	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2434	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2435	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2436	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2437	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2438	mtc=true;
yabahiro	40:7f93984e8ba1	2439	break;
yabahiro	40:7f93984e8ba1	2440	case 254:
yabahiro	40:7f93984e8ba1	2441	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2442	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2443	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2444	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2445	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2446	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2447	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2448	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2449	mtc=true;
yabahiro	40:7f93984e8ba1	2450	break;
yabahiro	40:7f93984e8ba1	2451	case 1:
yabahiro	40:7f93984e8ba1	2452	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2453	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2454	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2455	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2456	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2457	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2458	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2459	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2460	mtc=true;
yabahiro	40:7f93984e8ba1	2461	break;
yabahiro	40:7f93984e8ba1	2462	case 3:
yabahiro	40:7f93984e8ba1	2463	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2464	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2465	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2466	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2467	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2468	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2469	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2470	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2471	mtc=true;
yabahiro	40:7f93984e8ba1	2472	break;
yabahiro	40:7f93984e8ba1	2473	case 2:
yabahiro	40:7f93984e8ba1	2474	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2475	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2476	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2477	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2478	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2479	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2480	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2481	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2482	mtc=true;
yabahiro	40:7f93984e8ba1	2483	break;
yabahiro	40:7f93984e8ba1	2484	}
yabahiro	40:7f93984e8ba1	2485	if(g[0]!=98&&mtc==true) {
yabahiro	40:7f93984e8ba1	2486	switch(g[0]) {
yabahiro	40:7f93984e8ba1	2487	case 0:
yabahiro	40:7f93984e8ba1	2488	mtc=false;
yabahiro	40:7f93984e8ba1	2489	break;
yabahiro	40:7f93984e8ba1	2490	case 255:
yabahiro	40:7f93984e8ba1	2491	motor[TIRE_FL].pwm += 5;
yabahiro	40:7f93984e8ba1	2492	mtc=false;
yabahiro	40:7f93984e8ba1	2493	break;
yabahiro	40:7f93984e8ba1	2494	case 253:
yabahiro	40:7f93984e8ba1	2495	motor[TIRE_FL].pwm += 10;
yabahiro	40:7f93984e8ba1	2496	mtc=false;
yabahiro	40:7f93984e8ba1	2497	break;
yabahiro	40:7f93984e8ba1	2498	case 254:
yabahiro	40:7f93984e8ba1	2499	motor[TIRE_FL].pwm += 20;
yabahiro	40:7f93984e8ba1	2500	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2501	mtc=false;
yabahiro	40:7f93984e8ba1	2502	break;
yabahiro	40:7f93984e8ba1	2503	case 1:
yabahiro	40:7f93984e8ba1	2504	motor[TIRE_FR].pwm += 5;
yabahiro	40:7f93984e8ba1	2505	mtc=false;
yabahiro	40:7f93984e8ba1	2506	break;
yabahiro	40:7f93984e8ba1	2507	case 3:
yabahiro	40:7f93984e8ba1	2508	motor[TIRE_FR].pwm += 10;
yabahiro	40:7f93984e8ba1	2509	mtc=false;
yabahiro	40:7f93984e8ba1	2510	break;
yabahiro	40:7f93984e8ba1	2511	case 2:
yabahiro	40:7f93984e8ba1	2512	motor[TIRE_FR].pwm += 20;
yabahiro	40:7f93984e8ba1	2513	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2514	mtc=false;
yabahiro	40:7f93984e8ba1	2515	break;
yabahiro	40:7f93984e8ba1	2516	}
yabahiro	40:7f93984e8ba1	2517	}
yabahiro	40:7f93984e8ba1	2518	} else if(mode==11) {
yabahiro	40:7f93984e8ba1	2519	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2520	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2521	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2522	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2523	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2524	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2525	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2526	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2527	if(g[2]==0) {
yabahiro	40:7f93984e8ba1	2528	count=0;
yabahiro	40:7f93984e8ba1	2529	cross=0;
yabahiro	40:7f93984e8ba1	2530	mode=20;
yabahiro	40:7f93984e8ba1	2531	fast=40;
yabahiro	40:7f93984e8ba1	2532	normal=30;
yabahiro	40:7f93984e8ba1	2533	slow=20;
yabahiro	40:7f93984e8ba1	2534	}
yabahiro	40:7f93984e8ba1	2535	} else if(mode==20) {
yabahiro	40:7f93984e8ba1	2536
yabahiro	40:7f93984e8ba1	2537	if(Twsh==2) {
yabahiro	40:7f93984e8ba1	2538	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	40:7f93984e8ba1	2539	}
yabahiro	40:7f93984e8ba1	2540
yabahiro	40:7f93984e8ba1	2541	if(counts==false&&g[1]==0) {
yabahiro	40:7f93984e8ba1	2542	cros++;
yabahiro	40:7f93984e8ba1	2543	counts=true;
yabahiro	40:7f93984e8ba1	2544	}
yabahiro	40:7f93984e8ba1	2545	if(counts==true&&g[1]==99) {
yabahiro	40:7f93984e8ba1	2546	counts=false;
yabahiro	40:7f93984e8ba1	2547	}
yabahiro	40:7f93984e8ba1	2548
yabahiro	40:7f93984e8ba1	2549	if(cros==2) {
yabahiro	40:7f93984e8ba1	2550	//mode=21;
yabahiro	40:7f93984e8ba1	2551	//count=0;
yabahiro	40:7f93984e8ba1	2552	//cros=0;
yabahiro	40:7f93984e8ba1	2553	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2554
yabahiro	40:7f93984e8ba1	2555	switch(g[2]) {
yabahiro	40:7f93984e8ba1	2556	case 98:
yabahiro	40:7f93984e8ba1	2557	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2558	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2559	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2560	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2561	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2562	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2563	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2564	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2565	if(count>80000) {
yabahiro	40:7f93984e8ba1	2566	cross++;
yabahiro	40:7f93984e8ba1	2567	count=0;
yabahiro	40:7f93984e8ba1	2568	}
yabahiro	40:7f93984e8ba1	2569	mtc2=true;
yabahiro	40:7f93984e8ba1	2570	if(cross==1) {
yabahiro	40:7f93984e8ba1	2571	fast=30;
yabahiro	40:7f93984e8ba1	2572	normal=20;
yabahiro	40:7f93984e8ba1	2573	slow=20;
yabahiro	40:7f93984e8ba1	2574	}
yabahiro	40:7f93984e8ba1	2575	if(cross==2) {
yabahiro	40:7f93984e8ba1	2576	mode=21;
yabahiro	40:7f93984e8ba1	2577	cross=0;
yabahiro	40:7f93984e8ba1	2578	}
yabahiro	40:7f93984e8ba1	2579	break;
yabahiro	40:7f93984e8ba1	2580	case 0:
yabahiro	40:7f93984e8ba1	2581	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2582	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2583	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2584	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2585	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2586	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2587	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2588	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2589	mtc2=true;
yabahiro	40:7f93984e8ba1	2590	break;
yabahiro	40:7f93984e8ba1	2591	case 255:
yabahiro	40:7f93984e8ba1	2592	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2593	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2594	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2595	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2596	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2597	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2598	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2599	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2600	mtc2=true;
yabahiro	40:7f93984e8ba1	2601	break;
yabahiro	40:7f93984e8ba1	2602	case 253:
yabahiro	40:7f93984e8ba1	2603	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2604	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2605	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2606	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2607	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2608	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2609	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2610	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2611	mtc2=true;
yabahiro	40:7f93984e8ba1	2612	break;
yabahiro	40:7f93984e8ba1	2613	case 254:
yabahiro	40:7f93984e8ba1	2614	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2615	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2616	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2617	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2618	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2619	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2620	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2621	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2622	mtc2=true;
yabahiro	40:7f93984e8ba1	2623	break;
yabahiro	40:7f93984e8ba1	2624	case 1:
yabahiro	40:7f93984e8ba1	2625	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2626	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2627	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2628	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2629	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2630	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2631	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2632	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2633	mtc2=true;
yabahiro	40:7f93984e8ba1	2634	break;
yabahiro	40:7f93984e8ba1	2635	case 3:
yabahiro	40:7f93984e8ba1	2636	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2637	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2638	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2639	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2640	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2641	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2642	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2643	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2644	mtc2=true;
yabahiro	40:7f93984e8ba1	2645	break;
yabahiro	40:7f93984e8ba1	2646	case 2:
yabahiro	40:7f93984e8ba1	2647	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2648	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2649	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2650	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2651	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2652	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2653	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2654	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2655	mtc2=true;
yabahiro	40:7f93984e8ba1	2656	break;
yabahiro	40:7f93984e8ba1	2657	}
yabahiro	40:7f93984e8ba1	2658	if(g[2]!=98&&mtc2==true) {
yabahiro	40:7f93984e8ba1	2659	switch(g[3]) {
yabahiro	40:7f93984e8ba1	2660	case 0:
yabahiro	40:7f93984e8ba1	2661	mtc2=false;
yabahiro	40:7f93984e8ba1	2662	break;
yabahiro	40:7f93984e8ba1	2663	case 255:
yabahiro	40:7f93984e8ba1	2664	motor[TIRE_BL].pwm += 5;
yabahiro	40:7f93984e8ba1	2665	mtc2=false;
yabahiro	40:7f93984e8ba1	2666	break;
yabahiro	40:7f93984e8ba1	2667	case 253:
yabahiro	40:7f93984e8ba1	2668	motor[TIRE_BL].pwm += 10;
yabahiro	40:7f93984e8ba1	2669	mtc2=false;
yabahiro	40:7f93984e8ba1	2670	break;
yabahiro	40:7f93984e8ba1	2671	case 254:
yabahiro	40:7f93984e8ba1	2672	motor[TIRE_BL].pwm += 20;
yabahiro	40:7f93984e8ba1	2673	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2674	mtc2=false;
yabahiro	40:7f93984e8ba1	2675	break;
yabahiro	40:7f93984e8ba1	2676	case 1:
yabahiro	40:7f93984e8ba1	2677	motor[TIRE_FL].pwm += 5;
yabahiro	40:7f93984e8ba1	2678	mtc2=false;
yabahiro	40:7f93984e8ba1	2679	break;
yabahiro	40:7f93984e8ba1	2680	case 3:
yabahiro	40:7f93984e8ba1	2681	motor[TIRE_FL].pwm += 10;
yabahiro	40:7f93984e8ba1	2682	mtc2=false;
yabahiro	40:7f93984e8ba1	2683	break;
yabahiro	40:7f93984e8ba1	2684	case 2:
yabahiro	40:7f93984e8ba1	2685	motor[TIRE_FL].pwm += 20;
yabahiro	40:7f93984e8ba1	2686	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2687	mtc2=false;
yabahiro	40:7f93984e8ba1	2688	break;
yabahiro	40:7f93984e8ba1	2689	}
yabahiro	40:7f93984e8ba1	2690	}
yabahiro	40:7f93984e8ba1	2691	} else if(mode==21) {
yabahiro	40:7f93984e8ba1	2692	motor[TIRE_FR].pwm = 20;
yabahiro	40:7f93984e8ba1	2693	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2694	motor[TIRE_FL].pwm = 20;
yabahiro	40:7f93984e8ba1	2695	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2696	motor[TIRE_BR].pwm = 20;
yabahiro	40:7f93984e8ba1	2697	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2698	motor[TIRE_BL].pwm = 20;
yabahiro	40:7f93984e8ba1	2699	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2700	if(g[2]!=98) {
yabahiro	40:7f93984e8ba1	2701	mode=30;
yabahiro	40:7f93984e8ba1	2702	}
yabahiro	40:7f93984e8ba1	2703
yabahiro	40:7f93984e8ba1	2704	} else if(mode==30) {
yabahiro	40:7f93984e8ba1	2705	motor[TIRE_FR].pwm = 60;
yabahiro	40:7f93984e8ba1	2706	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2707	motor[TIRE_FL].pwm = 60;
yabahiro	40:7f93984e8ba1	2708	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2709	motor[TIRE_BR].pwm = 60;
yabahiro	40:7f93984e8ba1	2710	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2711	motor[TIRE_BL].pwm = 60;
yabahiro	40:7f93984e8ba1	2712	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2713	if(g[1]==98) {
yabahiro	40:7f93984e8ba1	2714	mode=31;
yabahiro	40:7f93984e8ba1	2715	}
yabahiro	40:7f93984e8ba1	2716	//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2717	/*
yabahiro	40:7f93984e8ba1	2718	switch(g[1]) {
yabahiro	40:7f93984e8ba1	2719	case 98:
yabahiro	40:7f93984e8ba1	2720	motor[TIRE_FR].pwm = 30;
yabahiro	40:7f93984e8ba1	2721	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2722	motor[TIRE_FL].pwm = 30;
yabahiro	40:7f93984e8ba1	2723	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2724	motor[TIRE_BR].pwm = 30;
yabahiro	40:7f93984e8ba1	2725	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2726	motor[TIRE_BL].pwm = 30;
yabahiro	40:7f93984e8ba1	2727	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2728	if(count>100000) {
yabahiro	40:7f93984e8ba1	2729	cross++;
yabahiro	40:7f93984e8ba1	2730	count=0;
yabahiro	40:7f93984e8ba1	2731	}
yabahiro	40:7f93984e8ba1	2732	mtc=true;
yabahiro	40:7f93984e8ba1	2733	if(cross==1) {
yabahiro	40:7f93984e8ba1	2734	if(Twsh==2) {
yabahiro	40:7f93984e8ba1	2735	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	40:7f93984e8ba1	2736	}
yabahiro	40:7f93984e8ba1	2737	mode=31;
yabahiro	40:7f93984e8ba1	2738	count=0;
yabahiro	40:7f93984e8ba1	2739	}
yabahiro	40:7f93984e8ba1	2740	break;
yabahiro	40:7f93984e8ba1	2741	case 0:
yabahiro	40:7f93984e8ba1	2742	motor[TIRE_FR].pwm = 60;
yabahiro	40:7f93984e8ba1	2743	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2744	motor[TIRE_FL].pwm = 60;
yabahiro	40:7f93984e8ba1	2745	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2746	motor[TIRE_BR].pwm = 60;
yabahiro	40:7f93984e8ba1	2747	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2748	motor[TIRE_BL].pwm = 60;
yabahiro	40:7f93984e8ba1	2749	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2750	mtc=true;
yabahiro	40:7f93984e8ba1	2751	break;
yabahiro	40:7f93984e8ba1	2752	case 255:
yabahiro	40:7f93984e8ba1	2753	motor[TIRE_FR].pwm = 60;
yabahiro	40:7f93984e8ba1	2754	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2755	motor[TIRE_FL].pwm = 20;
yabahiro	40:7f93984e8ba1	2756	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2757	motor[TIRE_BR].pwm = 20;
yabahiro	40:7f93984e8ba1	2758	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2759	motor[TIRE_BL].pwm = 60;
yabahiro	40:7f93984e8ba1	2760	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2761	mtc=true;
yabahiro	40:7f93984e8ba1	2762	break;
yabahiro	40:7f93984e8ba1	2763	case 253:
yabahiro	40:7f93984e8ba1	2764	motor[TIRE_FR].pwm = 20;
yabahiro	40:7f93984e8ba1	2765	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2766	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2767	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2768	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2769	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2770	motor[TIRE_BL].pwm = 20;
yabahiro	40:7f93984e8ba1	2771	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2772	mtc=true;
yabahiro	40:7f93984e8ba1	2773	break;
yabahiro	40:7f93984e8ba1	2774	case 254:
yabahiro	40:7f93984e8ba1	2775	motor[TIRE_FR].pwm = 30;
yabahiro	40:7f93984e8ba1	2776	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2777	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2778	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2779	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2780	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2781	motor[TIRE_BL].pwm = 30;
yabahiro	40:7f93984e8ba1	2782	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2783	mtc=true;
yabahiro	40:7f93984e8ba1	2784	break;
yabahiro	40:7f93984e8ba1	2785	case 1:
yabahiro	40:7f93984e8ba1	2786	motor[TIRE_FR].pwm = 20;
yabahiro	40:7f93984e8ba1	2787	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2788	motor[TIRE_FL].pwm = 60;
yabahiro	40:7f93984e8ba1	2789	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2790	motor[TIRE_BR].pwm = 60;
yabahiro	40:7f93984e8ba1	2791	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2792	motor[TIRE_BL].pwm = 20;
yabahiro	40:7f93984e8ba1	2793	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2794	mtc=true;
yabahiro	40:7f93984e8ba1	2795	break;
yabahiro	40:7f93984e8ba1	2796	case 3:
yabahiro	40:7f93984e8ba1	2797	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2798	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2799	motor[TIRE_FL].pwm = 20;
yabahiro	40:7f93984e8ba1	2800	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2801	motor[TIRE_BR].pwm = 20;
yabahiro	40:7f93984e8ba1	2802	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2803	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2804	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2805	mtc=true;
yabahiro	40:7f93984e8ba1	2806	break;
yabahiro	40:7f93984e8ba1	2807	case 2:
yabahiro	40:7f93984e8ba1	2808	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2809	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2810	motor[TIRE_FL].pwm = 30;
yabahiro	40:7f93984e8ba1	2811	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2812	motor[TIRE_BR].pwm = 30;
yabahiro	40:7f93984e8ba1	2813	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2814	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2815	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2816	mtc=true;
yabahiro	40:7f93984e8ba1	2817	break;
yabahiro	40:7f93984e8ba1	2818	}
yabahiro	40:7f93984e8ba1	2819	if(g[1]!=98&&mtc==true) {
yabahiro	40:7f93984e8ba1	2820	switch(g[0]) {
yabahiro	40:7f93984e8ba1	2821	case 0:
yabahiro	40:7f93984e8ba1	2822	mtc=false;
yabahiro	40:7f93984e8ba1	2823	break;
yabahiro	40:7f93984e8ba1	2824	case 255:
yabahiro	40:7f93984e8ba1	2825	motor[TIRE_FL].pwm += 5;
yabahiro	40:7f93984e8ba1	2826	mtc=false;
yabahiro	40:7f93984e8ba1	2827	break;
yabahiro	40:7f93984e8ba1	2828	case 253:
yabahiro	40:7f93984e8ba1	2829	motor[TIRE_FL].pwm += 10;
yabahiro	40:7f93984e8ba1	2830	mtc=false;
yabahiro	40:7f93984e8ba1	2831	break;
yabahiro	40:7f93984e8ba1	2832	case 254:
yabahiro	40:7f93984e8ba1	2833	motor[TIRE_FL].pwm += 20;
yabahiro	40:7f93984e8ba1	2834	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2835	mtc=false;
yabahiro	40:7f93984e8ba1	2836	break;
yabahiro	40:7f93984e8ba1	2837	case 1:
yabahiro	40:7f93984e8ba1	2838	motor[TIRE_FR].pwm += 5;
yabahiro	40:7f93984e8ba1	2839	mtc=false;
yabahiro	40:7f93984e8ba1	2840	break;
yabahiro	40:7f93984e8ba1	2841	case 3:
yabahiro	40:7f93984e8ba1	2842	motor[TIRE_FR].pwm += 10;
yabahiro	40:7f93984e8ba1	2843	mtc=false;
yabahiro	40:7f93984e8ba1	2844	break;
yabahiro	40:7f93984e8ba1	2845	case 2:
yabahiro	40:7f93984e8ba1	2846	motor[TIRE_FR].pwm += 20;
yabahiro	40:7f93984e8ba1	2847	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2848	mtc=false;
yabahiro	40:7f93984e8ba1	2849	break;
yabahiro	40:7f93984e8ba1	2850	}
yabahiro	40:7f93984e8ba1	2851
yabahiro	40:7f93984e8ba1	2852	}
yabahiro	40:7f93984e8ba1	2853	*/
yabahiro	40:7f93984e8ba1	2854	} else if(mode==31) {
yabahiro	40:7f93984e8ba1	2855	motor[TIRE_FR].pwm = 15;
yabahiro	40:7f93984e8ba1	2856	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	2857	motor[TIRE_FL].pwm = 15;
yabahiro	40:7f93984e8ba1	2858	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2859	motor[TIRE_BR].pwm = 15;
yabahiro	40:7f93984e8ba1	2860	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2861	motor[TIRE_BL].pwm = 15;
yabahiro	40:7f93984e8ba1	2862	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	2863	if(g[3]==0) {
yabahiro	40:7f93984e8ba1	2864	count=0;
yabahiro	40:7f93984e8ba1	2865	mode=32;
yabahiro	40:7f93984e8ba1	2866	}
yabahiro	40:7f93984e8ba1	2867	} else if(mode==32) {
yabahiro	40:7f93984e8ba1	2868	motor[TIRE_FR].pwm = 30;
yabahiro	40:7f93984e8ba1	2869	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2870	motor[TIRE_FL].pwm = 30;
yabahiro	40:7f93984e8ba1	2871	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	2872	motor[TIRE_BR].pwm = 30;
yabahiro	40:7f93984e8ba1	2873	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	2874	motor[TIRE_BL].pwm = 30;
yabahiro	40:7f93984e8ba1	2875	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2876	if(g[3]==0) {
yabahiro	40:7f93984e8ba1	2877	count=0;
yabahiro	40:7f93984e8ba1	2878	if(Twsh==2) {
yabahiro	40:7f93984e8ba1	2879	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	40:7f93984e8ba1	2880	}
yabahiro	40:7f93984e8ba1	2881	mode=40;
yabahiro	40:7f93984e8ba1	2882	}
yabahiro	40:7f93984e8ba1	2883	} else if(mode==40) {
yabahiro	40:7f93984e8ba1	2884
yabahiro	40:7f93984e8ba1	2885	if(LIF) {
yabahiro	40:7f93984e8ba1	2886	mode=42;
yabahiro	40:7f93984e8ba1	2887	}
yabahiro	40:7f93984e8ba1	2888
yabahiro	40:7f93984e8ba1	2889	if(counts==false&&g[0]==0) {
yabahiro	40:7f93984e8ba1	2890	cros++;
yabahiro	40:7f93984e8ba1	2891	counts=true;
yabahiro	40:7f93984e8ba1	2892	}
yabahiro	40:7f93984e8ba1	2893	if(counts==true&&g[0]==99) {
yabahiro	40:7f93984e8ba1	2894	counts=false;
yabahiro	40:7f93984e8ba1	2895	}
yabahiro	40:7f93984e8ba1	2896
yabahiro	40:7f93984e8ba1	2897	if(cros==2) {
yabahiro	40:7f93984e8ba1	2898	// mode=41;
yabahiro	40:7f93984e8ba1	2899	//count=0;
yabahiro	40:7f93984e8ba1	2900	//cros=0;
yabahiro	40:7f93984e8ba1	2901	}//ゆっくりモードに入れなかった時の保険
yabahiro	40:7f93984e8ba1	2902
yabahiro	40:7f93984e8ba1	2903	switch(g[3]) {
yabahiro	40:7f93984e8ba1	2904	case 98:
yabahiro	40:7f93984e8ba1	2905	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2906	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2907	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2908	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2909	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2910	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2911	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2912	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2913	if(count>20000) {
yabahiro	40:7f93984e8ba1	2914	cross++;
yabahiro	40:7f93984e8ba1	2915	count=0;
yabahiro	40:7f93984e8ba1	2916	}
yabahiro	40:7f93984e8ba1	2917	mtc2=true;
yabahiro	40:7f93984e8ba1	2918	if(cross==1) {
yabahiro	40:7f93984e8ba1	2919	mode=41;
yabahiro	40:7f93984e8ba1	2920	count=0;
yabahiro	40:7f93984e8ba1	2921	cross=0;
yabahiro	40:7f93984e8ba1	2922	}
yabahiro	40:7f93984e8ba1	2923	break;
yabahiro	40:7f93984e8ba1	2924	case 0:
yabahiro	40:7f93984e8ba1	2925	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2926	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2927	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2928	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2929	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2930	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2931	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2932	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2933	mtc2=true;
yabahiro	40:7f93984e8ba1	2934	break;
yabahiro	40:7f93984e8ba1	2935	case 255:
yabahiro	40:7f93984e8ba1	2936	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2937	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2938	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	2939	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2940	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	2941	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2942	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2943	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2944	mtc2=true;
yabahiro	40:7f93984e8ba1	2945	break;
yabahiro	40:7f93984e8ba1	2946	case 253:
yabahiro	40:7f93984e8ba1	2947	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2948	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2949	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2950	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2951	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2952	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2953	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2954	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2955	mtc2=true;
yabahiro	40:7f93984e8ba1	2956	break;
yabahiro	40:7f93984e8ba1	2957	case 254:
yabahiro	40:7f93984e8ba1	2958	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	2959	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	2960	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	2961	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2962	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	2963	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2964	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	2965	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	2966	mtc2=true;
yabahiro	40:7f93984e8ba1	2967	break;
yabahiro	40:7f93984e8ba1	2968	case 1:
yabahiro	40:7f93984e8ba1	2969	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	2970	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2971	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	2972	motor[TIRE_FL].dir = BACK;
yabahiro	40:7f93984e8ba1	2973	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	2974	motor[TIRE_BR].dir = FOR;
yabahiro	40:7f93984e8ba1	2975	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	2976	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2977	mtc2=true;
yabahiro	40:7f93984e8ba1	2978	break;
yabahiro	40:7f93984e8ba1	2979	case 3:
yabahiro	40:7f93984e8ba1	2980	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	2981	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2982	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2983	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2984	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2985	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2986	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	2987	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2988	mtc2=true;
yabahiro	40:7f93984e8ba1	2989	break;
yabahiro	40:7f93984e8ba1	2990	case 2:
yabahiro	40:7f93984e8ba1	2991	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	2992	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	2993	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	2994	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	2995	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	2996	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	2997	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	2998	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	2999	mtc2=true;
yabahiro	40:7f93984e8ba1	3000	break;
yabahiro	40:7f93984e8ba1	3001	}
yabahiro	40:7f93984e8ba1	3002	if(g[2]!=98&&mtc2==true) {
yabahiro	40:7f93984e8ba1	3003	switch(g[2]) {
yabahiro	40:7f93984e8ba1	3004	case 0:
yabahiro	40:7f93984e8ba1	3005	mtc2=false;
yabahiro	40:7f93984e8ba1	3006	break;
yabahiro	40:7f93984e8ba1	3007	case 255:
yabahiro	40:7f93984e8ba1	3008	motor[TIRE_FR].pwm += 5;
yabahiro	40:7f93984e8ba1	3009	mtc2=false;
yabahiro	40:7f93984e8ba1	3010	break;
yabahiro	40:7f93984e8ba1	3011	case 253:
yabahiro	40:7f93984e8ba1	3012	motor[TIRE_FR].pwm += 10;
yabahiro	40:7f93984e8ba1	3013	mtc2=false;
yabahiro	40:7f93984e8ba1	3014	break;
yabahiro	40:7f93984e8ba1	3015	case 254:
yabahiro	40:7f93984e8ba1	3016	motor[TIRE_FR].pwm += 20;
yabahiro	40:7f93984e8ba1	3017	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3018	mtc2=false;
yabahiro	40:7f93984e8ba1	3019	break;
yabahiro	40:7f93984e8ba1	3020	case 1:
yabahiro	40:7f93984e8ba1	3021	motor[TIRE_BR].pwm += 5;
yabahiro	40:7f93984e8ba1	3022	mtc2=false;
yabahiro	40:7f93984e8ba1	3023	break;
yabahiro	40:7f93984e8ba1	3024	case 3:
yabahiro	40:7f93984e8ba1	3025	motor[TIRE_BR].pwm += 10;
yabahiro	40:7f93984e8ba1	3026	mtc2=false;
yabahiro	40:7f93984e8ba1	3027	break;
yabahiro	40:7f93984e8ba1	3028	case 2:
yabahiro	40:7f93984e8ba1	3029	motor[TIRE_BR].pwm += 20;
yabahiro	40:7f93984e8ba1	3030	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	3031	mtc2=false;
yabahiro	40:7f93984e8ba1	3032	break;
yabahiro	40:7f93984e8ba1	3033	}
yabahiro	40:7f93984e8ba1	3034	}
yabahiro	40:7f93984e8ba1	3035	} else if(mode==41) {
yabahiro	40:7f93984e8ba1	3036	motor[TIRE_FR].pwm = 30;
yabahiro	40:7f93984e8ba1	3037	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3038	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	3039	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	3040	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3041	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	3042	motor[TIRE_BL].pwm = 30;
yabahiro	40:7f93984e8ba1	3043	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3044	if(g[1]==0) {
yabahiro	40:7f93984e8ba1	3045	count=0;
yabahiro	40:7f93984e8ba1	3046	mode=70;
yabahiro	40:7f93984e8ba1	3047	normal=60;
yabahiro	40:7f93984e8ba1	3048	fast=80;
yabahiro	40:7f93984e8ba1	3049	slow=40;
yabahiro	40:7f93984e8ba1	3050	}
yabahiro	40:7f93984e8ba1	3051	} else if(mode==42) {
yabahiro	40:7f93984e8ba1	3052	motor[TIRE_FR].pwm = 30;
yabahiro	40:7f93984e8ba1	3053	motor[TIRE_FR].dir = FOR;
yabahiro	40:7f93984e8ba1	3054	motor[TIRE_FL].pwm = 30;
yabahiro	40:7f93984e8ba1	3055	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3056	motor[TIRE_BR].pwm = 30;
yabahiro	40:7f93984e8ba1	3057	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3058	motor[TIRE_BL].pwm = 30;
yabahiro	40:7f93984e8ba1	3059	motor[TIRE_BL].dir = BACK;
yabahiro	40:7f93984e8ba1	3060	if(g[1]==0) {
yabahiro	40:7f93984e8ba1	3061	count=0;
yabahiro	40:7f93984e8ba1	3062	mode=70;
yabahiro	40:7f93984e8ba1	3063	normal=60;
yabahiro	40:7f93984e8ba1	3064	fast=80;
yabahiro	40:7f93984e8ba1	3065	slow=40;
yabahiro	40:7f93984e8ba1	3066	}
yabahiro	40:7f93984e8ba1	3067
yabahiro	40:7f93984e8ba1	3068	} else if(mode==70)
yabahiro	40:7f93984e8ba1	3069	switch(g[0]) {
yabahiro	40:7f93984e8ba1	3070	case 99:
yabahiro	40:7f93984e8ba1	3071	if(count>=100000) {
yabahiro	40:7f93984e8ba1	3072	cross++;
yabahiro	40:7f93984e8ba1	3073	mode=100;
yabahiro	40:7f93984e8ba1	3074	count=0;
yabahiro	40:7f93984e8ba1	3075	}
yabahiro	40:7f93984e8ba1	3076	if(cross==3) {
yabahiro	40:7f93984e8ba1	3077	cross=0;
yabahiro	40:7f93984e8ba1	3078	mode=100;
yabahiro	40:7f93984e8ba1	3079	}
yabahiro	40:7f93984e8ba1	3080	break;
yabahiro	40:7f93984e8ba1	3081	case 98:
yabahiro	40:7f93984e8ba1	3082	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	3083	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3084	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	3085	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3086	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	3087	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3088	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	3089	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3090	break;
yabahiro	40:7f93984e8ba1	3091	case 0:
yabahiro	40:7f93984e8ba1	3092	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	3093	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3094	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	3095	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3096	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	3097	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3098	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	3099	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3100	mtc=true;
yabahiro	40:7f93984e8ba1	3101	break;
yabahiro	40:7f93984e8ba1	3102	case 255:
yabahiro	40:7f93984e8ba1	3103	motor[TIRE_FR].pwm = fast;
yabahiro	40:7f93984e8ba1	3104	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3105	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	3106	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3107	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	3108	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3109	motor[TIRE_BL].pwm = fast;
yabahiro	40:7f93984e8ba1	3110	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3111	mtc=true;
yabahiro	40:7f93984e8ba1	3112	break;
yabahiro	40:7f93984e8ba1	3113	case 253:
yabahiro	40:7f93984e8ba1	3114	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	3115	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3116	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	3117	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	3118	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3119	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	3120	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	3121	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3122	mtc=true;
yabahiro	40:7f93984e8ba1	3123	break;
yabahiro	40:7f93984e8ba1	3124	case 254:
yabahiro	40:7f93984e8ba1	3125	motor[TIRE_FR].pwm = normal;
yabahiro	40:7f93984e8ba1	3126	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3127	motor[TIRE_FL].pwm = 0;
yabahiro	40:7f93984e8ba1	3128	motor[TIRE_FL].dir = FREE;
yabahiro	40:7f93984e8ba1	3129	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3130	motor[TIRE_BR].dir = FREE;
yabahiro	40:7f93984e8ba1	3131	motor[TIRE_BL].pwm = normal;
yabahiro	40:7f93984e8ba1	3132	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3133	mtc=true;
yabahiro	40:7f93984e8ba1	3134	break;
yabahiro	40:7f93984e8ba1	3135	case 1:
yabahiro	40:7f93984e8ba1	3136	motor[TIRE_FR].pwm = slow;
yabahiro	40:7f93984e8ba1	3137	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3138	motor[TIRE_FL].pwm = fast;
yabahiro	40:7f93984e8ba1	3139	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3140	motor[TIRE_BR].pwm = fast;
yabahiro	40:7f93984e8ba1	3141	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3142	motor[TIRE_BL].pwm = slow;
yabahiro	40:7f93984e8ba1	3143	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3144	mtc=true;
yabahiro	40:7f93984e8ba1	3145	break;
yabahiro	40:7f93984e8ba1	3146	case 3:
yabahiro	40:7f93984e8ba1	3147	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	3148	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	3149	motor[TIRE_FL].pwm = slow;
yabahiro	40:7f93984e8ba1	3150	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3151	motor[TIRE_BR].pwm = slow;
yabahiro	40:7f93984e8ba1	3152	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3153	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3154	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	3155	mtc=true;
yabahiro	40:7f93984e8ba1	3156	break;
yabahiro	40:7f93984e8ba1	3157	case 2:
yabahiro	40:7f93984e8ba1	3158	motor[TIRE_FR].pwm = 0;
yabahiro	40:7f93984e8ba1	3159	motor[TIRE_FR].dir = FREE;
yabahiro	40:7f93984e8ba1	3160	motor[TIRE_FL].pwm = normal;
yabahiro	40:7f93984e8ba1	3161	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3162	motor[TIRE_BR].pwm = normal;
yabahiro	40:7f93984e8ba1	3163	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3164	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3165	motor[TIRE_BL].dir = FREE;
yabahiro	40:7f93984e8ba1	3166	mtc=true;
yabahiro	40:7f93984e8ba1	3167	break;
yabahiro	40:7f93984e8ba1	3168	}
yabahiro	40:7f93984e8ba1	3169	if(g[1]!=98&&mtc==true) {
yabahiro	40:7f93984e8ba1	3170	switch(g[1]) {
yabahiro	40:7f93984e8ba1	3171	case 0:
yabahiro	40:7f93984e8ba1	3172	mtc=false;
yabahiro	40:7f93984e8ba1	3173	break;
yabahiro	40:7f93984e8ba1	3174	case 255:
yabahiro	40:7f93984e8ba1	3175	motor[TIRE_BR].pwm += 5;
yabahiro	40:7f93984e8ba1	3176	mtc=false;
yabahiro	40:7f93984e8ba1	3177	break;
yabahiro	40:7f93984e8ba1	3178	case 253:
yabahiro	40:7f93984e8ba1	3179	motor[TIRE_BR].pwm += 10;
yabahiro	40:7f93984e8ba1	3180	mtc=false;
yabahiro	40:7f93984e8ba1	3181	break;
yabahiro	40:7f93984e8ba1	3182	case 254:
yabahiro	40:7f93984e8ba1	3183	motor[TIRE_BR].pwm += 20;
yabahiro	40:7f93984e8ba1	3184	motor[TIRE_BL].pwm = 0;
yabahiro	40:7f93984e8ba1	3185	mtc=false;
yabahiro	40:7f93984e8ba1	3186	break;
yabahiro	40:7f93984e8ba1	3187	case 1:
yabahiro	40:7f93984e8ba1	3188	motor[TIRE_BL].pwm += 5;
yabahiro	40:7f93984e8ba1	3189	mtc=false;
yabahiro	40:7f93984e8ba1	3190	break;
yabahiro	40:7f93984e8ba1	3191	case 3:
yabahiro	40:7f93984e8ba1	3192	motor[TIRE_BL].pwm += 10;
yabahiro	40:7f93984e8ba1	3193	mtc=false;
yabahiro	40:7f93984e8ba1	3194	break;
yabahiro	40:7f93984e8ba1	3195	case 2:
yabahiro	40:7f93984e8ba1	3196	motor[TIRE_BL].pwm += 20;
yabahiro	40:7f93984e8ba1	3197	motor[TIRE_BR].pwm = 0;
yabahiro	40:7f93984e8ba1	3198	mtc=false;
yabahiro	40:7f93984e8ba1	3199	break;
yabahiro	40:7f93984e8ba1	3200	}
yabahiro	40:7f93984e8ba1	3201	} else if(mode==100) {
yabahiro	40:7f93984e8ba1	3202	motor[TIRE_FR].pwm = 20;
yabahiro	40:7f93984e8ba1	3203	motor[TIRE_FR].dir = BACK;
yabahiro	40:7f93984e8ba1	3204	motor[TIRE_FL].pwm = 20;
yabahiro	40:7f93984e8ba1	3205	motor[TIRE_FL].dir = FOR;
yabahiro	40:7f93984e8ba1	3206	motor[TIRE_BR].pwm = 23;
yabahiro	40:7f93984e8ba1	3207	motor[TIRE_BR].dir = BACK;
yabahiro	40:7f93984e8ba1	3208	motor[TIRE_BL].pwm = 20;
yabahiro	40:7f93984e8ba1	3209	motor[TIRE_BL].dir = FOR;
yabahiro	40:7f93984e8ba1	3210	if(StertSW) {
yabahiro	40:7f93984e8ba1	3211	SW_flag = true;
yabahiro	40:7f93984e8ba1	3212	}
yabahiro	40:7f93984e8ba1	3213	if(SW_flag ==true) {
yabahiro	40:7f93984e8ba1	3214	motor[TIRE_FR].pwm = 100;
yabahiro	40:7f93984e8ba1	3215	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3216	motor[TIRE_FL].pwm = 100;
yabahiro	40:7f93984e8ba1	3217	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3218	motor[TIRE_BR].pwm = 100;
yabahiro	40:7f93984e8ba1	3219	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3220	motor[TIRE_BL].pwm = 100;
yabahiro	40:7f93984e8ba1	3221	motor[TIRE_BL].dir = BRAKE;
yabahiro	40:7f93984e8ba1	3222	fast=60;
yabahiro	40:7f93984e8ba1	3223	normal=40;
yabahiro	40:7f93984e8ba1	3224	slow=20;
yabahiro	40:7f93984e8ba1	3225	mode =1;
yabahiro	40:7f93984e8ba1	3226	cross=0;//十字数える用
yabahiro	40:7f93984e8ba1	3227	cros=0;
yabahiro	40:7f93984e8ba1	3228	count=100000;//wait代替え
yabahiro	40:7f93984e8ba1	3229	UP_flag = false;
yabahiro	40:7f93984e8ba1	3230	SW_flag = false;
yabahiro	40:7f93984e8ba1	3231	Air_flag = false;
yabahiro	40:7f93984e8ba1	3232	zyouge=false;
yabahiro	40:7f93984e8ba1	3233	zyougedo=false;
yabahiro	40:7f93984e8ba1	3234	dz1=true;
yabahiro	40:7f93984e8ba1	3235	dz1i=false;
yabahiro	40:7f93984e8ba1	3236	dz2=true;
yabahiro	40:7f93984e8ba1	3237	dz2i=false;
yabahiro	40:7f93984e8ba1	3238	dz3=true;
yabahiro	40:7f93984e8ba1	3239	dz3i=false;
yabahiro	40:7f93984e8ba1	3240	dz4=true;
yabahiro	40:7f93984e8ba1	3241	dz4i=false;
yabahiro	40:7f93984e8ba1	3242	through=false;
yabahiro	40:7f93984e8ba1	3243	counts=false;
yabahiro	40:7f93984e8ba1	3244	mtc=false;
yabahiro	40:7f93984e8ba1	3245	mtc2 = false;
yabahiro	40:7f93984e8ba1	3246	current = 0;
yabahiro	40:7f93984e8ba1	3247	if(StertSW==false) {
yabahiro	40:7f93984e8ba1	3248	SW_flag = false;
yabahiro	40:7f93984e8ba1	3249	}
yabahiro	40:7f93984e8ba1	3250	}
yabahiro	40:7f93984e8ba1	3251	}
yabahiro	40:7f93984e8ba1	3252
yabahiro	40:7f93984e8ba1	3253
yabahiro	21:1f1e9c585da8	3254
kishibekairohan	13:b6e02d6261d7	3255	}
kishibekairohan	13:b6e02d6261d7	3256	#endif
kishibekairohan	13:b6e02d6261d7	3257
kishibekairohan	13:b6e02d6261d7	3258	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	3259	static void Process6()
kishibekairohan	13:b6e02d6261d7	3260	{
yabahiro	21:1f1e9c585da8	3261
kishibekairohan	13:b6e02d6261d7	3262	}
kishibekairohan	13:b6e02d6261d7	3263	#endif
kishibekairohan	13:b6e02d6261d7	3264
kishibekairohan	13:b6e02d6261d7	3265	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	3266	static void Process7()
kishibekairohan	13:b6e02d6261d7	3267	{
yabahiro	21:1f1e9c585da8	3268
kishibekairohan	12:c09b3e08a316	3269	}
kishibekairohan	12:c09b3e08a316	3270	#endif
kishibekairohan	12:c09b3e08a316	3271
yabahiro	21:1f1e9c585da8	3272	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	3273	static void Process8()
kishibekairohan	12:c09b3e08a316	3274	{
yabahiro	21:1f1e9c585da8	3275
kishibekairohan	12:c09b3e08a316	3276	}
kishibekairohan	12:c09b3e08a316	3277	#endif
kishibekairohan	12:c09b3e08a316	3278
kishibekairohan	13:b6e02d6261d7	3279	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	3280	static void Process9()
kishibekairohan	12:c09b3e08a316	3281	{
yabahiro	21:1f1e9c585da8	3282
t_yamamoto	0:669ef71cba68	3283	}
t_yamamoto	0:669ef71cba68	3284	#endif
t_yamamoto	0:669ef71cba68	3285	#endif
t_yamamoto	0:669ef71cba68	3286	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	3287
t_yamamoto	0:669ef71cba68	3288	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	3289	{
t_yamamoto	0:669ef71cba68	3290
yabahiro	21:1f1e9c585da8	3291	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	3292	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	3293	#endif
t_yamamoto	0:669ef71cba68	3294
yabahiro	21:1f1e9c585da8	3295	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	3296	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	21:1f1e9c585da8	3297	motor[i].dir = FREE;
yabahiro	21:1f1e9c585da8	3298	motor[i].pwm = 0;
yabahiro	21:1f1e9c585da8	3299	}
yabahiro	21:1f1e9c585da8	3300	#endif
t_yamamoto	0:669ef71cba68	3301	}
t_yamamoto	0:669ef71cba68	3302
yabahiro	21:1f1e9c585da8	3303	/*
yabahiro	21:1f1e9c585da8	3304	void BuzzerTimer_func()
yabahiro	21:1f1e9c585da8	3305	{
kishibekairohan	16:3f2c2d89372b	3306	buzzer = !buzzer;
kishibekairohan	17:50dc4b449e69	3307	//LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan	11:028a150943b5	3308	}
yabahiro	21:1f1e9c585da8	3309	*/
yabahiro	21:1f1e9c585da8	3310	void TapeLedEms_func()
yabahiro	21:1f1e9c585da8	3311	{
kishibekairohan	16:3f2c2d89372b	3312	sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan	9:f93fc79a49ea	3313	}
kishibekairohan	16:3f2c2d89372b	3314
kishibekairohan	16:3f2c2d89372b	3315	#pragma region USER-DEFINED-FUNCTIONS
kishibekairohan	16:3f2c2d89372b	3316
kishibekairohan	16:3f2c2d89372b	3317
t_yamamoto	0:669ef71cba68	3318	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	24 Oct 2019
Imports:	1
Forks:	0
Commits:	47
Dependents:	0
Dependencies:	3
Followers:	1

System/Process/Process.cpp@40:7f93984e8ba1, 2019-09-28 (annotated)

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