大季 矢花
/
MB2019_main_11_15_last
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Diff: System/Process/Process.cpp
- Revision:
- 47:a9cad8502999
- Parent:
- 46:68296caae1af
- Child:
- 48:5562a99479e5
--- a/System/Process/Process.cpp Tue Nov 12 07:12:03 2019 +0000
+++ b/System/Process/Process.cpp Tue Nov 12 08:22:43 2019 +0000
@@ -678,9 +678,9 @@
if(YELLOW) {
if(cross==1) {
- fast=30;
- normal=20;
- slow=20;
+ fast=20;
+ normal=15;
+ slow=15;
} else if(cross==2) {
mode=21;
countss=0;
@@ -1159,9 +1159,6 @@
if(DOLS==true||UPLS==true) {
motor[MOTOR_0].pwm = 200;
motor[MOTOR_0].dir = BRAKE;
- fast=30;
- normal=25;
- slow=20;
mode=26;
} else {
motor[MOTOR_0].pwm = 100;
@@ -1266,30 +1263,38 @@
}
} else {
if(mode==21) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
+ motor[TIRE_BL].pwm = 255;
+ motor[TIRE_BL].dir = BRAKE;
if(g[1]==0) {
mode=22;
fast=60;
normal=40;
- slow=20;
+ slow=25;
}
} else if(mode==22) {
+ if(g[0]==98){
+ slow=25;
+ normal=30;
+ fast=40;
+ }
if(g[3]==0) {
+ slow=25;
+ normal=40;
+ fast=40;
mode=23;
}
switch(g[0]) {
case 98:
solenoid.solenoid4 = SOLENOID_OFF;
- fast=30;
- normal=20;
- slow=20;
+ fast=40;
+ normal=30;
+ slow=25;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = normal;
@@ -1411,14 +1416,6 @@
}
}
} else if(mode==23) {
- motor[TIRE_FR].pwm = 100;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 100;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 100;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 100;
- motor[TIRE_BL].dir = BRAKE;
if(UPLS==true||DOLS==true) {
motor[MOTOR_0].pwm = 200;
motor[MOTOR_0].dir = BRAKE;
@@ -1431,7 +1428,14 @@
motor[MOTOR_0].pwm = 100;
motor[MOTOR_0].dir = BACK;
}
-
+ motor[TIRE_FR].pwm = 100;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 100;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 100;
+ motor[TIRE_BL].dir = BRAKE;
} else if(mode==24) {
if(g[0]==98&&countss>=40000) {
mode=31;
@@ -1439,9 +1443,9 @@
}
switch(g[0]) {
case 98:
- fast=30;
- normal=20;
- slow=20;
+ fast=40;
+ normal=30;
+ slow=25;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = normal;
@@ -1564,6 +1568,8 @@
}
}
}
+
+ /*
if(mode==31) {
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
@@ -1591,16 +1597,32 @@
countss=0;
mode=40;
}
+ } else
+ */
+ if(mode==31) {
+ motor[TIRE_FR].pwm = 45;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 45;
+ motor[TIRE_BL].dir = FOR;
+ if(g[3]==0) {
+ cross=0;
+ countss=0;
+ mode=40;
+ }
} else if(mode==40) {
switch(g[3]) {
case 98:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].pwm = normal+15;
motor[TIRE_BL].dir = FOR;
if(countss>10000) {
cross++;
@@ -1614,33 +1636,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].pwm = slow+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+15;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -1649,44 +1671,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+15;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow+15;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].pwm = slow+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+15;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].pwm = normal+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
@@ -1744,13 +1766,13 @@
slow=40;
}
} else if(mode==42) {
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = 40;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = 40;
motor[TIRE_BL].dir = BACK;
if(g[1]==0) {
countss=0;
@@ -1885,13 +1907,13 @@
}
}
} else if(mode==100) {
- motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].pwm = 50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].pwm = 50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 43;
+ motor[TIRE_BR].pwm = 50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].pwm = 50;
motor[TIRE_BL].dir = FOR;
} else {
}
@@ -2462,21 +2484,10 @@
motor[TIRE_BL].dir = BACK;
break;
}
- if(DOLS==true||UPLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- }
if(g[1]==98) {
fast=20;
normal=15;
slow=10;
- if(DOLS==true||UPLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
}
if(g[3]==254&&countss>=100000) {
mode=24;
@@ -2487,13 +2498,6 @@
slow=20;
}
} else if(mode==24) {
- if(DOLS==true||UPLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
if(g[4]==3||g[4]==2) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -2605,7 +2609,14 @@
mode=25;
}
} else if(mode==25) {
-
+ motor[TIRE_FR].pwm = 100;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 100;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 100;
+ motor[TIRE_BL].dir = BRAKE;
if(UPLS==true||DOLS==true) {
motor[MOTOR_0].pwm = 200;
motor[MOTOR_0].dir = BRAKE;