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大季矢花 / Mbed 2 deprecated MB2019_main_11_17_hiru

System/Process/Process.cpp@54:4167f10ecad0, 2019-11-17 (annotated)

Committer:: yabahiro
Date:: Sun Nov 17 13:02:26 2019 +0000
Revision:: 54:4167f10ecad0
Parent:: 53:694dbd7dfa0e
Child:: 55:844ac0974740

aa

Who changed what in which revision?

User	Revision	Line number	New contents of line
t_yamamoto	0:669ef71cba68	1	#include "mbed.h"
t_yamamoto	0:669ef71cba68	2	#include "Process.h"
Ryosei	27:dd9f27fce7d1	3	#include <stdlib.h>
7ka884	4:ba9df71868df	4	#include "../../CommonLibraries/PID/PID.h"
t_yamamoto	0:669ef71cba68	5	#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
M_souta	21:e3b58d675c1c	6	#include "../../Communication/RS485/LineHub/LineHub.h"
t_yamamoto	0:669ef71cba68	7	#include "../../Communication/Controller/Controller.h"
M_souta	30:8f092276b2ba	8	#include "../../Switch/Switch.h"
Ryosei	27:dd9f27fce7d1	9
t_yamamoto	0:669ef71cba68	10	#include "../../LED/LED.h"
t_yamamoto	0:669ef71cba68	11	#include "../../Safty/Safty.h"
t_yamamoto	0:669ef71cba68	12	#include "../Using.h"
t_yamamoto	0:669ef71cba68	13
t_yamamoto	0:669ef71cba68	14	using namespace SWITCH;
7ka884	4:ba9df71868df	15	using namespace PID_SPACE;
Ryosei	27:dd9f27fce7d1	16
M_souta	21:e3b58d675c1c	17	using namespace LINEHUB;
t_yamamoto	0:669ef71cba68	18
t_yamamoto	0:669ef71cba68	19	static CONTROLLER::ControllerData *controller;
t_yamamoto	0:669ef71cba68	20	ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto	0:669ef71cba68	21	ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto	0:669ef71cba68	22
t_yamamoto	0:669ef71cba68	23	static bool lock;
t_yamamoto	0:669ef71cba68	24	static bool processChangeComp;
t_yamamoto	0:669ef71cba68	25	static int current;
t_yamamoto	0:669ef71cba68	26
t_yamamoto	0:669ef71cba68	27	static void AllActuatorReset();
t_yamamoto	0:669ef71cba68	28
t_yamamoto	0:669ef71cba68	29	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	30	static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto	0:669ef71cba68	31	#endif
t_yamamoto	0:669ef71cba68	32
t_yamamoto	0:669ef71cba68	33	#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	34
t_yamamoto	0:669ef71cba68	35	/Replace here with the definition code of your variables./
t_yamamoto	0:669ef71cba68	36
kishibekairohan	2:c015739085d3	37
M_souta	30:8f092276b2ba	38	//Serial pc(USBTX, USBRX);
kishibekairohan	16:3f2c2d89372b	39
Ryosei	27:dd9f27fce7d1	40	const int omni[15][15] = {
Ryosei	27:dd9f27fce7d1	41	{ 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
Ryosei	27:dd9f27fce7d1	42	{ -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
Ryosei	27:dd9f27fce7d1	43	{ -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 },
Ryosei	27:dd9f27fce7d1	44	{ -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 },
Ryosei	27:dd9f27fce7d1	45	{ -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 },
Ryosei	27:dd9f27fce7d1	46	{ -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 },
Ryosei	27:dd9f27fce7d1	47	{ -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 },
Ryosei	27:dd9f27fce7d1	48	{ -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 },
Ryosei	27:dd9f27fce7d1	49	{ -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 },
Ryosei	27:dd9f27fce7d1	50	{ -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 },
Ryosei	27:dd9f27fce7d1	51	{ -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 },
Ryosei	27:dd9f27fce7d1	52	{ -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 },
Ryosei	27:dd9f27fce7d1	53	{ -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 },
Ryosei	27:dd9f27fce7d1	54	{ -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 },
Ryosei	27:dd9f27fce7d1	55	{ -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 }
M_souta	21:e3b58d675c1c	56	};
M_souta	21:e3b58d675c1c	57
M_souta	21:e3b58d675c1c	58	const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 };
M_souta	21:e3b58d675c1c	59
kishibekairohan	42:980af34f6fe3	60	uint8_t SetStatus(int pwmVal);
kishibekairohan	42:980af34f6fe3	61	uint8_t SetPWM(int pwmVal);
yabahiro	33:dd598bb23ad1	62
kishibekairohan	35:33c6cdba5630	63	DigitalIn EMC(PC_13); //非常停止確認用
yabahiro	33:dd598bb23ad1	64
yabahiro	33:dd598bb23ad1	65	bool start_flag = true;
yabahiro	33:dd598bb23ad1	66	bool UP_flag = false;
yabahiro	33:dd598bb23ad1	67	bool SW_flag = false;
yabahiro	33:dd598bb23ad1	68	bool Air_flag = false;
yabahiro	33:dd598bb23ad1	69	bool zyouge;
yabahiro	33:dd598bb23ad1	70	bool zyougedo;
yabahiro	33:dd598bb23ad1	71	bool dz2=true;
yabahiro	33:dd598bb23ad1	72	bool dz2i=false;
yabahiro	33:dd598bb23ad1	73	bool dz3=true;
yabahiro	33:dd598bb23ad1	74	bool dz3i=false;
yabahiro	33:dd598bb23ad1	75	bool dz4=true;
yabahiro	33:dd598bb23ad1	76	bool dz4i=false;
yabahiro	33:dd598bb23ad1	77	bool zone;
yabahiro	33:dd598bb23ad1	78	bool through=false;
yabahiro	33:dd598bb23ad1	79	bool counts=false;
yabahiro	33:dd598bb23ad1	80	bool mtc=false;
yabahiro	33:dd598bb23ad1	81	bool mtc2 = false;
yabahiro	33:dd598bb23ad1	82	bool emcs=false;
yabahiro	33:dd598bb23ad1	83	bool kiri;
yabahiro	33:dd598bb23ad1	84
yabahiro	33:dd598bb23ad1	85	int g[8];
yabahiro	33:dd598bb23ad1	86	int Twsh;
yabahiro	38:40e7fdf3c694	87	int testmode =0;
yabahiro	33:dd598bb23ad1	88	int mode =0;
yabahiro	33:dd598bb23ad1	89	int cross=0;//十字数える用
yabahiro	33:dd598bb23ad1	90	int cros=0;
yabahiro	33:dd598bb23ad1	91	int countss=100000;//wait代替え
yabahiro	33:dd598bb23ad1	92
yabahiro	33:dd598bb23ad1	93	///*******PWM調整用*******///
kishibekairohan	41:99a1158f3eca	94
kishibekairohan	42:980af34f6fe3	95	int fast = 60;
yabahiro	33:dd598bb23ad1	96	int normal = 40;
yabahiro	46:68296caae1af	97	int slow = 25;
yabahiro	33:dd598bb23ad1	98
t_yamamoto	0:669ef71cba68	99	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	100
t_yamamoto	0:669ef71cba68	101	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	102	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	103	static void Process0(void);
t_yamamoto	0:669ef71cba68	104	#endif
t_yamamoto	0:669ef71cba68	105	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	106	static void Process1(void);
t_yamamoto	0:669ef71cba68	107	#endif
t_yamamoto	0:669ef71cba68	108	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	109	static void Process2(void);
t_yamamoto	0:669ef71cba68	110	#endif
t_yamamoto	0:669ef71cba68	111	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	112	static void Process3(void);
t_yamamoto	0:669ef71cba68	113	#endif
t_yamamoto	0:669ef71cba68	114	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	115	static void Process4(void);
t_yamamoto	0:669ef71cba68	116	#endif
t_yamamoto	0:669ef71cba68	117	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	118	static void Process5(void);
t_yamamoto	0:669ef71cba68	119	#endif
t_yamamoto	0:669ef71cba68	120	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	121	static void Process6(void);
t_yamamoto	0:669ef71cba68	122	#endif
t_yamamoto	0:669ef71cba68	123	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	124	static void Process7(void);
t_yamamoto	0:669ef71cba68	125	#endif
t_yamamoto	0:669ef71cba68	126	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	127	static void Process8(void);
t_yamamoto	0:669ef71cba68	128	#endif
t_yamamoto	0:669ef71cba68	129	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	130	static void Process9(void);
t_yamamoto	0:669ef71cba68	131	#endif
t_yamamoto	0:669ef71cba68	132	#endif
t_yamamoto	0:669ef71cba68	133
t_yamamoto	0:669ef71cba68	134	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	135	{
Ryosei	27:dd9f27fce7d1	136	#pragma region USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	137	/Replace here with the initialization code of your variables./
Ryosei	27:dd9f27fce7d1	138
Ryosei	27:dd9f27fce7d1	139	#pragma endregion USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	140
Ryosei	27:dd9f27fce7d1	141	lock = true;
Ryosei	27:dd9f27fce7d1	142	processChangeComp = true;
Ryosei	27:dd9f27fce7d1	143	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	144
Ryosei	27:dd9f27fce7d1	145	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	146	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	147	Process[0] = Process0;
Ryosei	27:dd9f27fce7d1	148	#endif
Ryosei	27:dd9f27fce7d1	149	#if USE_PROCESS_NUM>1
Ryosei	27:dd9f27fce7d1	150	Process[1] = Process1;
Ryosei	27:dd9f27fce7d1	151	#endif
Ryosei	27:dd9f27fce7d1	152	#if USE_PROCESS_NUM>2
Ryosei	27:dd9f27fce7d1	153	Process[2] = Process2;
Ryosei	27:dd9f27fce7d1	154	#endif
Ryosei	27:dd9f27fce7d1	155	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	156	Process[3] = Process3;
Ryosei	27:dd9f27fce7d1	157	#endif
Ryosei	27:dd9f27fce7d1	158	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	159	Process[4] = Process4;
Ryosei	27:dd9f27fce7d1	160	#endif
Ryosei	27:dd9f27fce7d1	161	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	162	Process[5] = Process5;
Ryosei	27:dd9f27fce7d1	163	#endif
Ryosei	27:dd9f27fce7d1	164	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	165	Process[6] = Process6;
Ryosei	27:dd9f27fce7d1	166	#endif
Ryosei	27:dd9f27fce7d1	167	#if USE_PROCESS_NUM>7
Ryosei	27:dd9f27fce7d1	168	Process[7] = Process7;
Ryosei	27:dd9f27fce7d1	169	#endif
Ryosei	27:dd9f27fce7d1	170	#if USE_PROCESS_NUM>8
Ryosei	27:dd9f27fce7d1	171	Process[8] = Process8;
Ryosei	27:dd9f27fce7d1	172	#endif
Ryosei	27:dd9f27fce7d1	173	#if USE_PROCESS_NUM>9
Ryosei	27:dd9f27fce7d1	174	Process[9] = Process9;
Ryosei	27:dd9f27fce7d1	175	#endif
Ryosei	27:dd9f27fce7d1	176	#endif
t_yamamoto	0:669ef71cba68	177	}
t_yamamoto	0:669ef71cba68	178
t_yamamoto	0:669ef71cba68	179	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	180	{
Ryosei	27:dd9f27fce7d1	181	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	182	if(controller->Button.HOME) lock = false;
Ryosei	27:dd9f27fce7d1	183
Ryosei	27:dd9f27fce7d1	184	if(controller->Button.START && processChangeComp) {
Ryosei	27:dd9f27fce7d1	185	current++;
Ryosei	27:dd9f27fce7d1	186	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
Ryosei	27:dd9f27fce7d1	187	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	188	} else if(controller->Button.SELECT && processChangeComp) {
Ryosei	27:dd9f27fce7d1	189	current--;
Ryosei	27:dd9f27fce7d1	190	if (current < 0) current = 0;
Ryosei	27:dd9f27fce7d1	191	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	192	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
Ryosei	27:dd9f27fce7d1	193	#endif
Ryosei	27:dd9f27fce7d1	194
Ryosei	27:dd9f27fce7d1	195	#ifdef USE_MOTOR
Ryosei	27:dd9f27fce7d1	196	ACTUATORHUB::MOTOR::Motor::Update(motor);
Ryosei	27:dd9f27fce7d1	197	#endif
Ryosei	27:dd9f27fce7d1	198
Ryosei	27:dd9f27fce7d1	199	#ifdef USE_SOLENOID
Ryosei	27:dd9f27fce7d1	200	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
Ryosei	27:dd9f27fce7d1	201	#endif
Ryosei	27:dd9f27fce7d1	202
Ryosei	27:dd9f27fce7d1	203	#ifdef USE_RS485
Ryosei	27:dd9f27fce7d1	204	ACTUATORHUB::ActuatorHub::Update();
Ryosei	27:dd9f27fce7d1	205	//LINEHUB::LineHub::Update();
Ryosei	27:dd9f27fce7d1	206	#endif
Ryosei	27:dd9f27fce7d1	207
Ryosei	27:dd9f27fce7d1	208	}
Ryosei	27:dd9f27fce7d1	209
yabahiro	39:784552c26163	210	int point1;
Ryosei	27:dd9f27fce7d1	211	void SystemProcess()
Ryosei	27:dd9f27fce7d1	212	{
Ryosei	27:dd9f27fce7d1	213	SystemProcessInitialize();
yabahiro	33:dd598bb23ad1	214
Ryosei	27:dd9f27fce7d1	215	while(1) {
yabahiro	53:694dbd7dfa0e	216	//pc.printf("3:%d\n\r",g[3]);
yabahiro	46:68296caae1af	217
yabahiro	33:dd598bb23ad1	218	if(EMC==0) {
yabahiro	33:dd598bb23ad1	219	fast=40;
yabahiro	33:dd598bb23ad1	220	normal=30;
yabahiro	33:dd598bb23ad1	221	slow=20;
yabahiro	33:dd598bb23ad1	222	cross=0;//十字数える用
yabahiro	33:dd598bb23ad1	223	cros=0;
yabahiro	33:dd598bb23ad1	224	countss=0;//wait代替え
yabahiro	33:dd598bb23ad1	225	UP_flag = false;
yabahiro	33:dd598bb23ad1	226	SW_flag = false;
yabahiro	33:dd598bb23ad1	227	Air_flag = false;
yabahiro	33:dd598bb23ad1	228	zyouge=false;
yabahiro	33:dd598bb23ad1	229	zyougedo=false;
yabahiro	33:dd598bb23ad1	230	dz2=true;
yabahiro	33:dd598bb23ad1	231	dz2i=false;
yabahiro	33:dd598bb23ad1	232	dz3=true;
yabahiro	33:dd598bb23ad1	233	dz3i=false;
yabahiro	33:dd598bb23ad1	234	dz4=true;
yabahiro	33:dd598bb23ad1	235	dz4i=false;
yabahiro	33:dd598bb23ad1	236	through=false;
yabahiro	33:dd598bb23ad1	237	counts=false;
yabahiro	33:dd598bb23ad1	238	mtc=false;
yabahiro	33:dd598bb23ad1	239	mtc2 = false;
yabahiro	33:dd598bb23ad1	240	current = 0;
yabahiro	33:dd598bb23ad1	241	SystemProcessInitialize();
yabahiro	33:dd598bb23ad1	242	if(emcs==false) {
yabahiro	33:dd598bb23ad1	243	AllActuatorReset();
yabahiro	33:dd598bb23ad1	244	emcs=true;
yabahiro	33:dd598bb23ad1	245	}
yabahiro	33:dd598bb23ad1	246	} else {
yabahiro	33:dd598bb23ad1	247	emcs=false;
yabahiro	33:dd598bb23ad1	248	}
Ryosei	27:dd9f27fce7d1	249
yabahiro	33:dd598bb23ad1	250	if(mode==0) {
yabahiro	33:dd598bb23ad1	251	if(ZoneSW) {
kishibekairohan	35:33c6cdba5630	252	LED::LED::TapeledMode(1);
yabahiro	33:dd598bb23ad1	253	} else {
kishibekairohan	35:33c6cdba5630	254	LED::LED::TapeledMode(2);
yabahiro	33:dd598bb23ad1	255	}
yabahiro	33:dd598bb23ad1	256	}
yabahiro	33:dd598bb23ad1	257	for(int i = 0; i < 8; i++) {
yabahiro	33:dd598bb23ad1	258	g[i] = LineHub::GetPara(i);
yabahiro	33:dd598bb23ad1	259	}
yabahiro	33:dd598bb23ad1	260	if(ThSW) {
yabahiro	33:dd598bb23ad1	261	Twsh=1;
yabahiro	33:dd598bb23ad1	262	} else {
yabahiro	33:dd598bb23ad1	263	Twsh=2;
yabahiro	33:dd598bb23ad1	264	}
yabahiro	33:dd598bb23ad1	265
yabahiro	33:dd598bb23ad1	266	if(StertSW && start_flag == true) {
yabahiro	33:dd598bb23ad1	267	start_flag = false;
yabahiro	33:dd598bb23ad1	268	lock = false;
yabahiro	33:dd598bb23ad1	269	if(ZoneSW) {
yabahiro	33:dd598bb23ad1	270	countss=0;
yabahiro	33:dd598bb23ad1	271	mode=1;
yabahiro	40:ed2409e0ce6b	272	current = 3;//10GATU30変更した
yabahiro	33:dd598bb23ad1	273
yabahiro	33:dd598bb23ad1	274	} else {
kishibekairohan	34:2fce61e3ebc4	275	countss = 0;
yabahiro	33:dd598bb23ad1	276	mode=1;
yabahiro	49:697b4e9ce884	277	current = 2;//11ガツ13ニチヘンコウ
yabahiro	33:dd598bb23ad1	278	}
yabahiro	33:dd598bb23ad1	279	}
yabahiro	33:dd598bb23ad1	280	if(DWSW\|\|DOSW) {
yabahiro	33:dd598bb23ad1	281	if(DWSW) {
yabahiro	33:dd598bb23ad1	282	zyouge=true;
yabahiro	33:dd598bb23ad1	283	}
yabahiro	33:dd598bb23ad1	284	if(DOSW) {
yabahiro	33:dd598bb23ad1	285	if(DOLS) {
yabahiro	33:dd598bb23ad1	286	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	287	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	288	} else {
yabahiro	38:40e7fdf3c694	289	motor[MOTOR_0].pwm = 200;
yabahiro	33:dd598bb23ad1	290	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	291	}
yabahiro	33:dd598bb23ad1	292	}
yabahiro	33:dd598bb23ad1	293	} else if(zyouge==false) {
yabahiro	33:dd598bb23ad1	294	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	295	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	296	}
yabahiro	33:dd598bb23ad1	297	if(zyouge) {
yabahiro	33:dd598bb23ad1	298	if(Twsh==1) {
yabahiro	38:40e7fdf3c694	299	motor[MOTOR_0].pwm = 255;
yabahiro	33:dd598bb23ad1	300	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	301	if(UPLS) {
yabahiro	33:dd598bb23ad1	302	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	303	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	304	zyouge=false;
yabahiro	33:dd598bb23ad1	305	}
yabahiro	33:dd598bb23ad1	306	}
yabahiro	33:dd598bb23ad1	307	if(Twsh==2) {
yabahiro	33:dd598bb23ad1	308	motor[MOTOR_0].pwm = 245;
yabahiro	33:dd598bb23ad1	309	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	310	if(UPLS2) {
yabahiro	33:dd598bb23ad1	311	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	312	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	313	zyouge=false;
yabahiro	33:dd598bb23ad1	314	}
yabahiro	33:dd598bb23ad1	315	}
yabahiro	33:dd598bb23ad1	316	}
yabahiro	33:dd598bb23ad1	317	if(AIRSW) {
yabahiro	33:dd598bb23ad1	318	if(SW_flag==false) {
yabahiro	33:dd598bb23ad1	319	if(Air_flag==false) {
yabahiro	33:dd598bb23ad1	320	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	321	Air_flag=true;
yabahiro	33:dd598bb23ad1	322	SW_flag=true;
yabahiro	33:dd598bb23ad1	323	} else {
yabahiro	33:dd598bb23ad1	324	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	325	Air_flag=false;
yabahiro	33:dd598bb23ad1	326	SW_flag=true;
yabahiro	33:dd598bb23ad1	327	}
yabahiro	33:dd598bb23ad1	328	}
yabahiro	33:dd598bb23ad1	329	} else {
yabahiro	33:dd598bb23ad1	330	if(SW_flag==true) {
yabahiro	33:dd598bb23ad1	331	countss++;
yabahiro	33:dd598bb23ad1	332	if(countss>=2000) {
yabahiro	33:dd598bb23ad1	333	SW_flag=false;
yabahiro	33:dd598bb23ad1	334	countss=0;
yabahiro	33:dd598bb23ad1	335	}
yabahiro	33:dd598bb23ad1	336	}
yabahiro	33:dd598bb23ad1	337	}
yabahiro	33:dd598bb23ad1	338
yabahiro	33:dd598bb23ad1	339
yabahiro	33:dd598bb23ad1	340	#ifdef USE_MU
Ryosei	27:dd9f27fce7d1	341	controller = CONTROLLER::Controller::GetData();
yabahiro	33:dd598bb23ad1	342	#endif
yabahiro	33:dd598bb23ad1	343
Ryosei	27:dd9f27fce7d1	344
yabahiro	33:dd598bb23ad1	345	#ifdef USE_ERRORCHECK
yabahiro	38:40e7fdf3c694	346	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) {
Ryosei	27:dd9f27fce7d1	347	CONTROLLER::Controller::DataReset();
Ryosei	27:dd9f27fce7d1	348	AllActuatorReset();
Ryosei	27:dd9f27fce7d1	349	lock = true;
Ryosei	27:dd9f27fce7d1	350	} else
yabahiro	38:40e7fdf3c694	351
yabahiro	33:dd598bb23ad1	352	#endif
Ryosei	27:dd9f27fce7d1	353	{
Ryosei	27:dd9f27fce7d1	354
yabahiro	33:dd598bb23ad1	355	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	356	if(!lock) {
Ryosei	27:dd9f27fce7d1	357	Process[current]();
Ryosei	27:dd9f27fce7d1	358	} else
yabahiro	33:dd598bb23ad1	359	#endif
Ryosei	27:dd9f27fce7d1	360	{
Ryosei	27:dd9f27fce7d1	361	//ロック時の処理
Ryosei	27:dd9f27fce7d1	362	}
Ryosei	27:dd9f27fce7d1	363	}
yabahiro	33:dd598bb23ad1	364
Ryosei	27:dd9f27fce7d1	365	SystemProcessUpdate();
Ryosei	27:dd9f27fce7d1	366	}
t_yamamoto	0:669ef71cba68	367	}
t_yamamoto	0:669ef71cba68	368
kishibekairohan	2:c015739085d3	369
kishibekairohan	2:c015739085d3	370
kishibekairohan	2:c015739085d3	371
t_yamamoto	0:669ef71cba68	372	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	373	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	374	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	375	static void Process0()
Ryosei	27:dd9f27fce7d1	376	{
yabahiro	33:dd598bb23ad1	377
yabahiro	33:dd598bb23ad1	378	//AllActuatorReset();
t_yamamoto	0:669ef71cba68	379	}
t_yamamoto	0:669ef71cba68	380	#endif
t_yamamoto	0:669ef71cba68	381
t_yamamoto	0:669ef71cba68	382	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	383	static void Process1()
t_yamamoto	0:669ef71cba68	384	{
kishibekairohan	35:33c6cdba5630	385	LED::LED::TapeledMode(6);
yabahiro	33:dd598bb23ad1	386	start_flag = true;
yabahiro	33:dd598bb23ad1	387	mtc=false;
yabahiro	33:dd598bb23ad1	388	mtc2 = false;
yabahiro	33:dd598bb23ad1	389	mode=1;
yabahiro	33:dd598bb23ad1	390	cross=0;
yabahiro	33:dd598bb23ad1	391	Twsh=1;
yabahiro	33:dd598bb23ad1	392	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	393	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	394	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	395	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
Ryosei	27:dd9f27fce7d1	396
kishibekairohan	42:980af34f6fe3	397	motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	398	motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	399	motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	400	motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	33:dd598bb23ad1	401
yabahiro	33:dd598bb23ad1	402	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	403
yabahiro	33:dd598bb23ad1	404	if(controller->Button.UP) {
yabahiro	33:dd598bb23ad1	405	motor[MOTOR_0].pwm =200;
yabahiro	33:dd598bb23ad1	406	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	407	if(UPLS) {
yabahiro	33:dd598bb23ad1	408	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	409	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	410	}
yabahiro	33:dd598bb23ad1	411	}
yabahiro	33:dd598bb23ad1	412	if(controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	413	motor[MOTOR_0].pwm = 50;
yabahiro	33:dd598bb23ad1	414	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	415	}
yabahiro	33:dd598bb23ad1	416	} else {
yabahiro	33:dd598bb23ad1	417	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	418	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	419	}
yabahiro	33:dd598bb23ad1	420
yabahiro	33:dd598bb23ad1	421	if(controller->Button.Y) {
yabahiro	33:dd598bb23ad1	422	if(dz2==true) {
yabahiro	33:dd598bb23ad1	423	if(dz2i==false) {
yabahiro	33:dd598bb23ad1	424	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	425	dz2i=true;
yabahiro	33:dd598bb23ad1	426	} else {
yabahiro	33:dd598bb23ad1	427	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	428	dz2i=false;
yabahiro	33:dd598bb23ad1	429	}
yabahiro	33:dd598bb23ad1	430	dz2=false;
yabahiro	33:dd598bb23ad1	431	}
yabahiro	33:dd598bb23ad1	432	} else {
yabahiro	33:dd598bb23ad1	433	dz2=true;
yabahiro	33:dd598bb23ad1	434	}
yabahiro	33:dd598bb23ad1	435
yabahiro	33:dd598bb23ad1	436	if(controller->Button.A) {
yabahiro	33:dd598bb23ad1	437	if(dz3==true) {
yabahiro	33:dd598bb23ad1	438	if(dz3i==false) {
kishibekairohan	37:e77816810627	439	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	440	dz3i=true;
yabahiro	33:dd598bb23ad1	441	} else {
yabahiro	33:dd598bb23ad1	442	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	443	dz3i=false;
yabahiro	33:dd598bb23ad1	444	}
yabahiro	33:dd598bb23ad1	445	dz3=false;
yabahiro	33:dd598bb23ad1	446	}
yabahiro	33:dd598bb23ad1	447	} else {
yabahiro	33:dd598bb23ad1	448	dz3=true;
yabahiro	33:dd598bb23ad1	449	}
yabahiro	33:dd598bb23ad1	450
yabahiro	33:dd598bb23ad1	451	if(controller->Button.B) {
yabahiro	33:dd598bb23ad1	452	if(dz4==true) {
yabahiro	33:dd598bb23ad1	453	if(dz4i==false) {
yabahiro	38:40e7fdf3c694	454	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	455	dz4i=true;
yabahiro	33:dd598bb23ad1	456	} else {
yabahiro	38:40e7fdf3c694	457	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	458	dz4i=false;
yabahiro	33:dd598bb23ad1	459	}
yabahiro	33:dd598bb23ad1	460	dz4=false;
yabahiro	33:dd598bb23ad1	461	}
yabahiro	33:dd598bb23ad1	462	} else {
yabahiro	33:dd598bb23ad1	463	dz4=true;
yabahiro	33:dd598bb23ad1	464	}
t_yamamoto	0:669ef71cba68	465	}
t_yamamoto	0:669ef71cba68	466	#endif
t_yamamoto	0:669ef71cba68	467
t_yamamoto	0:669ef71cba68	468	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	469	static void Process2()
Ryosei	27:dd9f27fce7d1	470	{
yabahiro	33:dd598bb23ad1	471	//Oh So 青ゾーン
yabahiro	53:694dbd7dfa0e	472	LED::LED::TapeledMode(4);
yabahiro	33:dd598bb23ad1	473	countss++;
yabahiro	50:87f5fa1bc460	474	switch(mode) {
yabahiro	50:87f5fa1bc460	475	case 1:
yabahiro	51:a0bdbddd08f7	476	fast=40;
yabahiro	51:a0bdbddd08f7	477	normal=30;
yabahiro	51:a0bdbddd08f7	478	slow=20;
yabahiro	51:a0bdbddd08f7	479	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	480	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	481	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	482	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	483	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	484	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	485	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	486	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	487	if(g[2]==0&&countss>=300000) {
yabahiro	51:a0bdbddd08f7	488	countss=100000;
yabahiro	51:a0bdbddd08f7	489	cross=0;
yabahiro	51:a0bdbddd08f7	490	mode=3;
yabahiro	51:a0bdbddd08f7	491	}
yabahiro	50:87f5fa1bc460	492	break;
yabahiro	51:a0bdbddd08f7	493	case 3:
yabahiro	51:a0bdbddd08f7	494	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	495	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	496	motor[TIRE_FL].pwm = 255;
yabahiro	51:a0bdbddd08f7	497	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	498	motor[TIRE_BR].pwm = 255;
yabahiro	51:a0bdbddd08f7	499	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	500	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	501	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	502	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	503	mode=10;
yabahiro	51:a0bdbddd08f7	504	countss=100000;
yabahiro	54:4167f10ecad0	505	fast=60;
yabahiro	54:4167f10ecad0	506	normal=40;
yabahiro	54:4167f10ecad0	507	slow=30;
yabahiro	51:a0bdbddd08f7	508	}
yabahiro	50:87f5fa1bc460	509	break;
yabahiro	50:87f5fa1bc460	510	case 10:
yabahiro	51:a0bdbddd08f7	511	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	512	case 98:
yabahiro	51:a0bdbddd08f7	513	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	514	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	515	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	516	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	517	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	518	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	519	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	520	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	521	mtc=true;
yabahiro	51:a0bdbddd08f7	522	if(countss>80000) {
yabahiro	51:a0bdbddd08f7	523	cross++;
yabahiro	51:a0bdbddd08f7	524	countss=0;
yabahiro	51:a0bdbddd08f7	525	}
yabahiro	46:68296caae1af	526
yabahiro	51:a0bdbddd08f7	527	if(cross==2) {
yabahiro	51:a0bdbddd08f7	528	fast = 10;
yabahiro	51:a0bdbddd08f7	529	normal = 10;
yabahiro	51:a0bdbddd08f7	530	slow = 5;
yabahiro	51:a0bdbddd08f7	531	}
yabahiro	46:68296caae1af	532
kishibekairohan	45:0cf48a0605cd	533	if(cross==3) {
yabahiro	51:a0bdbddd08f7	534	fast=40;
yabahiro	51:a0bdbddd08f7	535	normal=30;
yabahiro	51:a0bdbddd08f7	536	slow=20;
yabahiro	51:a0bdbddd08f7	537	mode=11;
yabahiro	39:784552c26163	538	countss=0;
yabahiro	39:784552c26163	539	cross=0;
yabahiro	39:784552c26163	540	}
yabahiro	39:784552c26163	541	break;
yabahiro	39:784552c26163	542	case 0:
yabahiro	51:a0bdbddd08f7	543	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	544	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	545	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	546	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	547	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	548	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	549	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	550	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	551	mtc=true;
yabahiro	39:784552c26163	552	break;
yabahiro	39:784552c26163	553	case 255:
yabahiro	51:a0bdbddd08f7	554	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	555	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	556	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	557	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	558	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	559	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	560	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	561	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	562	mtc=true;
yabahiro	39:784552c26163	563	break;
yabahiro	39:784552c26163	564	case 253:
yabahiro	51:a0bdbddd08f7	565	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	566	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	567	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	568	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	569	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	570	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	571	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	572	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	573	mtc=true;
yabahiro	39:784552c26163	574	break;
yabahiro	39:784552c26163	575	case 254:
yabahiro	51:a0bdbddd08f7	576	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	577	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	578	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	579	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	580	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	581	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	582	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	583	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	584	mtc=true;
yabahiro	39:784552c26163	585	break;
yabahiro	39:784552c26163	586	case 1:
yabahiro	51:a0bdbddd08f7	587	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	588	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	589	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	590	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	591	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	592	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	593	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	594	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	595	mtc=true;
yabahiro	39:784552c26163	596	break;
yabahiro	39:784552c26163	597	case 3:
yabahiro	39:784552c26163	598	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	599	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	600	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	601	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	602	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	603	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	604	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	605	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	606	mtc=true;
yabahiro	39:784552c26163	607	break;
yabahiro	39:784552c26163	608	case 2:
yabahiro	39:784552c26163	609	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	610	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	611	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	612	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	613	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	614	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	615	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	616	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	617	mtc=true;
yabahiro	39:784552c26163	618	break;
yabahiro	39:784552c26163	619	}
yabahiro	51:a0bdbddd08f7	620	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	621	switch(g[0]) {
yabahiro	39:784552c26163	622	case 0:
yabahiro	39:784552c26163	623	mtc=false;
yabahiro	39:784552c26163	624	break;
yabahiro	39:784552c26163	625	case 255:
yabahiro	51:a0bdbddd08f7	626	motor[TIRE_FL].pwm += 3;
yabahiro	39:784552c26163	627	mtc=false;
yabahiro	39:784552c26163	628	break;
yabahiro	39:784552c26163	629	case 253:
yabahiro	51:a0bdbddd08f7	630	motor[TIRE_FL].pwm += 6;
yabahiro	39:784552c26163	631	mtc=false;
yabahiro	39:784552c26163	632	break;
yabahiro	39:784552c26163	633	case 254:
yabahiro	51:a0bdbddd08f7	634	motor[TIRE_FL].pwm += 9;
yabahiro	51:a0bdbddd08f7	635	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	636	mtc=false;
yabahiro	39:784552c26163	637	break;
yabahiro	39:784552c26163	638	case 1:
yabahiro	51:a0bdbddd08f7	639	motor[TIRE_FR].pwm += 3;
yabahiro	39:784552c26163	640	mtc=false;
yabahiro	39:784552c26163	641	break;
yabahiro	39:784552c26163	642	case 3:
yabahiro	51:a0bdbddd08f7	643	motor[TIRE_FR].pwm += 6;
yabahiro	39:784552c26163	644	mtc=false;
yabahiro	39:784552c26163	645	break;
yabahiro	39:784552c26163	646	case 2:
yabahiro	51:a0bdbddd08f7	647	motor[TIRE_FR].pwm += 9;
yabahiro	51:a0bdbddd08f7	648	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	649	mtc=false;
yabahiro	39:784552c26163	650	break;
yabahiro	39:784552c26163	651	}
yabahiro	39:784552c26163	652	}
yabahiro	51:a0bdbddd08f7	653	break;
yabahiro	51:a0bdbddd08f7	654	case 11:
yabahiro	53:694dbd7dfa0e	655	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	656	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	657	motor[TIRE_FL].pwm = 15;
yabahiro	53:694dbd7dfa0e	658	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	659	motor[TIRE_BR].pwm = 15;
yabahiro	53:694dbd7dfa0e	660	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	661	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	662	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	663	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	51:a0bdbddd08f7	664	countss=0;
yabahiro	51:a0bdbddd08f7	665	cross=0;
yabahiro	51:a0bdbddd08f7	666	mode=20;
yabahiro	51:a0bdbddd08f7	667	}
yabahiro	51:a0bdbddd08f7	668	break;
yabahiro	51:a0bdbddd08f7	669	case 20:
yabahiro	51:a0bdbddd08f7	670	solenoid.solenoid2= SOLENOID_ON;
yabahiro	51:a0bdbddd08f7	671	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	672	case 98:
yabahiro	51:a0bdbddd08f7	673	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	674	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	675	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	676	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	677	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	678	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	679	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	680	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	681	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	682	cross++;
yabahiro	51:a0bdbddd08f7	683	countss=0;
yabahiro	51:a0bdbddd08f7	684	}
yabahiro	51:a0bdbddd08f7	685	mtc2=true;
yabahiro	51:a0bdbddd08f7	686	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	687	if(cross==1) {
yabahiro	51:a0bdbddd08f7	688	fast=20;
yabahiro	51:a0bdbddd08f7	689	normal=15;
yabahiro	51:a0bdbddd08f7	690	slow=15;
yabahiro	51:a0bdbddd08f7	691	}
yabahiro	51:a0bdbddd08f7	692	if(cross==2) {
yabahiro	51:a0bdbddd08f7	693	mode=21;
yabahiro	51:a0bdbddd08f7	694	countss=0;
yabahiro	51:a0bdbddd08f7	695	cross=0;
yabahiro	51:a0bdbddd08f7	696	}
yabahiro	51:a0bdbddd08f7	697	} else {
yabahiro	51:a0bdbddd08f7	698	if(cross==3) {
yabahiro	51:a0bdbddd08f7	699	mode=21;
yabahiro	51:a0bdbddd08f7	700	countss=0;
yabahiro	51:a0bdbddd08f7	701	cross=0;
yabahiro	51:a0bdbddd08f7	702	}
yabahiro	51:a0bdbddd08f7	703	}
yabahiro	51:a0bdbddd08f7	704	break;
yabahiro	51:a0bdbddd08f7	705	case 0:
yabahiro	51:a0bdbddd08f7	706	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	707	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	708	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	709	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	710	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	711	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	712	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	713	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	714	mtc2=true;
yabahiro	51:a0bdbddd08f7	715	break;
yabahiro	51:a0bdbddd08f7	716	case 255:
yabahiro	51:a0bdbddd08f7	717	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	718	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	719	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	720	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	721	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	722	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	723	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	724	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	725	mtc2=true;
yabahiro	51:a0bdbddd08f7	726	break;
yabahiro	51:a0bdbddd08f7	727	case 253:
yabahiro	51:a0bdbddd08f7	728	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	729	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	730	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	731	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	732	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	733	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	734	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	735	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	736	mtc2=true;
yabahiro	51:a0bdbddd08f7	737	break;
yabahiro	51:a0bdbddd08f7	738	case 254:
yabahiro	51:a0bdbddd08f7	739	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	740	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	741	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	742	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	743	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	744	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	745	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	746	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	747	mtc2=true;
yabahiro	51:a0bdbddd08f7	748	break;
yabahiro	51:a0bdbddd08f7	749	case 1:
yabahiro	51:a0bdbddd08f7	750	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	751	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	752	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	753	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	754	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	755	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	756	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	757	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	758	mtc2=true;
yabahiro	51:a0bdbddd08f7	759	break;
yabahiro	51:a0bdbddd08f7	760	case 3:
yabahiro	51:a0bdbddd08f7	761	motor[TIRE_FR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	762	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	763	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	764	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	765	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	766	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	767	motor[TIRE_BL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	768	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	769	mtc2=true;
yabahiro	51:a0bdbddd08f7	770	break;
yabahiro	51:a0bdbddd08f7	771	case 2:
yabahiro	51:a0bdbddd08f7	772	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	773	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	774	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	775	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	776	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	777	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	778	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	779	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	780	mtc2=true;
yabahiro	51:a0bdbddd08f7	781	break;
yabahiro	51:a0bdbddd08f7	782	}
yabahiro	51:a0bdbddd08f7	783	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	784	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	785	case 0:
yabahiro	51:a0bdbddd08f7	786	mtc2=false;
yabahiro	51:a0bdbddd08f7	787	break;
yabahiro	51:a0bdbddd08f7	788	case 255:
yabahiro	51:a0bdbddd08f7	789	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	790	mtc2=false;
yabahiro	51:a0bdbddd08f7	791	break;
yabahiro	51:a0bdbddd08f7	792	case 253:
yabahiro	51:a0bdbddd08f7	793	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	794	mtc2=false;
yabahiro	51:a0bdbddd08f7	795	break;
yabahiro	51:a0bdbddd08f7	796	case 254:
yabahiro	51:a0bdbddd08f7	797	motor[TIRE_BL].pwm += 15;
yabahiro	51:a0bdbddd08f7	798	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	799	mtc2=false;
yabahiro	51:a0bdbddd08f7	800	break;
yabahiro	51:a0bdbddd08f7	801	case 1:
yabahiro	51:a0bdbddd08f7	802	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	803	mtc2=false;
yabahiro	51:a0bdbddd08f7	804	break;
yabahiro	51:a0bdbddd08f7	805	case 3:
yabahiro	51:a0bdbddd08f7	806	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	807	mtc2=false;
yabahiro	51:a0bdbddd08f7	808	break;
yabahiro	51:a0bdbddd08f7	809	case 2:
yabahiro	51:a0bdbddd08f7	810	motor[TIRE_FL].pwm += 15;
yabahiro	51:a0bdbddd08f7	811	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	812	mtc2=false;
yabahiro	51:a0bdbddd08f7	813	break;
yabahiro	51:a0bdbddd08f7	814	}
yabahiro	51:a0bdbddd08f7	815	}
yabahiro	51:a0bdbddd08f7	816	break;
yabahiro	51:a0bdbddd08f7	817	case 21:
yabahiro	51:a0bdbddd08f7	818	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	819	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	820	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	821	motor[TIRE_FL].pwm = 20;
yabahiro	51:a0bdbddd08f7	822	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	823	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	824	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	825	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	826	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	827	if(g[3]==98&&countss>=10000) {
yabahiro	51:a0bdbddd08f7	828	mode=22;
yabahiro	51:a0bdbddd08f7	829	countss=0;
yabahiro	51:a0bdbddd08f7	830	fast=60;
yabahiro	51:a0bdbddd08f7	831	normal=40;
yabahiro	51:a0bdbddd08f7	832	slow=20;
yabahiro	51:a0bdbddd08f7	833	}
yabahiro	51:a0bdbddd08f7	834	} else {
yabahiro	51:a0bdbddd08f7	835	motor[TIRE_FR].pwm = 255;
yabahiro	51:a0bdbddd08f7	836	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	837	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	838	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	839	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	840	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	841	motor[TIRE_BL].pwm = 255;
yabahiro	51:a0bdbddd08f7	842	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	843	if(g[0]==0) {
yabahiro	51:a0bdbddd08f7	844	mode=22;
yabahiro	51:a0bdbddd08f7	845	fast=60;
yabahiro	51:a0bdbddd08f7	846	normal=40;
yabahiro	51:a0bdbddd08f7	847	slow=25;
yabahiro	51:a0bdbddd08f7	848	}
yabahiro	51:a0bdbddd08f7	849	}
yabahiro	51:a0bdbddd08f7	850	break;
yabahiro	51:a0bdbddd08f7	851	case 22:
yabahiro	51:a0bdbddd08f7	852	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	853	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	854	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	855	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	856	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	857	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	858	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	859	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	860	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	861	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	862	}
yabahiro	51:a0bdbddd08f7	863	if(g[4]==253\|\|g[4]==254) {
yabahiro	51:a0bdbddd08f7	864	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	865	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	866	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	867	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	868	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	869	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	870	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	871	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	872	}
yabahiro	51:a0bdbddd08f7	873	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	874	case 0:
yabahiro	51:a0bdbddd08f7	875	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	876	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	877	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	878	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	879	break;
yabahiro	51:a0bdbddd08f7	880	case 255:
yabahiro	51:a0bdbddd08f7	881	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	882	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	883	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	884	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	885	break;
yabahiro	51:a0bdbddd08f7	886	case 253:
yabahiro	51:a0bdbddd08f7	887	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	888	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	889	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	890	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	891	break;
yabahiro	51:a0bdbddd08f7	892	case 254:
yabahiro	51:a0bdbddd08f7	893	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	894	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	895	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	896	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	897	break;
yabahiro	51:a0bdbddd08f7	898	case 1:
yabahiro	51:a0bdbddd08f7	899	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	900	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	901	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	902	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	903	break;
yabahiro	51:a0bdbddd08f7	904	case 3:
yabahiro	51:a0bdbddd08f7	905	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	906	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	907	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	908	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	909	break;
yabahiro	51:a0bdbddd08f7	910	case 2:
yabahiro	51:a0bdbddd08f7	911	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	912	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	913	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	914	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	915	break;
yabahiro	51:a0bdbddd08f7	916	}
yabahiro	51:a0bdbddd08f7	917	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	918	case 0:
yabahiro	53:694dbd7dfa0e	919	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	920	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	921	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	922	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	923	break;
yabahiro	51:a0bdbddd08f7	924	case 255:
yabahiro	53:694dbd7dfa0e	925	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	926	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	927	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	928	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	929	case 253:
yabahiro	53:694dbd7dfa0e	930	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	931	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	932	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	933	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	934	break;
yabahiro	51:a0bdbddd08f7	935	case 254:
yabahiro	53:694dbd7dfa0e	936	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	937	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	938	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	939	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	940	break;
yabahiro	51:a0bdbddd08f7	941	case 1:
yabahiro	53:694dbd7dfa0e	942	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	943	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	944	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	945	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	946	break;
yabahiro	51:a0bdbddd08f7	947	case 3:
yabahiro	53:694dbd7dfa0e	948	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	949	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	950	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	951	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	952	break;
yabahiro	51:a0bdbddd08f7	953	case 2:
yabahiro	53:694dbd7dfa0e	954	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	955	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	956	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	957	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	958	break;
yabahiro	51:a0bdbddd08f7	959	}
yabahiro	51:a0bdbddd08f7	960	if(g[3]==0&&g[2]==0) {
yabahiro	51:a0bdbddd08f7	961	mode=23;
yabahiro	51:a0bdbddd08f7	962	countss=0;
yabahiro	54:4167f10ecad0	963	fast=80;
yabahiro	54:4167f10ecad0	964	normal=60;
yabahiro	54:4167f10ecad0	965	slow=30;
yabahiro	51:a0bdbddd08f7	966	}
yabahiro	51:a0bdbddd08f7	967	} else {
yabahiro	51:a0bdbddd08f7	968	if(g[0]==98) {
yabahiro	51:a0bdbddd08f7	969	slow=25;
yabahiro	51:a0bdbddd08f7	970	normal=30;
yabahiro	53:694dbd7dfa0e	971	fast=30;
yabahiro	51:a0bdbddd08f7	972	}
yabahiro	51:a0bdbddd08f7	973	if(g[3]==0) {
yabahiro	51:a0bdbddd08f7	974	slow=25;
yabahiro	51:a0bdbddd08f7	975	normal=40;
yabahiro	51:a0bdbddd08f7	976	fast=60;
yabahiro	51:a0bdbddd08f7	977	mode=23;
yabahiro	51:a0bdbddd08f7	978	}
yabahiro	51:a0bdbddd08f7	979	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	980	case 98:
yabahiro	51:a0bdbddd08f7	981	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	982	fast=40;
yabahiro	51:a0bdbddd08f7	983	normal=30;
yabahiro	51:a0bdbddd08f7	984	slow=25;
yabahiro	51:a0bdbddd08f7	985	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	986	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	987	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	988	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	989	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	990	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	991	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	992	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	993	break;
yabahiro	51:a0bdbddd08f7	994	case 0:
yabahiro	51:a0bdbddd08f7	995	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	996	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	997	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	998	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	999	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1000	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1001	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1002	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1003	mtc=true;
yabahiro	51:a0bdbddd08f7	1004	break;
yabahiro	51:a0bdbddd08f7	1005	case 255:
yabahiro	51:a0bdbddd08f7	1006	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1007	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1008	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1009	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1010	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1011	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1012	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1013	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1014	mtc=true;
yabahiro	51:a0bdbddd08f7	1015	break;
yabahiro	51:a0bdbddd08f7	1016	case 253:
yabahiro	51:a0bdbddd08f7	1017	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1018	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1019	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1020	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1021	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1022	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1023	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1024	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1025	mtc=true;
yabahiro	51:a0bdbddd08f7	1026	break;
yabahiro	51:a0bdbddd08f7	1027	case 254:
yabahiro	51:a0bdbddd08f7	1028	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1029	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1030	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1031	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1032	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1033	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1034	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1035	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1036	mtc=true;
yabahiro	51:a0bdbddd08f7	1037	break;
yabahiro	51:a0bdbddd08f7	1038	case 1:
yabahiro	51:a0bdbddd08f7	1039	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1040	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1041	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1042	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1043	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1044	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1045	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1046	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1047	mtc=true;
yabahiro	51:a0bdbddd08f7	1048	break;
yabahiro	51:a0bdbddd08f7	1049	case 3:
yabahiro	51:a0bdbddd08f7	1050	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1051	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1052	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1053	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1054	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1055	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1056	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1057	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1058	mtc=true;
yabahiro	51:a0bdbddd08f7	1059	break;
yabahiro	51:a0bdbddd08f7	1060	case 2:
yabahiro	51:a0bdbddd08f7	1061	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1062	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1063	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1064	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1065	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1066	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1067	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1068	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1069	mtc=true;
yabahiro	51:a0bdbddd08f7	1070	break;
yabahiro	51:a0bdbddd08f7	1071	}
yabahiro	51:a0bdbddd08f7	1072	if(g[0]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1073	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1074	case 0:
yabahiro	51:a0bdbddd08f7	1075	mtc=false;
yabahiro	51:a0bdbddd08f7	1076	break;
yabahiro	51:a0bdbddd08f7	1077	case 255:
yabahiro	51:a0bdbddd08f7	1078	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1079	mtc=false;
yabahiro	51:a0bdbddd08f7	1080	break;
yabahiro	51:a0bdbddd08f7	1081	case 253:
yabahiro	51:a0bdbddd08f7	1082	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1083	mtc=false;
yabahiro	51:a0bdbddd08f7	1084	break;
yabahiro	51:a0bdbddd08f7	1085	case 254:
yabahiro	51:a0bdbddd08f7	1086	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1087	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1088	mtc=false;
yabahiro	51:a0bdbddd08f7	1089	break;
yabahiro	51:a0bdbddd08f7	1090	case 1:
yabahiro	51:a0bdbddd08f7	1091	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1092	mtc=false;
yabahiro	51:a0bdbddd08f7	1093	break;
yabahiro	51:a0bdbddd08f7	1094	case 3:
yabahiro	51:a0bdbddd08f7	1095	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1096	mtc=false;
yabahiro	51:a0bdbddd08f7	1097	break;
yabahiro	51:a0bdbddd08f7	1098	case 2:
yabahiro	51:a0bdbddd08f7	1099	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1100	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1101	mtc=false;
yabahiro	51:a0bdbddd08f7	1102	break;
yabahiro	51:a0bdbddd08f7	1103	}
yabahiro	51:a0bdbddd08f7	1104	}
yabahiro	51:a0bdbddd08f7	1105	}
yabahiro	51:a0bdbddd08f7	1106	break;
yabahiro	51:a0bdbddd08f7	1107	case 23:
yabahiro	51:a0bdbddd08f7	1108	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1109	switch(g[4]) {
yabahiro	51:a0bdbddd08f7	1110	case 98:
yabahiro	51:a0bdbddd08f7	1111	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1112	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1113	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1114	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1115	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1116	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1117	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1118	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1119	break;
yabahiro	51:a0bdbddd08f7	1120	case 99:
yabahiro	51:a0bdbddd08f7	1121	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1122	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1123	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1124	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1125	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1126	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1127	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1128	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1129	break;
yabahiro	51:a0bdbddd08f7	1130	case 0:
yabahiro	51:a0bdbddd08f7	1131	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1132	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1133	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1134	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1135	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1136	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1137	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1138	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1139	break;
yabahiro	51:a0bdbddd08f7	1140	case 255:
yabahiro	51:a0bdbddd08f7	1141	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1142	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1143	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1144	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1145	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1146	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1147	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1148	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1149	break;
yabahiro	51:a0bdbddd08f7	1150	case 253:
yabahiro	51:a0bdbddd08f7	1151	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1152	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1153	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1154	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1155	motor[TIRE_BR].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1156	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1157	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1158	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1159	break;
yabahiro	51:a0bdbddd08f7	1160	case 254:
yabahiro	51:a0bdbddd08f7	1161	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1162	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1163	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1164	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1165	motor[TIRE_BR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1166	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1167	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1168	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1169	break;
yabahiro	51:a0bdbddd08f7	1170	case 1:
yabahiro	51:a0bdbddd08f7	1171	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1172	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1173	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1174	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1175	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1176	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1177	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1178	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1179	break;
yabahiro	51:a0bdbddd08f7	1180	case 3:
yabahiro	51:a0bdbddd08f7	1181	motor[TIRE_FR].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1182	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1183	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1184	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1185	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1186	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1187	motor[TIRE_BL].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1188	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1189	break;
yabahiro	51:a0bdbddd08f7	1190	case 2:
yabahiro	51:a0bdbddd08f7	1191	motor[TIRE_FR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1192	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1193	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1194	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1195	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1196	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1197	motor[TIRE_BL].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1198	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1199	break;
yabahiro	51:a0bdbddd08f7	1200	}
yabahiro	51:a0bdbddd08f7	1201	if(g[0]==98) {
yabahiro	51:a0bdbddd08f7	1202	fast=20;
yabahiro	51:a0bdbddd08f7	1203	normal=15;
yabahiro	51:a0bdbddd08f7	1204	slow=10;
yabahiro	51:a0bdbddd08f7	1205	}
yabahiro	51:a0bdbddd08f7	1206	if(g[2]==254&&countss>=100000) {
yabahiro	51:a0bdbddd08f7	1207	mode=24;
yabahiro	51:a0bdbddd08f7	1208	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	1209	countss=0;
yabahiro	54:4167f10ecad0	1210	fast=80;
yabahiro	54:4167f10ecad0	1211	normal=60;
yabahiro	54:4167f10ecad0	1212	slow=30;
yabahiro	51:a0bdbddd08f7	1213	}
yabahiro	51:a0bdbddd08f7	1214	} else {
yabahiro	51:a0bdbddd08f7	1215	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1216	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1217	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1218	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1219	fast=60;
yabahiro	51:a0bdbddd08f7	1220	normal=40;
yabahiro	53:694dbd7dfa0e	1221	slow=30;
yabahiro	51:a0bdbddd08f7	1222	countss=0;
yabahiro	51:a0bdbddd08f7	1223	mode=24;
yabahiro	51:a0bdbddd08f7	1224	}
yabahiro	51:a0bdbddd08f7	1225	} else {
yabahiro	51:a0bdbddd08f7	1226	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1227	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1228	}
yabahiro	51:a0bdbddd08f7	1229	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1230	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1231	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1232	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1233	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1234	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1235	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1236	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1237	}
yabahiro	51:a0bdbddd08f7	1238	break;
yabahiro	51:a0bdbddd08f7	1239	case 24:
yabahiro	51:a0bdbddd08f7	1240	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1241	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	1242	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1243	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	1244	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1245	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1246	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1247	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1248	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1249	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1250	}
yabahiro	51:a0bdbddd08f7	1251	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	1252	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1253	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1254	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1255	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1256	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1257	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	1258	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1259	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1260	}
yabahiro	51:a0bdbddd08f7	1261	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1262	case 0:
yabahiro	51:a0bdbddd08f7	1263	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1264	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1265	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1266	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1267	break;
yabahiro	51:a0bdbddd08f7	1268	case 255:
yabahiro	51:a0bdbddd08f7	1269	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1270	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1271	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1272	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1273	break;
yabahiro	51:a0bdbddd08f7	1274	case 253:
yabahiro	51:a0bdbddd08f7	1275	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1276	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1277	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1278	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1279	break;
yabahiro	51:a0bdbddd08f7	1280	case 254:
yabahiro	51:a0bdbddd08f7	1281	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1282	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1283	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1284	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1285	break;
yabahiro	51:a0bdbddd08f7	1286	case 1:
yabahiro	51:a0bdbddd08f7	1287	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1288	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1289	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1290	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1291	break;
yabahiro	51:a0bdbddd08f7	1292	case 3:
yabahiro	51:a0bdbddd08f7	1293	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1294	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1295	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1296	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1297	break;
yabahiro	51:a0bdbddd08f7	1298	case 2:
yabahiro	51:a0bdbddd08f7	1299	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1300	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1301	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1302	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1303	break;
yabahiro	51:a0bdbddd08f7	1304	}
yabahiro	51:a0bdbddd08f7	1305	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1306	case 0:
yabahiro	51:a0bdbddd08f7	1307	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1308	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1309	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1310	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1311	break;
yabahiro	51:a0bdbddd08f7	1312	case 255:
yabahiro	51:a0bdbddd08f7	1313	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1314	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1315	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1316	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1317	case 253:
yabahiro	51:a0bdbddd08f7	1318	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1319	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1320	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1321	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1322	break;
yabahiro	51:a0bdbddd08f7	1323	case 254:
yabahiro	53:694dbd7dfa0e	1324	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1325	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1326	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1327	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1328	break;
yabahiro	51:a0bdbddd08f7	1329	case 1:
yabahiro	53:694dbd7dfa0e	1330	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1331	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1332	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1333	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1334	break;
yabahiro	51:a0bdbddd08f7	1335	case 3:
yabahiro	53:694dbd7dfa0e	1336	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	1337	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1338	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1339	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1340	break;
yabahiro	51:a0bdbddd08f7	1341	case 2:
yabahiro	53:694dbd7dfa0e	1342	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1343	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1344	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1345	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1346	break;
yabahiro	51:a0bdbddd08f7	1347	}
yabahiro	51:a0bdbddd08f7	1348	if(g[3]==0&&g[2]==0) {
yabahiro	51:a0bdbddd08f7	1349	mode=25;
yabahiro	51:a0bdbddd08f7	1350	}
yabahiro	51:a0bdbddd08f7	1351	} else {
yabahiro	53:694dbd7dfa0e	1352	if(g[0]==98&&countss>=40000) {
yabahiro	51:a0bdbddd08f7	1353	mode=31;
yabahiro	53:694dbd7dfa0e	1354	fast=60;
yabahiro	53:694dbd7dfa0e	1355	normal=40;
yabahiro	53:694dbd7dfa0e	1356	slow=30;
yabahiro	51:a0bdbddd08f7	1357	countss=0;
yabahiro	51:a0bdbddd08f7	1358	}
yabahiro	51:a0bdbddd08f7	1359	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1360	case 98:
yabahiro	51:a0bdbddd08f7	1361	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1362	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1363	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1364	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1365	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1366	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1367	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1368	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1369	break;
yabahiro	51:a0bdbddd08f7	1370	case 0:
yabahiro	51:a0bdbddd08f7	1371	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1372	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1373	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1374	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1375	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1376	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1377	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1378	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1379	mtc=true;
yabahiro	51:a0bdbddd08f7	1380	break;
yabahiro	51:a0bdbddd08f7	1381	case 255:
yabahiro	51:a0bdbddd08f7	1382	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1383	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1384	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1385	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1386	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1387	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1388	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1389	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1390	mtc=true;
yabahiro	51:a0bdbddd08f7	1391	break;
yabahiro	51:a0bdbddd08f7	1392	case 253:
yabahiro	51:a0bdbddd08f7	1393	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1394	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1395	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1396	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1397	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1398	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1399	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1400	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1401	mtc=true;
yabahiro	51:a0bdbddd08f7	1402	break;
yabahiro	51:a0bdbddd08f7	1403	case 254:
yabahiro	51:a0bdbddd08f7	1404	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1405	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1406	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1407	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1408	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1409	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1410	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1411	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1412	mtc=true;
yabahiro	51:a0bdbddd08f7	1413	break;
yabahiro	51:a0bdbddd08f7	1414	case 1:
yabahiro	51:a0bdbddd08f7	1415	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1416	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1417	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1418	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1419	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1420	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1421	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1422	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1423	mtc=true;
yabahiro	51:a0bdbddd08f7	1424	break;
yabahiro	51:a0bdbddd08f7	1425	case 3:
yabahiro	51:a0bdbddd08f7	1426	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1427	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1428	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1429	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1430	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1431	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1432	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1433	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1434	mtc=true;
yabahiro	51:a0bdbddd08f7	1435	break;
yabahiro	51:a0bdbddd08f7	1436	case 2:
yabahiro	51:a0bdbddd08f7	1437	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1438	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1439	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1440	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1441	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1442	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1443	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1444	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1445	mtc=true;
yabahiro	51:a0bdbddd08f7	1446	break;
yabahiro	51:a0bdbddd08f7	1447	}
yabahiro	51:a0bdbddd08f7	1448	if(g[1]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1449	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	1450	case 0:
yabahiro	51:a0bdbddd08f7	1451	mtc=false;
yabahiro	51:a0bdbddd08f7	1452	break;
yabahiro	51:a0bdbddd08f7	1453	case 255:
yabahiro	51:a0bdbddd08f7	1454	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1455	mtc=false;
yabahiro	51:a0bdbddd08f7	1456	break;
yabahiro	51:a0bdbddd08f7	1457	case 253:
yabahiro	51:a0bdbddd08f7	1458	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1459	mtc=false;
yabahiro	51:a0bdbddd08f7	1460	break;
yabahiro	51:a0bdbddd08f7	1461	case 254:
yabahiro	51:a0bdbddd08f7	1462	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1463	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1464	mtc=false;
yabahiro	51:a0bdbddd08f7	1465	break;
yabahiro	51:a0bdbddd08f7	1466	case 1:
yabahiro	51:a0bdbddd08f7	1467	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1468	mtc=false;
yabahiro	51:a0bdbddd08f7	1469	break;
yabahiro	51:a0bdbddd08f7	1470	case 3:
yabahiro	51:a0bdbddd08f7	1471	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1472	mtc=false;
yabahiro	51:a0bdbddd08f7	1473	break;
yabahiro	51:a0bdbddd08f7	1474	case 2:
yabahiro	51:a0bdbddd08f7	1475	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1476	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1477	mtc=false;
yabahiro	51:a0bdbddd08f7	1478	break;
yabahiro	51:a0bdbddd08f7	1479	}
yabahiro	51:a0bdbddd08f7	1480	}
yabahiro	51:a0bdbddd08f7	1481	}
yabahiro	51:a0bdbddd08f7	1482	break;
yabahiro	51:a0bdbddd08f7	1483	case 25:
yabahiro	51:a0bdbddd08f7	1484	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1485	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1486	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1487	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1488	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1489	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1490	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1491	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1492	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1493	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1494	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1495	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1496	countss=0;
yabahiro	51:a0bdbddd08f7	1497	mode=26;
yabahiro	51:a0bdbddd08f7	1498	}
yabahiro	51:a0bdbddd08f7	1499	} else {
yabahiro	51:a0bdbddd08f7	1500	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1501	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1502	}
yabahiro	51:a0bdbddd08f7	1503	break;
yabahiro	51:a0bdbddd08f7	1504	case 26:
yabahiro	53:694dbd7dfa0e	1505	if(g[0]==98) {
yabahiro	53:694dbd7dfa0e	1506	mode=31;
yabahiro	53:694dbd7dfa0e	1507	}
yabahiro	50:87f5fa1bc460	1508	switch(g[4]) {
yabahiro	50:87f5fa1bc460	1509	case 98:
yabahiro	51:a0bdbddd08f7	1510	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1511	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1512	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1513	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1514	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1515	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1516	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1517	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1518	break;
yabahiro	50:87f5fa1bc460	1519	case 99:
yabahiro	50:87f5fa1bc460	1520	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1521	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1522	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1523	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1524	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1525	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1526	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1527	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1528	break;
yabahiro	50:87f5fa1bc460	1529	case 0:
yabahiro	51:a0bdbddd08f7	1530	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1531	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1532	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1533	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1534	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1535	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1536	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1537	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1538	break;
yabahiro	50:87f5fa1bc460	1539	case 255:
yabahiro	50:87f5fa1bc460	1540	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1541	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1542	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1543	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1544	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1545	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1546	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1547	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1548	break;
yabahiro	50:87f5fa1bc460	1549	case 253:
yabahiro	51:a0bdbddd08f7	1550	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1551	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1552	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1553	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1554	motor[TIRE_BR].pwm = 25;
yabahiro	50:87f5fa1bc460	1555	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1556	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1557	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1558	break;
yabahiro	50:87f5fa1bc460	1559	case 254:
yabahiro	51:a0bdbddd08f7	1560	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1561	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1562	motor[TIRE_FL].pwm = 45;
yabahiro	50:87f5fa1bc460	1563	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1564	motor[TIRE_BR].pwm = 40;
yabahiro	50:87f5fa1bc460	1565	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1566	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1567	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1568	break;
yabahiro	50:87f5fa1bc460	1569	case 1:
yabahiro	50:87f5fa1bc460	1570	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1571	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1572	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1573	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1574	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1575	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1576	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1577	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1578	break;
yabahiro	50:87f5fa1bc460	1579	case 3:
yabahiro	51:a0bdbddd08f7	1580	motor[TIRE_FR].pwm = 25;
yabahiro	50:87f5fa1bc460	1581	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1582	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1583	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1584	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1585	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1586	motor[TIRE_BL].pwm = 25;
yabahiro	50:87f5fa1bc460	1587	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1588	break;
yabahiro	50:87f5fa1bc460	1589	case 2:
yabahiro	51:a0bdbddd08f7	1590	motor[TIRE_FR].pwm = 40;
yabahiro	50:87f5fa1bc460	1591	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1592	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1593	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1594	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1595	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1596	motor[TIRE_BL].pwm = 40;
yabahiro	50:87f5fa1bc460	1597	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1598	break;
yabahiro	50:87f5fa1bc460	1599	}
yabahiro	51:a0bdbddd08f7	1600	break;
yabahiro	51:a0bdbddd08f7	1601	case 31:
yabahiro	53:694dbd7dfa0e	1602	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1603	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1604	motor[TIRE_FL].pwm = 5;
yabahiro	53:694dbd7dfa0e	1605	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1606	motor[TIRE_BR].pwm = 5;
yabahiro	53:694dbd7dfa0e	1607	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1608	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1609	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1610	if(g[2]==0) {
yabahiro	51:a0bdbddd08f7	1611	cross=0;
yabahiro	51:a0bdbddd08f7	1612	countss=0;
yabahiro	51:a0bdbddd08f7	1613	mode=40;
yabahiro	53:694dbd7dfa0e	1614	fast=60;
yabahiro	53:694dbd7dfa0e	1615	normal=40;
yabahiro	53:694dbd7dfa0e	1616	slow=30;
yabahiro	51:a0bdbddd08f7	1617	}
yabahiro	51:a0bdbddd08f7	1618	break;
yabahiro	51:a0bdbddd08f7	1619	case 40:
yabahiro	51:a0bdbddd08f7	1620	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1621	case 98:
yabahiro	53:694dbd7dfa0e	1622	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1623	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1624	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1625	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1626	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1627	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1628	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1629	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1630	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	1631	cross++;
yabahiro	51:a0bdbddd08f7	1632	countss=0;
yabahiro	51:a0bdbddd08f7	1633	}
yabahiro	51:a0bdbddd08f7	1634	mtc2=true;
yabahiro	51:a0bdbddd08f7	1635	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1636	if(cross==1) {
yabahiro	51:a0bdbddd08f7	1637	mode=41;
yabahiro	51:a0bdbddd08f7	1638	countss=0;
yabahiro	51:a0bdbddd08f7	1639	cross=0;
yabahiro	51:a0bdbddd08f7	1640	}
yabahiro	51:a0bdbddd08f7	1641	} else {
yabahiro	51:a0bdbddd08f7	1642	if(cross==3) {
yabahiro	53:694dbd7dfa0e	1643	fast=60;
yabahiro	53:694dbd7dfa0e	1644	normal=40;
yabahiro	53:694dbd7dfa0e	1645	slow=30;
yabahiro	51:a0bdbddd08f7	1646	mode=41;
yabahiro	51:a0bdbddd08f7	1647	countss=0;
yabahiro	51:a0bdbddd08f7	1648	cross=0;
yabahiro	51:a0bdbddd08f7	1649	}
yabahiro	51:a0bdbddd08f7	1650	}
yabahiro	51:a0bdbddd08f7	1651	break;
yabahiro	50:87f5fa1bc460	1652	case 0:
yabahiro	53:694dbd7dfa0e	1653	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1654	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1655	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1656	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1657	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1658	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1659	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1660	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1661	mtc2=true;
yabahiro	50:87f5fa1bc460	1662	break;
yabahiro	50:87f5fa1bc460	1663	case 255:
yabahiro	53:694dbd7dfa0e	1664	motor[TIRE_FR].pwm = slow;
yabahiro	50:87f5fa1bc460	1665	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1666	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1667	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1668	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1669	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1670	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1671	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1672	mtc2=true;
yabahiro	50:87f5fa1bc460	1673	break;
yabahiro	50:87f5fa1bc460	1674	case 253:
yabahiro	51:a0bdbddd08f7	1675	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1676	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1677	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1678	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1679	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1680	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1681	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1682	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1683	mtc2=true;
yabahiro	50:87f5fa1bc460	1684	break;
yabahiro	50:87f5fa1bc460	1685	case 254:
yabahiro	51:a0bdbddd08f7	1686	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1687	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1688	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1689	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1690	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1691	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1692	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1693	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1694	mtc2=true;
yabahiro	50:87f5fa1bc460	1695	break;
yabahiro	50:87f5fa1bc460	1696	case 1:
yabahiro	53:694dbd7dfa0e	1697	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1698	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1699	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1700	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1701	motor[TIRE_BR].pwm = slow;
yabahiro	50:87f5fa1bc460	1702	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1703	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1704	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1705	mtc2=true;
yabahiro	50:87f5fa1bc460	1706	break;
yabahiro	50:87f5fa1bc460	1707	case 3:
yabahiro	53:694dbd7dfa0e	1708	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1709	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1710	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1711	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1712	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1713	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1714	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1715	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1716	mtc2=true;
yabahiro	50:87f5fa1bc460	1717	break;
yabahiro	50:87f5fa1bc460	1718	case 2:
yabahiro	53:694dbd7dfa0e	1719	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1720	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1721	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1722	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1723	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1724	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1725	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1726	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1727	mtc2=true;
yabahiro	50:87f5fa1bc460	1728	break;
yabahiro	50:87f5fa1bc460	1729	}
yabahiro	51:a0bdbddd08f7	1730	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	1731	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1732	case 0:
yabahiro	51:a0bdbddd08f7	1733	mtc2=false;
yabahiro	51:a0bdbddd08f7	1734	break;
yabahiro	51:a0bdbddd08f7	1735	case 255:
yabahiro	51:a0bdbddd08f7	1736	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1737	mtc2=false;
yabahiro	51:a0bdbddd08f7	1738	break;
yabahiro	51:a0bdbddd08f7	1739	case 253:
yabahiro	51:a0bdbddd08f7	1740	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1741	mtc2=false;
yabahiro	51:a0bdbddd08f7	1742	break;
yabahiro	51:a0bdbddd08f7	1743	case 254:
yabahiro	51:a0bdbddd08f7	1744	motor[TIRE_FL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1745	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1746	mtc2=false;
yabahiro	51:a0bdbddd08f7	1747	break;
yabahiro	51:a0bdbddd08f7	1748	case 1:
yabahiro	51:a0bdbddd08f7	1749	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1750	mtc2=false;
yabahiro	51:a0bdbddd08f7	1751	break;
yabahiro	51:a0bdbddd08f7	1752	case 3:
yabahiro	51:a0bdbddd08f7	1753	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1754	mtc2=false;
yabahiro	51:a0bdbddd08f7	1755	break;
yabahiro	51:a0bdbddd08f7	1756	case 2:
yabahiro	51:a0bdbddd08f7	1757	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1758	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1759	mtc2=false;
yabahiro	51:a0bdbddd08f7	1760	break;
yabahiro	51:a0bdbddd08f7	1761	}
yabahiro	51:a0bdbddd08f7	1762	}
yabahiro	51:a0bdbddd08f7	1763	break;
yabahiro	51:a0bdbddd08f7	1764	case 41:
yabahiro	53:694dbd7dfa0e	1765	/*
yabahiro	53:694dbd7dfa0e	1766	if(LIF\|\|LIB) {
yabahiro	53:694dbd7dfa0e	1767	mode=42;
yabahiro	53:694dbd7dfa0e	1768	}
yabahiro	53:694dbd7dfa0e	1769	*/
yabahiro	53:694dbd7dfa0e	1770	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1771	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1772	motor[TIRE_FL].pwm = 0;
yabahiro	53:694dbd7dfa0e	1773	motor[TIRE_FL].dir = FREE;
yabahiro	53:694dbd7dfa0e	1774	motor[TIRE_BR].pwm = 0;
yabahiro	53:694dbd7dfa0e	1775	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1776	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1777	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1778	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1779	countss=0;
yabahiro	51:a0bdbddd08f7	1780	mode=70;
yabahiro	53:694dbd7dfa0e	1781	normal=60;
yabahiro	53:694dbd7dfa0e	1782	fast=70;
yabahiro	53:694dbd7dfa0e	1783	slow=40;
yabahiro	51:a0bdbddd08f7	1784	}
yabahiro	51:a0bdbddd08f7	1785	break;
yabahiro	51:a0bdbddd08f7	1786	case 42:
yabahiro	51:a0bdbddd08f7	1787	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1788	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1789	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1790	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1791	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1792	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1793	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1794	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1795	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1796	countss=0;
yabahiro	51:a0bdbddd08f7	1797	mode=70;
yabahiro	51:a0bdbddd08f7	1798	}
yabahiro	51:a0bdbddd08f7	1799	break;
yabahiro	51:a0bdbddd08f7	1800	case 70:
yabahiro	51:a0bdbddd08f7	1801	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1802	case 99:
yabahiro	51:a0bdbddd08f7	1803	if(countss>=100000) {
yabahiro	51:a0bdbddd08f7	1804	mode=100;
yabahiro	51:a0bdbddd08f7	1805	}
yabahiro	50:87f5fa1bc460	1806	break;
yabahiro	39:784552c26163	1807	case 98:
yabahiro	39:784552c26163	1808	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1809	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1810	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1811	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1812	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1813	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1814	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1815	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1816	break;
yabahiro	39:784552c26163	1817	case 0:
yabahiro	53:694dbd7dfa0e	1818	motor[TIRE_FR].pwm = 80;
yabahiro	39:784552c26163	1819	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1820	motor[TIRE_FL].pwm = 80;
yabahiro	39:784552c26163	1821	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1822	motor[TIRE_BR].pwm = 80;
yabahiro	39:784552c26163	1823	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1824	motor[TIRE_BL].pwm = 80;
yabahiro	39:784552c26163	1825	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1826	mtc=true;
yabahiro	39:784552c26163	1827	break;
yabahiro	39:784552c26163	1828	case 255:
yabahiro	39:784552c26163	1829	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1830	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1831	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1832	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1833	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1834	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1835	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1836	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1837	mtc=true;
yabahiro	39:784552c26163	1838	break;
yabahiro	39:784552c26163	1839	case 253:
yabahiro	39:784552c26163	1840	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1841	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1842	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1843	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1844	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1845	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1846	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1847	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1848	mtc=true;
yabahiro	39:784552c26163	1849	break;
yabahiro	39:784552c26163	1850	case 254:
yabahiro	39:784552c26163	1851	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1852	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1853	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1854	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1855	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1856	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1857	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1858	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1859	mtc=true;
yabahiro	39:784552c26163	1860	break;
yabahiro	39:784552c26163	1861	case 1:
yabahiro	39:784552c26163	1862	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1863	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1864	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1865	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1866	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1867	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1868	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1869	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1870	mtc=true;
yabahiro	39:784552c26163	1871	break;
yabahiro	39:784552c26163	1872	case 3:
yabahiro	39:784552c26163	1873	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1874	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1875	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1876	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1877	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1878	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1879	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1880	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1881	mtc=true;
yabahiro	39:784552c26163	1882	break;
yabahiro	39:784552c26163	1883	case 2:
yabahiro	39:784552c26163	1884	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1885	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1886	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1887	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1888	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1889	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1890	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1891	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1892	mtc=true;
yabahiro	39:784552c26163	1893	break;
yabahiro	39:784552c26163	1894	}
yabahiro	39:784552c26163	1895	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1896	switch(g[1]) {
yabahiro	39:784552c26163	1897	case 0:
yabahiro	39:784552c26163	1898	mtc=false;
yabahiro	39:784552c26163	1899	break;
yabahiro	39:784552c26163	1900	case 255:
yabahiro	39:784552c26163	1901	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1902	mtc=false;
yabahiro	39:784552c26163	1903	break;
yabahiro	39:784552c26163	1904	case 253:
yabahiro	39:784552c26163	1905	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1906	mtc=false;
yabahiro	39:784552c26163	1907	break;
yabahiro	39:784552c26163	1908	case 254:
yabahiro	39:784552c26163	1909	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1910	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1911	mtc=false;
yabahiro	39:784552c26163	1912	break;
yabahiro	39:784552c26163	1913	case 1:
yabahiro	39:784552c26163	1914	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1915	mtc=false;
yabahiro	39:784552c26163	1916	break;
yabahiro	39:784552c26163	1917	case 3:
yabahiro	39:784552c26163	1918	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1919	mtc=false;
yabahiro	39:784552c26163	1920	break;
yabahiro	39:784552c26163	1921	case 2:
yabahiro	39:784552c26163	1922	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1923	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1924	mtc=false;
yabahiro	39:784552c26163	1925	break;
yabahiro	39:784552c26163	1926	}
yabahiro	33:dd598bb23ad1	1927	}
yabahiro	51:a0bdbddd08f7	1928	break;
yabahiro	51:a0bdbddd08f7	1929	case 100:
yabahiro	54:4167f10ecad0	1930	motor[TIRE_FR].pwm = 47;
yabahiro	51:a0bdbddd08f7	1931	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1932	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1933	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1934	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1935	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1936	motor[TIRE_BL].pwm = 55;
yabahiro	51:a0bdbddd08f7	1937	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1938	break;
yabahiro	51:a0bdbddd08f7	1939	default:
yabahiro	51:a0bdbddd08f7	1940	motor[TIRE_FR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1941	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1942	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1943	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1944	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1945	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1946	motor[TIRE_BL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1947	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1948	break;
yabahiro	33:dd598bb23ad1	1949	}
kishibekairohan	13:b6e02d6261d7	1950	}
kishibekairohan	13:b6e02d6261d7	1951	#endif
kishibekairohan	13:b6e02d6261d7	1952
kishibekairohan	13:b6e02d6261d7	1953	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	1954	static void Process3()
kishibekairohan	13:b6e02d6261d7	1955	{
yabahiro	33:dd598bb23ad1	1956	//Clearly 赤ゾーン
kishibekairohan	35:33c6cdba5630	1957	LED::LED::TapeledMode(3);
yabahiro	33:dd598bb23ad1	1958	countss++;
yabahiro	54:4167f10ecad0	1959	switch(mode) {
yabahiro	54:4167f10ecad0	1960	case 1:
yabahiro	54:4167f10ecad0	1961	fast=40;
yabahiro	54:4167f10ecad0	1962	normal=30;
yabahiro	54:4167f10ecad0	1963	slow=20;
yabahiro	54:4167f10ecad0	1964	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	1965	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	1966	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	1967	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1968	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	1969	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1970	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	1971	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	1972	if(g[2]==0&&countss>=300000) {
yabahiro	54:4167f10ecad0	1973	countss=100000;
yabahiro	54:4167f10ecad0	1974	cross=0;
yabahiro	54:4167f10ecad0	1975	mode=3;
yabahiro	54:4167f10ecad0	1976	}
yabahiro	54:4167f10ecad0	1977	break;
yabahiro	54:4167f10ecad0	1978	case 3:
yabahiro	54:4167f10ecad0	1979	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	1980	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	1981	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	1982	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1983	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	1984	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1985	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	1986	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	1987	if(g[0]==0) {
yabahiro	54:4167f10ecad0	1988	mode=10;
yabahiro	54:4167f10ecad0	1989	countss=100000;
yabahiro	54:4167f10ecad0	1990	fast = 60;
yabahiro	54:4167f10ecad0	1991	normal = 40;
yabahiro	54:4167f10ecad0	1992	slow = 30;
yabahiro	54:4167f10ecad0	1993	}
yabahiro	54:4167f10ecad0	1994	break;
yabahiro	54:4167f10ecad0	1995	case 10:
yabahiro	54:4167f10ecad0	1996	switch(g[0]) {
yabahiro	54:4167f10ecad0	1997	case 98:
yabahiro	54:4167f10ecad0	1998	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	1999	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2000	motor[TIRE_FL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2001	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2002	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2003	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2004	motor[TIRE_BL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2005	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2006	mtc=true;
yabahiro	54:4167f10ecad0	2007	if(countss>80000) {
yabahiro	54:4167f10ecad0	2008	cross++;
yabahiro	54:4167f10ecad0	2009	countss=0;
yabahiro	54:4167f10ecad0	2010	}
yabahiro	54:4167f10ecad0	2011	if(cross==2) {
yabahiro	54:4167f10ecad0	2012	fast = 10;
yabahiro	54:4167f10ecad0	2013	normal = 10;
yabahiro	54:4167f10ecad0	2014	slow = 5;
yabahiro	54:4167f10ecad0	2015	}
yabahiro	46:68296caae1af	2016
yabahiro	53:694dbd7dfa0e	2017	if(cross==3) {
yabahiro	54:4167f10ecad0	2018	fast=40;
yabahiro	54:4167f10ecad0	2019	normal=30;
yabahiro	54:4167f10ecad0	2020	slow=20;
yabahiro	54:4167f10ecad0	2021	mode=11;
yabahiro	53:694dbd7dfa0e	2022	countss=0;
yabahiro	53:694dbd7dfa0e	2023	cross=0;
yabahiro	54:4167f10ecad0	2024
yabahiro	53:694dbd7dfa0e	2025	}
yabahiro	54:4167f10ecad0	2026	break;
yabahiro	38:40e7fdf3c694	2027	case 0:
yabahiro	54:4167f10ecad0	2028	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2029	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2030	motor[TIRE_FL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2031	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2032	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2033	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2034	motor[TIRE_BL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2035	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2036	mtc=true;
yabahiro	38:40e7fdf3c694	2037	break;
yabahiro	38:40e7fdf3c694	2038	case 255:
yabahiro	54:4167f10ecad0	2039	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2040	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2041	motor[TIRE_FL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2042	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2043	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2044	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2045	motor[TIRE_BL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2046	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2047	mtc=true;
yabahiro	53:694dbd7dfa0e	2048	break;
yabahiro	53:694dbd7dfa0e	2049	case 253:
yabahiro	54:4167f10ecad0	2050	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2051	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2052	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2053	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2054	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2055	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2056	motor[TIRE_BL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2057	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2058	mtc=true;
yabahiro	53:694dbd7dfa0e	2059	break;
yabahiro	53:694dbd7dfa0e	2060	case 254:
yabahiro	54:4167f10ecad0	2061	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2062	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2063	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2064	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2065	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2066	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2067	motor[TIRE_BL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2068	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2069	mtc=true;
yabahiro	53:694dbd7dfa0e	2070	break;
yabahiro	53:694dbd7dfa0e	2071	case 1:
yabahiro	54:4167f10ecad0	2072	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2073	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2074	motor[TIRE_FL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2075	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2076	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2077	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2078	motor[TIRE_BL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2079	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2080	mtc=true;
yabahiro	53:694dbd7dfa0e	2081	break;
yabahiro	53:694dbd7dfa0e	2082	case 3:
yabahiro	54:4167f10ecad0	2083	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2084	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2085	motor[TIRE_FL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2086	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2087	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2088	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2089	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2090	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2091	mtc=true;
yabahiro	53:694dbd7dfa0e	2092	break;
yabahiro	53:694dbd7dfa0e	2093	case 2:
yabahiro	54:4167f10ecad0	2094	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2095	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2096	motor[TIRE_FL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2097	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2098	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2099	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2100	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2101	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2102	mtc=true;
yabahiro	53:694dbd7dfa0e	2103	break;
yabahiro	53:694dbd7dfa0e	2104	}
yabahiro	54:4167f10ecad0	2105	if(g[0]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2106	switch(g[1]) {
yabahiro	54:4167f10ecad0	2107	case 0:
yabahiro	54:4167f10ecad0	2108	mtc=false;
yabahiro	54:4167f10ecad0	2109	break;
yabahiro	54:4167f10ecad0	2110	case 255:
yabahiro	54:4167f10ecad0	2111	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	2112	mtc=false;
yabahiro	54:4167f10ecad0	2113	break;
yabahiro	54:4167f10ecad0	2114	case 253:
yabahiro	54:4167f10ecad0	2115	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	2116	mtc=false;
yabahiro	54:4167f10ecad0	2117	break;
yabahiro	54:4167f10ecad0	2118	case 254:
yabahiro	54:4167f10ecad0	2119	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	2120	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2121	mtc=false;
yabahiro	54:4167f10ecad0	2122	break;
yabahiro	54:4167f10ecad0	2123	case 1:
yabahiro	54:4167f10ecad0	2124	motor[TIRE_BL].pwm += 3;
yabahiro	54:4167f10ecad0	2125	mtc=false;
yabahiro	54:4167f10ecad0	2126	break;
yabahiro	54:4167f10ecad0	2127	case 3:
yabahiro	54:4167f10ecad0	2128	motor[TIRE_BL].pwm += 6;
yabahiro	54:4167f10ecad0	2129	mtc=false;
yabahiro	54:4167f10ecad0	2130	break;
yabahiro	54:4167f10ecad0	2131	case 2:
yabahiro	54:4167f10ecad0	2132	motor[TIRE_BL].pwm += 9;
yabahiro	54:4167f10ecad0	2133	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2134	mtc=false;
yabahiro	54:4167f10ecad0	2135	break;
yabahiro	54:4167f10ecad0	2136	}
yabahiro	54:4167f10ecad0	2137	}
yabahiro	54:4167f10ecad0	2138	break;
yabahiro	54:4167f10ecad0	2139	case 11:
yabahiro	54:4167f10ecad0	2140	motor[TIRE_FR].pwm = 15;
yabahiro	54:4167f10ecad0	2141	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2142	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2143	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2144	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2145	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2146	motor[TIRE_BL].pwm = 15;
yabahiro	54:4167f10ecad0	2147	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2148	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	53:694dbd7dfa0e	2149	countss=0;
yabahiro	54:4167f10ecad0	2150	cross=0;
yabahiro	54:4167f10ecad0	2151	mode=20;
yabahiro	53:694dbd7dfa0e	2152	}
yabahiro	54:4167f10ecad0	2153	break;
yabahiro	54:4167f10ecad0	2154	case 20:
yabahiro	54:4167f10ecad0	2155	solenoid.solenoid4= SOLENOID_ON;
yabahiro	53:694dbd7dfa0e	2156	switch(g[2]) {
yabahiro	54:4167f10ecad0	2157	case 98:
yabahiro	54:4167f10ecad0	2158	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2159	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2160	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2161	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2162	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2163	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2164	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2165	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2166	if(countss>30000) {
yabahiro	54:4167f10ecad0	2167	cross++;
yabahiro	54:4167f10ecad0	2168	countss=0;
yabahiro	54:4167f10ecad0	2169	}
yabahiro	54:4167f10ecad0	2170	mtc2=true;
yabahiro	54:4167f10ecad0	2171
yabahiro	54:4167f10ecad0	2172	if(YELLOW) {
yabahiro	54:4167f10ecad0	2173	if(cross==1) {
yabahiro	54:4167f10ecad0	2174	fast=20;
yabahiro	54:4167f10ecad0	2175	normal=15;
yabahiro	54:4167f10ecad0	2176	slow=15;
yabahiro	54:4167f10ecad0	2177	} else if(cross==2) {
yabahiro	54:4167f10ecad0	2178	mode=21;
yabahiro	54:4167f10ecad0	2179	countss=0;
yabahiro	54:4167f10ecad0	2180	cross=0;
yabahiro	54:4167f10ecad0	2181	}
yabahiro	54:4167f10ecad0	2182	} else {
yabahiro	54:4167f10ecad0	2183	if(cross==3) {
yabahiro	54:4167f10ecad0	2184	mode=21;
yabahiro	54:4167f10ecad0	2185	countss=0;
yabahiro	54:4167f10ecad0	2186	cross=0;
yabahiro	54:4167f10ecad0	2187	}
yabahiro	54:4167f10ecad0	2188	}
yabahiro	54:4167f10ecad0	2189	break;
yabahiro	53:694dbd7dfa0e	2190	case 0:
yabahiro	54:4167f10ecad0	2191	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2192	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2193	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2194	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2195	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2196	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2197	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2198	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2199	mtc2=true;
yabahiro	53:694dbd7dfa0e	2200	break;
yabahiro	53:694dbd7dfa0e	2201	case 255:
yabahiro	54:4167f10ecad0	2202	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2203	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2204	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2205	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2206	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2207	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2208	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2209	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2210	mtc2=true;
yabahiro	38:40e7fdf3c694	2211	break;
yabahiro	38:40e7fdf3c694	2212	case 253:
yabahiro	54:4167f10ecad0	2213	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2214	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2215	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2216	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2217	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2218	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2219	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2220	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2221	mtc2=true;
yabahiro	38:40e7fdf3c694	2222	break;
yabahiro	38:40e7fdf3c694	2223	case 254:
yabahiro	54:4167f10ecad0	2224	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2225	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2226	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2227	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2228	motor[TIRE_BR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2229	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2230	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2231	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2232	mtc2=true;
yabahiro	53:694dbd7dfa0e	2233	break;
yabahiro	53:694dbd7dfa0e	2234	case 1:
yabahiro	54:4167f10ecad0	2235	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2236	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2237	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2238	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2239	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2240	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2241	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2242	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2243	mtc2=true;
yabahiro	53:694dbd7dfa0e	2244	break;
yabahiro	53:694dbd7dfa0e	2245	case 3:
yabahiro	54:4167f10ecad0	2246	motor[TIRE_FR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2247	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2248	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2249	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2250	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2251	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2252	motor[TIRE_BL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2253	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2254	mtc2=true;
yabahiro	53:694dbd7dfa0e	2255	break;
yabahiro	53:694dbd7dfa0e	2256	case 2:
yabahiro	54:4167f10ecad0	2257	motor[TIRE_FR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2258	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2259	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2260	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2261	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2262	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2263	motor[TIRE_BL].pwm = normal+20;
yabahiro	38:40e7fdf3c694	2264	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2265	mtc2=true;
yabahiro	38:40e7fdf3c694	2266	break;
yabahiro	33:dd598bb23ad1	2267	}
yabahiro	54:4167f10ecad0	2268	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	2269	switch(g[3]) {
yabahiro	54:4167f10ecad0	2270	case 0:
yabahiro	54:4167f10ecad0	2271	mtc2=false;
yabahiro	54:4167f10ecad0	2272	break;
yabahiro	54:4167f10ecad0	2273	case 255:
yabahiro	54:4167f10ecad0	2274	motor[TIRE_BL].pwm += 5;
yabahiro	54:4167f10ecad0	2275	mtc2=false;
yabahiro	54:4167f10ecad0	2276	break;
yabahiro	54:4167f10ecad0	2277	case 253:
yabahiro	54:4167f10ecad0	2278	motor[TIRE_BL].pwm += 10;
yabahiro	54:4167f10ecad0	2279	mtc2=false;
yabahiro	54:4167f10ecad0	2280	break;
yabahiro	54:4167f10ecad0	2281	case 254:
yabahiro	54:4167f10ecad0	2282	motor[TIRE_BL].pwm += 15;
yabahiro	54:4167f10ecad0	2283	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2284	mtc2=false;
yabahiro	54:4167f10ecad0	2285	break;
yabahiro	54:4167f10ecad0	2286	case 1:
yabahiro	54:4167f10ecad0	2287	motor[TIRE_FL].pwm += 5;
yabahiro	54:4167f10ecad0	2288	mtc2=false;
yabahiro	54:4167f10ecad0	2289	break;
yabahiro	54:4167f10ecad0	2290	case 3:
yabahiro	54:4167f10ecad0	2291	motor[TIRE_FL].pwm += 10;
yabahiro	54:4167f10ecad0	2292	mtc2=false;
yabahiro	54:4167f10ecad0	2293	break;
yabahiro	54:4167f10ecad0	2294	case 2:
yabahiro	54:4167f10ecad0	2295	motor[TIRE_FL].pwm += 15;
yabahiro	54:4167f10ecad0	2296	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2297	mtc2=false;
yabahiro	54:4167f10ecad0	2298	break;
yabahiro	54:4167f10ecad0	2299	}
yabahiro	38:40e7fdf3c694	2300	}
yabahiro	54:4167f10ecad0	2301	break;
yabahiro	54:4167f10ecad0	2302	case 21:
yabahiro	54:4167f10ecad0	2303	if(YELLOW) {
yabahiro	54:4167f10ecad0	2304	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2305	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2306	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2307	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2308	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2309	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2310	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2311	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2312	if(g[3]==98&&countss>=10000) {
yabahiro	54:4167f10ecad0	2313	mode=22;
yabahiro	54:4167f10ecad0	2314	countss=0;
yabahiro	54:4167f10ecad0	2315	fast=60;
yabahiro	54:4167f10ecad0	2316	normal=40;
yabahiro	54:4167f10ecad0	2317	slow=20;
yabahiro	54:4167f10ecad0	2318	}
yabahiro	54:4167f10ecad0	2319	} else {
yabahiro	38:40e7fdf3c694	2320	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2321	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2322	motor[TIRE_FL].pwm = 255;
yabahiro	54:4167f10ecad0	2323	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2324	motor[TIRE_BR].pwm = 255;
yabahiro	54:4167f10ecad0	2325	motor[TIRE_BR].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2326	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2327	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2328	if(g[1]==0) {
yabahiro	54:4167f10ecad0	2329	mode=22;
yabahiro	54:4167f10ecad0	2330	fast=60;
yabahiro	54:4167f10ecad0	2331	normal=40;
yabahiro	54:4167f10ecad0	2332	slow=25;
yabahiro	54:4167f10ecad0	2333	}
yabahiro	38:40e7fdf3c694	2334	}
yabahiro	54:4167f10ecad0	2335	break;
yabahiro	54:4167f10ecad0	2336	case 22:
yabahiro	54:4167f10ecad0	2337	if(YELLOW) {
yabahiro	54:4167f10ecad0	2338	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2339	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2340	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2341	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2342	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2343	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2344	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2345	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2346	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2347	}
yabahiro	54:4167f10ecad0	2348	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2349	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2350	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2351	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2352	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2353	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2354	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2355	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2356	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2357	}
yabahiro	54:4167f10ecad0	2358	switch(g[2]) {
yabahiro	54:4167f10ecad0	2359	case 0:
yabahiro	54:4167f10ecad0	2360	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2361	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2362	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2363	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2364	break;
yabahiro	54:4167f10ecad0	2365	case 255:
yabahiro	54:4167f10ecad0	2366	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2367	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2368	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2369	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2370	break;
yabahiro	54:4167f10ecad0	2371	case 253:
yabahiro	54:4167f10ecad0	2372	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2373	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2374	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2375	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2376	break;
yabahiro	54:4167f10ecad0	2377	case 254:
yabahiro	54:4167f10ecad0	2378	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2379	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2380	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2381	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2382	break;
yabahiro	54:4167f10ecad0	2383	case 1:
yabahiro	54:4167f10ecad0	2384	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2385	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2386	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2387	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2388	break;
yabahiro	54:4167f10ecad0	2389	case 3:
yabahiro	54:4167f10ecad0	2390	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2391	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2392	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2393	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2394	break;
yabahiro	54:4167f10ecad0	2395	case 2:
yabahiro	54:4167f10ecad0	2396	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2397	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2398	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2399	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2400	break;
yabahiro	54:4167f10ecad0	2401	}
yabahiro	54:4167f10ecad0	2402	switch(g[3]) {
yabahiro	54:4167f10ecad0	2403	case 0:
yabahiro	54:4167f10ecad0	2404	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2405	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2406	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2407	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2408	break;
yabahiro	54:4167f10ecad0	2409	case 255:
yabahiro	54:4167f10ecad0	2410	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2411	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2412	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2413	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2414	case 253:
yabahiro	54:4167f10ecad0	2415	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2416	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2417	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2418	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2419	break;
yabahiro	54:4167f10ecad0	2420	case 254:
yabahiro	54:4167f10ecad0	2421	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2422	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2423	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2424	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2425	break;
yabahiro	54:4167f10ecad0	2426	case 1:
yabahiro	54:4167f10ecad0	2427	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2428	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2429	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2430	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2431	break;
yabahiro	54:4167f10ecad0	2432	case 3:
yabahiro	54:4167f10ecad0	2433	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2434	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2435	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2436	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2437	break;
yabahiro	54:4167f10ecad0	2438	case 2:
yabahiro	54:4167f10ecad0	2439	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2440	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2441	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2442	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2443	break;
yabahiro	54:4167f10ecad0	2444	}
yabahiro	54:4167f10ecad0	2445	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2446	mode=23;
yabahiro	54:4167f10ecad0	2447	countss=0;
yabahiro	54:4167f10ecad0	2448	fast = 80;
yabahiro	54:4167f10ecad0	2449	normal = 60;
yabahiro	54:4167f10ecad0	2450	slow = 30;
yabahiro	54:4167f10ecad0	2451	}
yabahiro	54:4167f10ecad0	2452	} else {
yabahiro	54:4167f10ecad0	2453	if(g[1]==98) {
yabahiro	54:4167f10ecad0	2454	slow=25;
yabahiro	54:4167f10ecad0	2455	normal=30;
yabahiro	54:4167f10ecad0	2456	fast=40;
yabahiro	54:4167f10ecad0	2457	}
yabahiro	54:4167f10ecad0	2458	if(g[3]==0) {
yabahiro	54:4167f10ecad0	2459	slow=25;
yabahiro	54:4167f10ecad0	2460	normal=40;
yabahiro	54:4167f10ecad0	2461	fast=60;
yabahiro	54:4167f10ecad0	2462	mode=23;
yabahiro	54:4167f10ecad0	2463	}
yabahiro	54:4167f10ecad0	2464	switch(g[1]) {
yabahiro	54:4167f10ecad0	2465	case 98:
yabahiro	54:4167f10ecad0	2466	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	54:4167f10ecad0	2467	fast=40;
yabahiro	54:4167f10ecad0	2468	normal=30;
yabahiro	54:4167f10ecad0	2469	slow=25;
yabahiro	54:4167f10ecad0	2470	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2471	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2472	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2473	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2474	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2475	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2476	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2477	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2478	break;
yabahiro	54:4167f10ecad0	2479	case 0:
yabahiro	54:4167f10ecad0	2480	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2481	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2482	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2483	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2484	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2485	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2486	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2487	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2488	mtc=true;
yabahiro	54:4167f10ecad0	2489	break;
yabahiro	54:4167f10ecad0	2490	case 255:
yabahiro	54:4167f10ecad0	2491	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2492	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2493	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2494	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2495	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2496	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2497	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2498	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2499	mtc=true;
yabahiro	54:4167f10ecad0	2500	break;
yabahiro	54:4167f10ecad0	2501	case 253:
yabahiro	54:4167f10ecad0	2502	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2503	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2504	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2505	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2506	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2507	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2508	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2509	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2510	mtc=true;
yabahiro	54:4167f10ecad0	2511	break;
yabahiro	54:4167f10ecad0	2512	case 254:
yabahiro	54:4167f10ecad0	2513	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2514	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2515	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2516	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2517	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2518	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2519	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2520	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2521	mtc=true;
yabahiro	54:4167f10ecad0	2522	break;
yabahiro	54:4167f10ecad0	2523	case 1:
yabahiro	54:4167f10ecad0	2524	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2525	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2526	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2527	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2528	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2529	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2530	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2531	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2532	mtc=true;
yabahiro	54:4167f10ecad0	2533	break;
yabahiro	54:4167f10ecad0	2534	case 3:
yabahiro	54:4167f10ecad0	2535	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2536	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2537	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2538	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2539	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2540	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2541	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2542	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2543	mtc=true;
yabahiro	54:4167f10ecad0	2544	break;
yabahiro	54:4167f10ecad0	2545	case 2:
yabahiro	54:4167f10ecad0	2546	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2547	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2548	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2549	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2550	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2551	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2552	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2553	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2554	mtc=true;
yabahiro	54:4167f10ecad0	2555	break;
yabahiro	54:4167f10ecad0	2556	}
yabahiro	54:4167f10ecad0	2557	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2558	switch(g[0]) {
yabahiro	54:4167f10ecad0	2559	case 0:
yabahiro	54:4167f10ecad0	2560	mtc=false;
yabahiro	54:4167f10ecad0	2561	break;
yabahiro	54:4167f10ecad0	2562	case 255:
yabahiro	54:4167f10ecad0	2563	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	2564	mtc=false;
yabahiro	54:4167f10ecad0	2565	break;
yabahiro	54:4167f10ecad0	2566	case 253:
yabahiro	54:4167f10ecad0	2567	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	2568	mtc=false;
yabahiro	54:4167f10ecad0	2569	break;
yabahiro	54:4167f10ecad0	2570	case 254:
yabahiro	54:4167f10ecad0	2571	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	2572	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2573	mtc=false;
yabahiro	54:4167f10ecad0	2574	break;
yabahiro	54:4167f10ecad0	2575	case 1:
yabahiro	54:4167f10ecad0	2576	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	2577	mtc=false;
yabahiro	54:4167f10ecad0	2578	break;
yabahiro	54:4167f10ecad0	2579	case 3:
yabahiro	54:4167f10ecad0	2580	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	2581	mtc=false;
yabahiro	54:4167f10ecad0	2582	break;
yabahiro	54:4167f10ecad0	2583	case 2:
yabahiro	54:4167f10ecad0	2584	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	2585	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2586	mtc=false;
yabahiro	54:4167f10ecad0	2587	break;
yabahiro	54:4167f10ecad0	2588	}
yabahiro	54:4167f10ecad0	2589	}
yabahiro	54:4167f10ecad0	2590	}
yabahiro	54:4167f10ecad0	2591	break;
yabahiro	54:4167f10ecad0	2592	case 23:
yabahiro	54:4167f10ecad0	2593	if(YELLOW) {
yabahiro	54:4167f10ecad0	2594	switch(g[4]) {
yabahiro	54:4167f10ecad0	2595	case 98:
yabahiro	54:4167f10ecad0	2596	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2597	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2598	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2599	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2600	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2601	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2602	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2603	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2604	break;
yabahiro	54:4167f10ecad0	2605	case 99:
yabahiro	54:4167f10ecad0	2606	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2607	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2608	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2609	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2610	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2611	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2612	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2613	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2614	break;
yabahiro	54:4167f10ecad0	2615	case 0:
yabahiro	54:4167f10ecad0	2616	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2617	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2618	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2619	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2620	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2621	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2622	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2623	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2624	break;
yabahiro	54:4167f10ecad0	2625	case 255:
yabahiro	54:4167f10ecad0	2626	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2627	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2628	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2629	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2630	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2631	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2632	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2633	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2634	break;
yabahiro	54:4167f10ecad0	2635	case 253:
yabahiro	54:4167f10ecad0	2636	motor[TIRE_FR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2637	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2638	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2639	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2640	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2641	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2642	motor[TIRE_BL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2643	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2644	break;
yabahiro	54:4167f10ecad0	2645	case 254:
yabahiro	54:4167f10ecad0	2646	motor[TIRE_FR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2647	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2648	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2649	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2650	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2651	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2652	motor[TIRE_BL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2653	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2654	break;
yabahiro	54:4167f10ecad0	2655	case 1:
yabahiro	54:4167f10ecad0	2656	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2657	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2658	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2659	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2660	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2661	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2662	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2663	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2664	break;
yabahiro	54:4167f10ecad0	2665	case 3:
yabahiro	54:4167f10ecad0	2666	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2667	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2668	motor[TIRE_FL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2669	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2670	motor[TIRE_BR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2671	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2672	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2673	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2674	break;
yabahiro	54:4167f10ecad0	2675	case 2:
yabahiro	54:4167f10ecad0	2676	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2677	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2678	motor[TIRE_FL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2679	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2680	motor[TIRE_BR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2681	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2682	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2683	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2684	break;
yabahiro	54:4167f10ecad0	2685	}
yabahiro	54:4167f10ecad0	2686	if(g[1]==98) {
yabahiro	54:4167f10ecad0	2687	fast=20;
yabahiro	54:4167f10ecad0	2688	normal=15;
yabahiro	54:4167f10ecad0	2689	slow=10;
yabahiro	54:4167f10ecad0	2690	}
yabahiro	54:4167f10ecad0	2691	if(g[3]==254&&countss>=100000) {
yabahiro	54:4167f10ecad0	2692	mode=24;
yabahiro	54:4167f10ecad0	2693	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	54:4167f10ecad0	2694	countss=0;
yabahiro	54:4167f10ecad0	2695	fast=80;
yabahiro	54:4167f10ecad0	2696	normal=60;
yabahiro	54:4167f10ecad0	2697	slow=30;
yabahiro	54:4167f10ecad0	2698	}
yabahiro	54:4167f10ecad0	2699	} else {
yabahiro	54:4167f10ecad0	2700	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2701	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2702	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	2703	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	2704	fast=60;
yabahiro	54:4167f10ecad0	2705	normal=40;
yabahiro	54:4167f10ecad0	2706	slow=30;
yabahiro	54:4167f10ecad0	2707	countss=0;
yabahiro	54:4167f10ecad0	2708	mode=24;
yabahiro	54:4167f10ecad0	2709	}
yabahiro	54:4167f10ecad0	2710	} else {
yabahiro	54:4167f10ecad0	2711	motor[MOTOR_0].pwm = 100;
yabahiro	54:4167f10ecad0	2712	motor[MOTOR_0].dir = BACK;
yabahiro	54:4167f10ecad0	2713	}
yabahiro	54:4167f10ecad0	2714	motor[TIRE_FR].pwm = 100;
yabahiro	54:4167f10ecad0	2715	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2716	motor[TIRE_FL].pwm = 100;
yabahiro	54:4167f10ecad0	2717	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2718	motor[TIRE_BR].pwm = 100;
yabahiro	54:4167f10ecad0	2719	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2720	motor[TIRE_BL].pwm = 100;
yabahiro	54:4167f10ecad0	2721	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2722	}
yabahiro	54:4167f10ecad0	2723	break;
yabahiro	54:4167f10ecad0	2724	case 24:
yabahiro	54:4167f10ecad0	2725	if(YELLOW) {
yabahiro	54:4167f10ecad0	2726	if(g[4]==3\|\|g[4]==2) {
yabahiro	54:4167f10ecad0	2727	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2728	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2729	motor[TIRE_FL].pwm = 30;
yabahiro	53:694dbd7dfa0e	2730	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2731	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2732	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2733	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2734	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2735	}
yabahiro	54:4167f10ecad0	2736	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2737	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2738	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2739	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2740	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2741	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2742	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2743	motor[TIRE_BL].pwm = 30;
yabahiro	52:4394a1debceb	2744	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2745	}
yabahiro	54:4167f10ecad0	2746	switch(g[2]) {
yabahiro	54:4167f10ecad0	2747	case 0:
yabahiro	54:4167f10ecad0	2748	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2749	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2750	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2751	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2752	break;
yabahiro	54:4167f10ecad0	2753	case 255:
yabahiro	54:4167f10ecad0	2754	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2755	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2756	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2757	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2758	break;
yabahiro	54:4167f10ecad0	2759	case 253:
yabahiro	54:4167f10ecad0	2760	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2761	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2762	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2763	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2764	break;
yabahiro	54:4167f10ecad0	2765	case 254:
yabahiro	54:4167f10ecad0	2766	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2767	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2768	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2769	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2770	break;
yabahiro	54:4167f10ecad0	2771	case 1:
yabahiro	54:4167f10ecad0	2772	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2773	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2774	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2775	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2776	break;
yabahiro	54:4167f10ecad0	2777	case 3:
yabahiro	54:4167f10ecad0	2778	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2779	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2780	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2781	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2782	break;
yabahiro	54:4167f10ecad0	2783	case 2:
yabahiro	54:4167f10ecad0	2784	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2785	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2786	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2787	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2788	break;
yabahiro	54:4167f10ecad0	2789	}
yabahiro	54:4167f10ecad0	2790	switch(g[3]) {
yabahiro	54:4167f10ecad0	2791	case 0:
yabahiro	54:4167f10ecad0	2792	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2793	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2794	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2795	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2796	break;
yabahiro	54:4167f10ecad0	2797	case 255:
yabahiro	54:4167f10ecad0	2798	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2799	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2800	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2801	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2802	case 253:
yabahiro	54:4167f10ecad0	2803	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2804	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2805	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2806	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2807	break;
yabahiro	54:4167f10ecad0	2808	case 254:
yabahiro	54:4167f10ecad0	2809	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2810	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2811	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2812	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2813	break;
yabahiro	54:4167f10ecad0	2814	case 1:
yabahiro	54:4167f10ecad0	2815	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2816	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2817	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2818	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2819	break;
yabahiro	54:4167f10ecad0	2820	case 3:
yabahiro	54:4167f10ecad0	2821	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2822	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2823	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2824	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2825	break;
yabahiro	54:4167f10ecad0	2826	case 2:
yabahiro	54:4167f10ecad0	2827	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2828	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2829	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2830	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2831	break;
yabahiro	54:4167f10ecad0	2832	}
yabahiro	54:4167f10ecad0	2833	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2834	mode=25;
yabahiro	54:4167f10ecad0	2835	}
yabahiro	54:4167f10ecad0	2836	} else {
yabahiro	54:4167f10ecad0	2837	if(g[1]==98&&countss>=40000) {
yabahiro	54:4167f10ecad0	2838	mode=31;
yabahiro	54:4167f10ecad0	2839	fast = 60;
yabahiro	54:4167f10ecad0	2840	normal = 40;
yabahiro	54:4167f10ecad0	2841	slow = 30;
yabahiro	54:4167f10ecad0	2842	countss=0;
yabahiro	54:4167f10ecad0	2843	}
yabahiro	54:4167f10ecad0	2844	switch(g[1]) {
yabahiro	54:4167f10ecad0	2845	case 98:
yabahiro	54:4167f10ecad0	2846	fast=40;
yabahiro	54:4167f10ecad0	2847	normal=30;
yabahiro	54:4167f10ecad0	2848	slow=25;
yabahiro	54:4167f10ecad0	2849	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2850	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2851	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2852	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2853	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2854	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2855	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2856	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2857	break;
yabahiro	54:4167f10ecad0	2858	case 0:
yabahiro	54:4167f10ecad0	2859	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2860	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2861	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2862	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2863	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2864	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2865	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2866	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2867	mtc=true;
yabahiro	54:4167f10ecad0	2868	break;
yabahiro	54:4167f10ecad0	2869	case 255:
yabahiro	54:4167f10ecad0	2870	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2871	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2872	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2873	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2874	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2875	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2876	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2877	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2878	mtc=true;
yabahiro	54:4167f10ecad0	2879	break;
yabahiro	54:4167f10ecad0	2880	case 253:
yabahiro	54:4167f10ecad0	2881	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2882	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2883	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2884	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2885	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2886	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2887	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2888	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2889	mtc=true;
yabahiro	54:4167f10ecad0	2890	break;
yabahiro	54:4167f10ecad0	2891	case 254:
yabahiro	54:4167f10ecad0	2892	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2893	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2894	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2895	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2896	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2897	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2898	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2899	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2900	mtc=true;
yabahiro	54:4167f10ecad0	2901	break;
yabahiro	54:4167f10ecad0	2902	case 1:
yabahiro	54:4167f10ecad0	2903	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2904	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2905	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2906	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2907	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2908	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2909	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2910	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2911	mtc=true;
yabahiro	54:4167f10ecad0	2912	break;
yabahiro	54:4167f10ecad0	2913	case 3:
yabahiro	54:4167f10ecad0	2914	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2915	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2916	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2917	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2918	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2919	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2920	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2921	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2922	mtc=true;
yabahiro	54:4167f10ecad0	2923	break;
yabahiro	54:4167f10ecad0	2924	case 2:
yabahiro	54:4167f10ecad0	2925	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2926	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2927	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2928	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2929	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2930	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2931	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2932	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2933	mtc=true;
yabahiro	54:4167f10ecad0	2934	break;
yabahiro	54:4167f10ecad0	2935	}
yabahiro	54:4167f10ecad0	2936	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2937	switch(g[0]) {
yabahiro	54:4167f10ecad0	2938	case 0:
yabahiro	54:4167f10ecad0	2939	mtc=false;
yabahiro	54:4167f10ecad0	2940	break;
yabahiro	54:4167f10ecad0	2941	case 255:
yabahiro	54:4167f10ecad0	2942	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	2943	mtc=false;
yabahiro	54:4167f10ecad0	2944	break;
yabahiro	54:4167f10ecad0	2945	case 253:
yabahiro	54:4167f10ecad0	2946	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	2947	mtc=false;
yabahiro	54:4167f10ecad0	2948	break;
yabahiro	54:4167f10ecad0	2949	case 254:
yabahiro	54:4167f10ecad0	2950	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	2951	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2952	mtc=false;
yabahiro	54:4167f10ecad0	2953	break;
yabahiro	54:4167f10ecad0	2954	case 1:
yabahiro	54:4167f10ecad0	2955	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	2956	mtc=false;
yabahiro	54:4167f10ecad0	2957	break;
yabahiro	54:4167f10ecad0	2958	case 3:
yabahiro	54:4167f10ecad0	2959	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	2960	mtc=false;
yabahiro	54:4167f10ecad0	2961	break;
yabahiro	54:4167f10ecad0	2962	case 2:
yabahiro	54:4167f10ecad0	2963	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	2964	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2965	mtc=false;
yabahiro	54:4167f10ecad0	2966	break;
yabahiro	54:4167f10ecad0	2967	}
yabahiro	54:4167f10ecad0	2968	}
yabahiro	52:4394a1debceb	2969	}
yabahiro	54:4167f10ecad0	2970	break;
yabahiro	54:4167f10ecad0	2971	case 25:
kishibekairohan	47:a9cad8502999	2972	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	2973	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2974	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	2975	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2976	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	2977	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2978	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	2979	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	2980	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	2981	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	2982	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	2983	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	2984	countss = 0;
yabahiro	54:4167f10ecad0	2985	mode=26;
yabahiro	54:4167f10ecad0	2986	}
yabahiro	46:68296caae1af	2987	} else {
yabahiro	46:68296caae1af	2988	motor[MOTOR_0].pwm = 100;
yabahiro	46:68296caae1af	2989	motor[MOTOR_0].dir = BACK;
yabahiro	46:68296caae1af	2990	}
yabahiro	54:4167f10ecad0	2991	break;
yabahiro	54:4167f10ecad0	2992	case 26:
yabahiro	54:4167f10ecad0	2993	if (g[1] == 98) {
yabahiro	54:4167f10ecad0	2994	mode = 31;
yabahiro	54:4167f10ecad0	2995	}
yabahiro	38:40e7fdf3c694	2996	switch(g[4]) {
yabahiro	38:40e7fdf3c694	2997	case 98:
yabahiro	38:40e7fdf3c694	2998	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2999	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3000	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3001	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3002	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3003	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3004	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3005	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3006	break;
yabahiro	38:40e7fdf3c694	3007	case 99:
yabahiro	38:40e7fdf3c694	3008	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3009	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3010	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3011	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3012	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3013	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3014	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3015	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3016	break;
yabahiro	38:40e7fdf3c694	3017	case 0:
yabahiro	38:40e7fdf3c694	3018	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3019	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3020	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3021	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3022	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3023	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3024	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3025	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3026	break;
yabahiro	38:40e7fdf3c694	3027	case 255:
yabahiro	38:40e7fdf3c694	3028	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3029	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3030	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3031	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3032	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3033	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3034	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3035	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3036	break;
yabahiro	38:40e7fdf3c694	3037	case 253:
yabahiro	46:68296caae1af	3038	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	3039	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3040	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3041	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3042	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3043	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3044	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	3045	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3046	break;
yabahiro	38:40e7fdf3c694	3047	case 254:
yabahiro	38:40e7fdf3c694	3048	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3049	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3050	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3051	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3052	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3053	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3054	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3055	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3056	break;
yabahiro	38:40e7fdf3c694	3057	case 1:
yabahiro	38:40e7fdf3c694	3058	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3059	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3060	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3061	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3062	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3063	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3064	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3065	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3066	break;
yabahiro	38:40e7fdf3c694	3067	case 3:
yabahiro	38:40e7fdf3c694	3068	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3069	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	3070	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	3071	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3072	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	3073	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3074	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3075	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3076	break;
yabahiro	38:40e7fdf3c694	3077	case 2:
yabahiro	38:40e7fdf3c694	3078	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3079	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3080	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	3081	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3082	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	3083	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3084	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3085	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3086	break;
yabahiro	38:40e7fdf3c694	3087	}
yabahiro	54:4167f10ecad0	3088	break;
yabahiro	54:4167f10ecad0	3089	case 31:
yabahiro	54:4167f10ecad0	3090	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3091	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3092	motor[TIRE_FL].pwm = 45;
yabahiro	54:4167f10ecad0	3093	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3094	motor[TIRE_BR].pwm = 45;
yabahiro	54:4167f10ecad0	3095	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3096	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3097	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3098	if(g[2]==0) {
yabahiro	54:4167f10ecad0	3099	cross=0;
yabahiro	54:4167f10ecad0	3100	countss=0;
yabahiro	54:4167f10ecad0	3101	mode=40;
yabahiro	54:4167f10ecad0	3102	fast = 60;
yabahiro	54:4167f10ecad0	3103	normal = 40;
yabahiro	54:4167f10ecad0	3104	slow = 30;
yabahiro	54:4167f10ecad0	3105	}
yabahiro	54:4167f10ecad0	3106	break;
yabahiro	54:4167f10ecad0	3107	case 40:
yabahiro	54:4167f10ecad0	3108	if(YELLOW) {
yabahiro	54:4167f10ecad0	3109	if(cross==1) {
yabahiro	54:4167f10ecad0	3110	mode=41;
yabahiro	54:4167f10ecad0	3111	countss=0;
yabahiro	54:4167f10ecad0	3112	cross=0;
yabahiro	54:4167f10ecad0	3113	}
yabahiro	54:4167f10ecad0	3114	} else {
yabahiro	54:4167f10ecad0	3115	if(cross==3) {
yabahiro	54:4167f10ecad0	3116	fast = 60;
yabahiro	54:4167f10ecad0	3117	normal = 40;
yabahiro	54:4167f10ecad0	3118	slow = 30;
yabahiro	54:4167f10ecad0	3119	mode=41;
yabahiro	54:4167f10ecad0	3120	countss=0;
yabahiro	54:4167f10ecad0	3121	cross=0;
yabahiro	54:4167f10ecad0	3122	}
yabahiro	54:4167f10ecad0	3123	}
yabahiro	54:4167f10ecad0	3124	/*
yabahiro	54:4167f10ecad0	3125	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3126	mode=42;
yabahiro	33:dd598bb23ad1	3127	}
yabahiro	54:4167f10ecad0	3128	*/
yabahiro	54:4167f10ecad0	3129	switch(g[3]) {
yabahiro	54:4167f10ecad0	3130	case 98:
yabahiro	54:4167f10ecad0	3131	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3132	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3133	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3134	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3135	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3136	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3137	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3138	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3139	if(countss>30000) {
yabahiro	54:4167f10ecad0	3140	cross++;
yabahiro	54:4167f10ecad0	3141	countss=0;
yabahiro	54:4167f10ecad0	3142	}
yabahiro	54:4167f10ecad0	3143	mtc2=true;
yabahiro	54:4167f10ecad0	3144	break;
yabahiro	54:4167f10ecad0	3145	case 0:
yabahiro	54:4167f10ecad0	3146	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3147	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3148	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3149	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3150	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3151	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3152	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3153	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3154	mtc2=true;
yabahiro	54:4167f10ecad0	3155	break;
yabahiro	54:4167f10ecad0	3156	case 255:
yabahiro	54:4167f10ecad0	3157	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3158	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3159	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3160	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3161	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3162	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3163	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3164	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3165	mtc2=true;
yabahiro	54:4167f10ecad0	3166	break;
yabahiro	54:4167f10ecad0	3167	case 253:
yabahiro	54:4167f10ecad0	3168	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3169	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3170	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3171	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3172	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3173	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3174	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3175	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3176	mtc2=true;
yabahiro	54:4167f10ecad0	3177	break;
yabahiro	54:4167f10ecad0	3178	case 254:
yabahiro	54:4167f10ecad0	3179	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3180	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3181	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3182	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3183	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3184	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3185	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3186	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3187	mtc2=true;
yabahiro	54:4167f10ecad0	3188	break;
yabahiro	54:4167f10ecad0	3189	case 1:
yabahiro	54:4167f10ecad0	3190	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3191	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3192	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3193	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3194	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3195	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3196	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3197	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3198	mtc2=true;
yabahiro	54:4167f10ecad0	3199	break;
yabahiro	54:4167f10ecad0	3200	case 3:
yabahiro	54:4167f10ecad0	3201	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3202	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3203	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3204	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3205	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3206	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3207	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3208	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3209	mtc2=true;
yabahiro	54:4167f10ecad0	3210	break;
yabahiro	54:4167f10ecad0	3211	case 2:
yabahiro	54:4167f10ecad0	3212	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3213	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3214	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3215	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3216	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3217	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3218	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3219	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3220	mtc2=true;
yabahiro	54:4167f10ecad0	3221	break;
yabahiro	54:4167f10ecad0	3222	}
yabahiro	54:4167f10ecad0	3223	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	3224	switch(g[2]) {
yabahiro	54:4167f10ecad0	3225	case 0:
yabahiro	54:4167f10ecad0	3226	mtc2=false;
yabahiro	54:4167f10ecad0	3227	break;
yabahiro	54:4167f10ecad0	3228	case 255:
yabahiro	54:4167f10ecad0	3229	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	3230	mtc2=false;
yabahiro	54:4167f10ecad0	3231	break;
yabahiro	54:4167f10ecad0	3232	case 253:
yabahiro	54:4167f10ecad0	3233	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	3234	mtc2=false;
yabahiro	54:4167f10ecad0	3235	break;
yabahiro	54:4167f10ecad0	3236	case 254:
yabahiro	54:4167f10ecad0	3237	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	3238	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3239	mtc2=false;
yabahiro	54:4167f10ecad0	3240	break;
yabahiro	54:4167f10ecad0	3241	case 1:
yabahiro	54:4167f10ecad0	3242	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	3243	mtc2=false;
yabahiro	54:4167f10ecad0	3244	break;
yabahiro	54:4167f10ecad0	3245	case 3:
yabahiro	54:4167f10ecad0	3246	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	3247	mtc2=false;
yabahiro	54:4167f10ecad0	3248	break;
yabahiro	54:4167f10ecad0	3249	case 2:
yabahiro	54:4167f10ecad0	3250	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	3251	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3252	mtc2=false;
yabahiro	54:4167f10ecad0	3253	break;
yabahiro	54:4167f10ecad0	3254	}
yabahiro	54:4167f10ecad0	3255	}
yabahiro	54:4167f10ecad0	3256	break;
yabahiro	54:4167f10ecad0	3257	case 41:
yabahiro	54:4167f10ecad0	3258	/*
yabahiro	54:4167f10ecad0	3259	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3260	mode=42;
yabahiro	54:4167f10ecad0	3261	}
yabahiro	54:4167f10ecad0	3262	*/
yabahiro	54:4167f10ecad0	3263	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3264	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3265	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	3266	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3267	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	3268	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3269	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3270	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3271	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3272	countss=0;
yabahiro	54:4167f10ecad0	3273	mode=70;
yabahiro	54:4167f10ecad0	3274	normal = 60;
yabahiro	54:4167f10ecad0	3275	fast = 70;
yabahiro	54:4167f10ecad0	3276	slow = 40;
yabahiro	54:4167f10ecad0	3277	}
yabahiro	54:4167f10ecad0	3278	break;
yabahiro	54:4167f10ecad0	3279	case 42:
yabahiro	54:4167f10ecad0	3280	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3281	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3282	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3283	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3284	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3285	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3286	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3287	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3288	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3289	countss=0;
yabahiro	54:4167f10ecad0	3290	mode=70;
yabahiro	53:694dbd7dfa0e	3291	}
yabahiro	54:4167f10ecad0	3292	break;
yabahiro	54:4167f10ecad0	3293	case 70:
yabahiro	38:40e7fdf3c694	3294	switch(g[1]) {
yabahiro	54:4167f10ecad0	3295	case 99:
yabahiro	54:4167f10ecad0	3296	if(countss>=100000) {
yabahiro	54:4167f10ecad0	3297	mode=100;
yabahiro	54:4167f10ecad0	3298	}
yabahiro	54:4167f10ecad0	3299	break;
yabahiro	38:40e7fdf3c694	3300	case 98:
yabahiro	38:40e7fdf3c694	3301	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3302	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3303	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3304	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3305	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	3306	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3307	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	3308	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3309	break;
yabahiro	38:40e7fdf3c694	3310	case 0:
yabahiro	54:4167f10ecad0	3311	motor[TIRE_FR].pwm = 100;
yabahiro	38:40e7fdf3c694	3312	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3313	motor[TIRE_FL].pwm = 100;
yabahiro	38:40e7fdf3c694	3314	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3315	motor[TIRE_BR].pwm = 105;
yabahiro	38:40e7fdf3c694	3316	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3317	motor[TIRE_BL].pwm = 100;
yabahiro	38:40e7fdf3c694	3318	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3319	mtc=true;
yabahiro	38:40e7fdf3c694	3320	break;
yabahiro	38:40e7fdf3c694	3321	case 255:
yabahiro	38:40e7fdf3c694	3322	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	3323	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3324	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3325	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3326	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3327	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3328	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	3329	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3330	mtc=true;
yabahiro	38:40e7fdf3c694	3331	break;
yabahiro	38:40e7fdf3c694	3332	case 253:
yabahiro	38:40e7fdf3c694	3333	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3334	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3335	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3336	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3337	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3338	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3339	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3340	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3341	mtc=true;
yabahiro	38:40e7fdf3c694	3342	break;
yabahiro	38:40e7fdf3c694	3343	case 254:
yabahiro	38:40e7fdf3c694	3344	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3345	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3346	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3347	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3348	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3349	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3350	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	3351	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3352	mtc=true;
yabahiro	38:40e7fdf3c694	3353	break;
yabahiro	38:40e7fdf3c694	3354	case 1:
yabahiro	38:40e7fdf3c694	3355	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3356	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3357	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	3358	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3359	motor[TIRE_BR].pwm = fast+5;
yabahiro	38:40e7fdf3c694	3360	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3361	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3362	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3363	mtc=true;
yabahiro	38:40e7fdf3c694	3364	break;
yabahiro	38:40e7fdf3c694	3365	case 3:
yabahiro	38:40e7fdf3c694	3366	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3367	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3368	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3369	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3370	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3371	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3372	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3373	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3374	mtc=true;
yabahiro	38:40e7fdf3c694	3375	break;
yabahiro	38:40e7fdf3c694	3376	case 2:
yabahiro	38:40e7fdf3c694	3377	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3378	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3379	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3380	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3381	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	3382	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3383	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3384	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3385	mtc=true;
yabahiro	38:40e7fdf3c694	3386	break;
yabahiro	38:40e7fdf3c694	3387	}
yabahiro	38:40e7fdf3c694	3388	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	3389	switch(g[0]) {
yabahiro	38:40e7fdf3c694	3390	case 0:
yabahiro	38:40e7fdf3c694	3391	mtc=false;
yabahiro	38:40e7fdf3c694	3392	break;
yabahiro	38:40e7fdf3c694	3393	case 255:
kishibekairohan	44:2aff0da5ebdb	3394	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	3395	mtc=false;
yabahiro	38:40e7fdf3c694	3396	break;
yabahiro	38:40e7fdf3c694	3397	case 253:
kishibekairohan	44:2aff0da5ebdb	3398	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	3399	mtc=false;
yabahiro	38:40e7fdf3c694	3400	break;
yabahiro	38:40e7fdf3c694	3401	case 254:
kishibekairohan	44:2aff0da5ebdb	3402	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	3403	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3404	mtc=false;
yabahiro	38:40e7fdf3c694	3405	break;
yabahiro	38:40e7fdf3c694	3406	case 1:
kishibekairohan	44:2aff0da5ebdb	3407	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	3408	mtc=false;
yabahiro	38:40e7fdf3c694	3409	break;
yabahiro	38:40e7fdf3c694	3410	case 3:
kishibekairohan	44:2aff0da5ebdb	3411	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	3412	mtc=false;
yabahiro	38:40e7fdf3c694	3413	break;
yabahiro	38:40e7fdf3c694	3414	case 2:
kishibekairohan	44:2aff0da5ebdb	3415	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	3416	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3417	mtc=false;
yabahiro	38:40e7fdf3c694	3418	break;
yabahiro	38:40e7fdf3c694	3419	}
yabahiro	33:dd598bb23ad1	3420	}
yabahiro	54:4167f10ecad0	3421	break;
yabahiro	54:4167f10ecad0	3422	case 100:
yabahiro	54:4167f10ecad0	3423	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3424	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3425	motor[TIRE_FL].pwm = 55;
yabahiro	54:4167f10ecad0	3426	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3427	motor[TIRE_BR].pwm = 60;
yabahiro	54:4167f10ecad0	3428	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3429	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3430	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	3431	break;
yabahiro	54:4167f10ecad0	3432	default:
yabahiro	54:4167f10ecad0	3433	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3434	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3435	motor[TIRE_FL].pwm = 50;
yabahiro	54:4167f10ecad0	3436	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3437	motor[TIRE_BR].pwm = 50;
yabahiro	54:4167f10ecad0	3438	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3439	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3440	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3441	break;
yabahiro	53:694dbd7dfa0e	3442	}
kishibekairohan	13:b6e02d6261d7	3443	}
kishibekairohan	13:b6e02d6261d7	3444	#endif
kishibekairohan	13:b6e02d6261d7	3445
kishibekairohan	13:b6e02d6261d7	3446	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	3447	static void Process4()
M_souta	22:7d93f79a3686	3448	{
yabahiro	48:5562a99479e5	3449	//Oh So 決勝青ゾーン
yabahiro	48:5562a99479e5	3450	LED::LED::TapeledMode(2);
yabahiro	48:5562a99479e5	3451	countss++;
yabahiro	48:5562a99479e5	3452	if(mode==1) {//スタートゾーンから白線検知
yabahiro	48:5562a99479e5	3453	fast=40;
yabahiro	48:5562a99479e5	3454	normal=30;
yabahiro	48:5562a99479e5	3455	slow=20;
yabahiro	48:5562a99479e5	3456	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3457	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3458	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3459	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3460	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3461	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3462	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3463	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3464	if(g[2]==0&&countss>=100000) {
yabahiro	48:5562a99479e5	3465	countss=100000;
yabahiro	48:5562a99479e5	3466	cross=0;
yabahiro	48:5562a99479e5	3467	mode=3;
yabahiro	48:5562a99479e5	3468	}
yabahiro	48:5562a99479e5	3469	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	48:5562a99479e5	3470	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3471	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3472	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	3473	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	3474	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	3475	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3476	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3477	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3478	if(g[1]==0) {
yabahiro	48:5562a99479e5	3479	mode=10;
yabahiro	48:5562a99479e5	3480	countss=100000;
yabahiro	48:5562a99479e5	3481	}
yabahiro	48:5562a99479e5	3482	} else if(mode==10) { //縦ライントレース
yabahiro	48:5562a99479e5	3483	switch(g[1]) {
yabahiro	48:5562a99479e5	3484	case 98:
yabahiro	48:5562a99479e5	3485	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3486	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3487	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3488	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3489	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3490	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3491	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3492	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3493	mtc=true;
yabahiro	49:697b4e9ce884	3494	if(YELLOW) {
yabahiro	49:697b4e9ce884	3495	if(countss>80000) {
yabahiro	49:697b4e9ce884	3496	cross++;
yabahiro	49:697b4e9ce884	3497	countss=0;
yabahiro	49:697b4e9ce884	3498	}
yabahiro	48:5562a99479e5	3499
yabahiro	49:697b4e9ce884	3500	if(cross==2) {
yabahiro	49:697b4e9ce884	3501	fast = 10;
yabahiro	49:697b4e9ce884	3502	normal = 10;
yabahiro	49:697b4e9ce884	3503	slow = 5;
yabahiro	49:697b4e9ce884	3504	}
yabahiro	48:5562a99479e5	3505
yabahiro	49:697b4e9ce884	3506	if(cross==3) {
yabahiro	49:697b4e9ce884	3507	fast=40;
yabahiro	49:697b4e9ce884	3508	normal=30;
yabahiro	49:697b4e9ce884	3509	slow=20;
yabahiro	49:697b4e9ce884	3510	mode=11;
yabahiro	49:697b4e9ce884	3511	countss=0;
yabahiro	49:697b4e9ce884	3512	cross=0;
yabahiro	49:697b4e9ce884	3513	}
yabahiro	49:697b4e9ce884	3514	} else {
yabahiro	48:5562a99479e5	3515	mode=11;
yabahiro	48:5562a99479e5	3516	}
yabahiro	48:5562a99479e5	3517	break;
yabahiro	48:5562a99479e5	3518	case 0:
yabahiro	48:5562a99479e5	3519	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3520	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3521	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3522	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3523	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3524	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3525	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3526	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3527	mtc=true;
yabahiro	48:5562a99479e5	3528	break;
yabahiro	48:5562a99479e5	3529	case 255:
yabahiro	48:5562a99479e5	3530	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3531	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3532	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3533	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3534	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3535	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3536	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3537	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3538	mtc=true;
yabahiro	48:5562a99479e5	3539	break;
yabahiro	48:5562a99479e5	3540	case 253:
yabahiro	48:5562a99479e5	3541	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3542	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3543	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3544	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3545	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3546	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3547	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3548	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3549	mtc=true;
yabahiro	48:5562a99479e5	3550	break;
yabahiro	48:5562a99479e5	3551	case 254:
yabahiro	48:5562a99479e5	3552	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3553	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3554	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3555	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3556	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3557	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3558	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3559	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3560	mtc=true;
yabahiro	48:5562a99479e5	3561	break;
yabahiro	48:5562a99479e5	3562	case 1:
yabahiro	48:5562a99479e5	3563	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3564	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3565	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3566	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3567	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3568	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3569	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3570	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3571	mtc=true;
yabahiro	48:5562a99479e5	3572	break;
yabahiro	48:5562a99479e5	3573	case 3:
yabahiro	48:5562a99479e5	3574	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3575	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3576	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3577	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3578	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3579	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3580	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3581	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3582	mtc=true;
yabahiro	48:5562a99479e5	3583	break;
yabahiro	48:5562a99479e5	3584	case 2:
yabahiro	48:5562a99479e5	3585	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3586	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3587	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3588	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3589	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3590	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3591	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3592	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3593	mtc=true;
yabahiro	48:5562a99479e5	3594	break;
yabahiro	48:5562a99479e5	3595	}
yabahiro	48:5562a99479e5	3596	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	3597	switch(g[0]) {
yabahiro	48:5562a99479e5	3598	case 0:
yabahiro	48:5562a99479e5	3599	mtc=false;
yabahiro	48:5562a99479e5	3600	break;
yabahiro	48:5562a99479e5	3601	case 255:
yabahiro	48:5562a99479e5	3602	motor[TIRE_FL].pwm += 3;
yabahiro	48:5562a99479e5	3603	mtc=false;
yabahiro	48:5562a99479e5	3604	break;
yabahiro	48:5562a99479e5	3605	case 253:
yabahiro	48:5562a99479e5	3606	motor[TIRE_FL].pwm += 6;
yabahiro	48:5562a99479e5	3607	mtc=false;
yabahiro	48:5562a99479e5	3608	break;
yabahiro	48:5562a99479e5	3609	case 254:
yabahiro	48:5562a99479e5	3610	motor[TIRE_FL].pwm += 9;
yabahiro	48:5562a99479e5	3611	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3612	mtc=false;
yabahiro	48:5562a99479e5	3613	break;
yabahiro	48:5562a99479e5	3614	case 1:
yabahiro	48:5562a99479e5	3615	motor[TIRE_FR].pwm += 3;
yabahiro	48:5562a99479e5	3616	mtc=false;
yabahiro	48:5562a99479e5	3617	break;
yabahiro	48:5562a99479e5	3618	case 3:
yabahiro	48:5562a99479e5	3619	motor[TIRE_FR].pwm += 6;
yabahiro	48:5562a99479e5	3620	mtc=false;
yabahiro	48:5562a99479e5	3621	break;
yabahiro	48:5562a99479e5	3622	case 2:
yabahiro	48:5562a99479e5	3623	motor[TIRE_FR].pwm += 9;
yabahiro	48:5562a99479e5	3624	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3625	mtc=false;
yabahiro	48:5562a99479e5	3626	break;
yabahiro	48:5562a99479e5	3627	}
yabahiro	48:5562a99479e5	3628	}
yabahiro	48:5562a99479e5	3629	} else if(mode==11) {
yabahiro	48:5562a99479e5	3630	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	3631	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	3632	motor[TIRE_FL].pwm = 50;
yabahiro	49:697b4e9ce884	3633	motor[TIRE_FL].dir = BRAKE;
yabahiro	49:697b4e9ce884	3634	motor[TIRE_BR].pwm = 50;
yabahiro	49:697b4e9ce884	3635	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3636	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	3637	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3638	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	48:5562a99479e5	3639	countss=0;
yabahiro	48:5562a99479e5	3640	cross=0;
yabahiro	48:5562a99479e5	3641	mode=20;
yabahiro	48:5562a99479e5	3642	}
yabahiro	48:5562a99479e5	3643	} else if(mode==20) {
yabahiro	48:5562a99479e5	3644	switch(g[2]) {
yabahiro	48:5562a99479e5	3645	case 98:
yabahiro	48:5562a99479e5	3646	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3647	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3648	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3649	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3650	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3651	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3652	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3653	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3654	if(countss>30000) {
yabahiro	48:5562a99479e5	3655	cross++;
yabahiro	48:5562a99479e5	3656	countss=0;
yabahiro	48:5562a99479e5	3657	}
yabahiro	48:5562a99479e5	3658	mtc2=true;
yabahiro	48:5562a99479e5	3659
yabahiro	48:5562a99479e5	3660	if(YELLOW) {
yabahiro	49:697b4e9ce884	3661	solenoid.solenoid4= SOLENOID_ON;
yabahiro	48:5562a99479e5	3662	if(cross==1) {
yabahiro	48:5562a99479e5	3663	fast=20;
yabahiro	48:5562a99479e5	3664	normal=15;
yabahiro	48:5562a99479e5	3665	slow=15;
yabahiro	48:5562a99479e5	3666	} else if(cross==2) {
yabahiro	48:5562a99479e5	3667	mode=21;
yabahiro	48:5562a99479e5	3668	countss=0;
yabahiro	48:5562a99479e5	3669	cross=0;
yabahiro	48:5562a99479e5	3670	}
yabahiro	48:5562a99479e5	3671	} else {
yabahiro	49:697b4e9ce884	3672	if(cross==2) {
yabahiro	49:697b4e9ce884	3673	fast=20;
yabahiro	49:697b4e9ce884	3674	normal=15;
yabahiro	49:697b4e9ce884	3675	slow=15;
yabahiro	49:697b4e9ce884	3676	}
yabahiro	48:5562a99479e5	3677	if(cross==3) {
yabahiro	48:5562a99479e5	3678	mode=21;
yabahiro	48:5562a99479e5	3679	countss=0;
yabahiro	48:5562a99479e5	3680	cross=0;
yabahiro	48:5562a99479e5	3681	}
yabahiro	48:5562a99479e5	3682	}
yabahiro	48:5562a99479e5	3683	break;
yabahiro	48:5562a99479e5	3684	case 0:
yabahiro	48:5562a99479e5	3685	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3686	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3687	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3688	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3689	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3690	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3691	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3692	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3693	mtc2=true;
yabahiro	48:5562a99479e5	3694	break;
yabahiro	48:5562a99479e5	3695	case 255:
yabahiro	48:5562a99479e5	3696	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3697	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3698	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3699	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3700	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3701	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3702	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3703	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3704	mtc2=true;
yabahiro	48:5562a99479e5	3705	break;
yabahiro	48:5562a99479e5	3706	case 253:
yabahiro	48:5562a99479e5	3707	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3708	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3709	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3710	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3711	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3712	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3713	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3714	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3715	mtc2=true;
yabahiro	48:5562a99479e5	3716	break;
yabahiro	48:5562a99479e5	3717	case 254:
yabahiro	48:5562a99479e5	3718	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3719	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3720	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3721	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3722	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3723	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3724	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3725	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3726	mtc2=true;
yabahiro	48:5562a99479e5	3727	break;
yabahiro	48:5562a99479e5	3728	case 1:
yabahiro	48:5562a99479e5	3729	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3730	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3731	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3732	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3733	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3734	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3735	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3736	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3737	mtc2=true;
yabahiro	48:5562a99479e5	3738	break;
yabahiro	48:5562a99479e5	3739	case 3:
yabahiro	48:5562a99479e5	3740	motor[TIRE_FR].pwm = slow+20;
yabahiro	48:5562a99479e5	3741	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3742	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3743	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3744	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3745	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3746	motor[TIRE_BL].pwm = slow+20;
yabahiro	48:5562a99479e5	3747	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3748	mtc2=true;
yabahiro	48:5562a99479e5	3749	break;
yabahiro	48:5562a99479e5	3750	case 2:
yabahiro	48:5562a99479e5	3751	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3752	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3753	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3754	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3755	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3756	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3757	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3758	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3759	mtc2=true;
yabahiro	48:5562a99479e5	3760	break;
yabahiro	48:5562a99479e5	3761	}
yabahiro	48:5562a99479e5	3762	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	3763	switch(g[3]) {
yabahiro	48:5562a99479e5	3764	case 0:
yabahiro	48:5562a99479e5	3765	mtc2=false;
yabahiro	48:5562a99479e5	3766	break;
yabahiro	48:5562a99479e5	3767	case 255:
yabahiro	48:5562a99479e5	3768	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	3769	mtc2=false;
yabahiro	48:5562a99479e5	3770	break;
yabahiro	48:5562a99479e5	3771	case 253:
yabahiro	48:5562a99479e5	3772	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	3773	mtc2=false;
yabahiro	48:5562a99479e5	3774	break;
yabahiro	48:5562a99479e5	3775	case 254:
yabahiro	48:5562a99479e5	3776	motor[TIRE_BL].pwm += 15;
yabahiro	48:5562a99479e5	3777	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3778	mtc2=false;
yabahiro	48:5562a99479e5	3779	break;
yabahiro	48:5562a99479e5	3780	case 1:
yabahiro	48:5562a99479e5	3781	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	3782	mtc2=false;
yabahiro	48:5562a99479e5	3783	break;
yabahiro	48:5562a99479e5	3784	case 3:
yabahiro	48:5562a99479e5	3785	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	3786	mtc2=false;
yabahiro	48:5562a99479e5	3787	break;
yabahiro	48:5562a99479e5	3788	case 2:
yabahiro	48:5562a99479e5	3789	motor[TIRE_FL].pwm += 15;
yabahiro	48:5562a99479e5	3790	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3791	mtc2=false;
yabahiro	48:5562a99479e5	3792	break;
yabahiro	48:5562a99479e5	3793	}
yabahiro	48:5562a99479e5	3794	}
yabahiro	48:5562a99479e5	3795	}
yabahiro	48:5562a99479e5	3796	if(YELLOW) {
yabahiro	48:5562a99479e5	3797	if(mode==21) {
yabahiro	48:5562a99479e5	3798	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3799	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3800	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3801	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3802	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3803	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3804	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3805	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3806	if(g[3]==98&&countss>=10000) {
yabahiro	48:5562a99479e5	3807	mode=22;
yabahiro	48:5562a99479e5	3808	countss=0;
yabahiro	48:5562a99479e5	3809	fast=60;
yabahiro	48:5562a99479e5	3810	normal=40;
yabahiro	48:5562a99479e5	3811	slow=20;
yabahiro	48:5562a99479e5	3812	}
yabahiro	48:5562a99479e5	3813	} else if(mode==22) {
yabahiro	48:5562a99479e5	3814	if(g[4]==3\|\|g[4]==2) {
yabahiro	48:5562a99479e5	3815	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3816	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3817	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3818	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3819	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3820	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3821	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3822	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3823	}
yabahiro	48:5562a99479e5	3824	if(g[4]==253\|\|g[4]==254) {
yabahiro	48:5562a99479e5	3825	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3826	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3827	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3828	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3829	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3830	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3831	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3832	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3833	}
yabahiro	48:5562a99479e5	3834	switch(g[2]) {
yabahiro	48:5562a99479e5	3835	case 0:
yabahiro	48:5562a99479e5	3836	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3837	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3838	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3839	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3840	break;
yabahiro	48:5562a99479e5	3841	case 255:
yabahiro	48:5562a99479e5	3842	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3843	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3844	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3845	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3846	break;
yabahiro	48:5562a99479e5	3847	case 253:
yabahiro	48:5562a99479e5	3848	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	3849	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3850	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3851	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3852	break;
yabahiro	48:5562a99479e5	3853	case 254:
yabahiro	48:5562a99479e5	3854	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3855	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3856	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3857	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3858	break;
yabahiro	48:5562a99479e5	3859	case 1:
yabahiro	48:5562a99479e5	3860	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3861	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3862	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3863	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3864	break;
yabahiro	48:5562a99479e5	3865	case 3:
yabahiro	48:5562a99479e5	3866	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3867	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3868	motor[TIRE_BR].pwm = 40;
yabahiro	48:5562a99479e5	3869	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3870	break;
yabahiro	48:5562a99479e5	3871	case 2:
yabahiro	48:5562a99479e5	3872	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3873	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3874	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3875	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3876	break;
yabahiro	48:5562a99479e5	3877	}
yabahiro	48:5562a99479e5	3878	switch(g[3]) {
yabahiro	48:5562a99479e5	3879	case 0:
yabahiro	48:5562a99479e5	3880	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3881	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3882	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3883	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3884	break;
yabahiro	48:5562a99479e5	3885	case 255:
yabahiro	48:5562a99479e5	3886	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3887	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3888	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3889	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3890	case 253:
yabahiro	48:5562a99479e5	3891	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3892	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3893	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	3894	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3895	break;
yabahiro	48:5562a99479e5	3896	case 254:
yabahiro	48:5562a99479e5	3897	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3898	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3899	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3900	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3901	break;
yabahiro	48:5562a99479e5	3902	case 1:
yabahiro	48:5562a99479e5	3903	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3904	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3905	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3906	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3907	break;
yabahiro	48:5562a99479e5	3908	case 3:
yabahiro	48:5562a99479e5	3909	motor[TIRE_FL].pwm = 40;
yabahiro	48:5562a99479e5	3910	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3911	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3912	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3913	break;
yabahiro	48:5562a99479e5	3914	case 2:
yabahiro	48:5562a99479e5	3915	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3916	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3917	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3918	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3919	break;
yabahiro	48:5562a99479e5	3920	}
yabahiro	48:5562a99479e5	3921	if(g[3]==0&&g[2]==0) {
yabahiro	48:5562a99479e5	3922	mode=23;
yabahiro	48:5562a99479e5	3923	countss=0;
yabahiro	48:5562a99479e5	3924	}
yabahiro	48:5562a99479e5	3925	} else if(mode==23) {
yabahiro	48:5562a99479e5	3926	switch(g[4]) {
yabahiro	48:5562a99479e5	3927	case 98:
yabahiro	48:5562a99479e5	3928	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3929	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3930	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3931	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3932	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3933	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3934	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3935	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3936	break;
yabahiro	48:5562a99479e5	3937	case 99:
yabahiro	48:5562a99479e5	3938	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3939	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3940	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3941	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3942	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3943	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3944	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3945	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3946	break;
yabahiro	48:5562a99479e5	3947	case 0:
yabahiro	48:5562a99479e5	3948	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3949	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3950	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3951	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3952	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3953	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3954	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3955	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3956	break;
yabahiro	48:5562a99479e5	3957	case 255:
yabahiro	48:5562a99479e5	3958	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3959	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3960	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3961	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3962	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3963	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3964	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3965	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3966	break;
yabahiro	48:5562a99479e5	3967	case 253:
yabahiro	48:5562a99479e5	3968	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3969	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3970	motor[TIRE_FL].pwm = slow-5;
yabahiro	48:5562a99479e5	3971	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3972	motor[TIRE_BR].pwm = slow-5;
yabahiro	48:5562a99479e5	3973	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3974	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3975	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3976	break;
yabahiro	48:5562a99479e5	3977	case 254:
yabahiro	48:5562a99479e5	3978	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3979	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3980	motor[TIRE_FL].pwm = normal-5;
yabahiro	48:5562a99479e5	3981	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3982	motor[TIRE_BR].pwm = normal-5;
yabahiro	48:5562a99479e5	3983	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3984	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3985	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3986	break;
yabahiro	48:5562a99479e5	3987	case 1:
yabahiro	48:5562a99479e5	3988	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3989	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3990	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3991	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3992	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3993	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3994	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3995	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3996	break;
yabahiro	48:5562a99479e5	3997	case 3:
yabahiro	48:5562a99479e5	3998	motor[TIRE_FR].pwm = slow-5;
yabahiro	48:5562a99479e5	3999	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4000	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4001	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4002	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4003	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4004	motor[TIRE_BL].pwm = slow-5;
yabahiro	48:5562a99479e5	4005	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4006	break;
yabahiro	48:5562a99479e5	4007	case 2:
yabahiro	48:5562a99479e5	4008	motor[TIRE_FR].pwm = normal-5;
yabahiro	48:5562a99479e5	4009	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4010	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4011	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4012	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4013	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4014	motor[TIRE_BL].pwm = normal-5;
yabahiro	48:5562a99479e5	4015	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4016	break;
yabahiro	48:5562a99479e5	4017	}
yabahiro	48:5562a99479e5	4018	if(g[2]==254&&countss>=100000) {
yabahiro	48:5562a99479e5	4019	mode=24;
yabahiro	48:5562a99479e5	4020	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	48:5562a99479e5	4021	countss=0;
yabahiro	48:5562a99479e5	4022	fast=60;
yabahiro	48:5562a99479e5	4023	normal=40;
yabahiro	48:5562a99479e5	4024	slow=20;
yabahiro	48:5562a99479e5	4025	}
yabahiro	48:5562a99479e5	4026	} else if(mode==24) {
yabahiro	48:5562a99479e5	4027	motor[TIRE_FR].pwm = 60;
yabahiro	48:5562a99479e5	4028	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4029	motor[TIRE_FL].pwm = 60;
yabahiro	48:5562a99479e5	4030	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4031	motor[TIRE_BR].pwm = 60;
yabahiro	48:5562a99479e5	4032	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4033	motor[TIRE_BL].pwm = 60;
yabahiro	48:5562a99479e5	4034	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4035	if(g[0]==0) {
yabahiro	48:5562a99479e5	4036	mode=25;
yabahiro	48:5562a99479e5	4037	}
yabahiro	48:5562a99479e5	4038	} else if(mode==25) {
yabahiro	48:5562a99479e5	4039	motor[TIRE_FR].pwm = 100;
yabahiro	48:5562a99479e5	4040	motor[TIRE_FR].dir = BRAKE;
yabahiro	48:5562a99479e5	4041	motor[TIRE_FL].pwm = 100;
yabahiro	48:5562a99479e5	4042	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4043	motor[TIRE_BR].pwm = 100;
yabahiro	48:5562a99479e5	4044	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4045	motor[TIRE_BL].pwm = 100;
yabahiro	48:5562a99479e5	4046	motor[TIRE_BL].dir = BRAKE;
yabahiro	48:5562a99479e5	4047	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	4048	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	4049	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	4050	mode=26;
yabahiro	48:5562a99479e5	4051	countss=0;
yabahiro	48:5562a99479e5	4052	} else {
yabahiro	48:5562a99479e5	4053	motor[MOTOR_0].pwm = 100;
yabahiro	48:5562a99479e5	4054	motor[MOTOR_0].dir = BACK;
yabahiro	48:5562a99479e5	4055	}
yabahiro	48:5562a99479e5	4056	} else if(mode==26) {
yabahiro	48:5562a99479e5	4057	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4058	mode=31;
yabahiro	48:5562a99479e5	4059	countss=0;
yabahiro	48:5562a99479e5	4060	}
yabahiro	48:5562a99479e5	4061	switch(g[0]) {
yabahiro	48:5562a99479e5	4062	case 98:
yabahiro	48:5562a99479e5	4063	fast=40;
yabahiro	48:5562a99479e5	4064	normal=30;
yabahiro	48:5562a99479e5	4065	slow=25;
yabahiro	48:5562a99479e5	4066	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4067	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4068	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4069	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4070	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4071	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4072	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4073	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4074	break;
yabahiro	48:5562a99479e5	4075	case 0:
yabahiro	48:5562a99479e5	4076	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4077	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4078	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4079	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4080	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4081	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4082	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4083	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4084	mtc=true;
yabahiro	48:5562a99479e5	4085	break;
yabahiro	48:5562a99479e5	4086	case 255:
yabahiro	48:5562a99479e5	4087	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4088	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4089	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4090	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4091	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4092	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4093	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4094	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4095	mtc=true;
yabahiro	48:5562a99479e5	4096	break;
yabahiro	48:5562a99479e5	4097	case 253:
yabahiro	48:5562a99479e5	4098	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4099	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4100	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4101	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4102	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4103	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4104	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4105	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4106	mtc=true;
yabahiro	48:5562a99479e5	4107	break;
yabahiro	48:5562a99479e5	4108	case 254:
yabahiro	48:5562a99479e5	4109	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4110	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4111	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4112	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4113	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4114	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4115	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4116	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4117	mtc=true;
yabahiro	48:5562a99479e5	4118	break;
yabahiro	48:5562a99479e5	4119	case 1:
yabahiro	48:5562a99479e5	4120	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4121	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4122	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4123	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4124	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4125	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4126	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4127	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4128	mtc=true;
yabahiro	48:5562a99479e5	4129	break;
yabahiro	48:5562a99479e5	4130	case 3:
yabahiro	48:5562a99479e5	4131	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4132	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4133	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4134	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4135	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4136	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4137	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4138	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4139	mtc=true;
yabahiro	48:5562a99479e5	4140	break;
yabahiro	48:5562a99479e5	4141	case 2:
yabahiro	48:5562a99479e5	4142	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4143	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4144	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4145	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4146	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4147	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4148	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4149	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4150	mtc=true;
yabahiro	48:5562a99479e5	4151	break;
yabahiro	48:5562a99479e5	4152	}
yabahiro	48:5562a99479e5	4153	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4154	switch(g[1]) {
yabahiro	48:5562a99479e5	4155	case 0:
yabahiro	48:5562a99479e5	4156	mtc=false;
yabahiro	48:5562a99479e5	4157	break;
yabahiro	48:5562a99479e5	4158	case 255:
yabahiro	48:5562a99479e5	4159	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4160	mtc=false;
yabahiro	48:5562a99479e5	4161	break;
yabahiro	48:5562a99479e5	4162	case 253:
yabahiro	48:5562a99479e5	4163	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4164	mtc=false;
yabahiro	48:5562a99479e5	4165	break;
yabahiro	48:5562a99479e5	4166	case 254:
yabahiro	48:5562a99479e5	4167	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4168	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4169	mtc=false;
yabahiro	48:5562a99479e5	4170	break;
yabahiro	48:5562a99479e5	4171	case 1:
yabahiro	48:5562a99479e5	4172	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4173	mtc=false;
yabahiro	48:5562a99479e5	4174	break;
yabahiro	48:5562a99479e5	4175	case 3:
yabahiro	48:5562a99479e5	4176	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4177	mtc=false;
yabahiro	48:5562a99479e5	4178	break;
yabahiro	48:5562a99479e5	4179	case 2:
yabahiro	48:5562a99479e5	4180	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4181	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4182	mtc=false;
yabahiro	48:5562a99479e5	4183	break;
yabahiro	48:5562a99479e5	4184	}
yabahiro	48:5562a99479e5	4185	}
yabahiro	48:5562a99479e5	4186	}
yabahiro	48:5562a99479e5	4187	} else {
yabahiro	48:5562a99479e5	4188	if(mode==21) {
yabahiro	49:697b4e9ce884	4189	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4190	fast=60;
yabahiro	48:5562a99479e5	4191	normal=30;
yabahiro	48:5562a99479e5	4192	slow=25;
yabahiro	48:5562a99479e5	4193	mode=31;
yabahiro	48:5562a99479e5	4194	countss=0;
yabahiro	48:5562a99479e5	4195	}
yabahiro	48:5562a99479e5	4196	switch(g[0]) {
yabahiro	48:5562a99479e5	4197	case 98:
yabahiro	48:5562a99479e5	4198	fast=40;
yabahiro	48:5562a99479e5	4199	normal=30;
yabahiro	48:5562a99479e5	4200	slow=25;
yabahiro	48:5562a99479e5	4201	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4202	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4203	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4204	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4205	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4206	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4207	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4208	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4209	break;
yabahiro	48:5562a99479e5	4210	case 0:
yabahiro	48:5562a99479e5	4211	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4212	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4213	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4214	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4215	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4216	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4217	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4218	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4219	mtc=true;
yabahiro	48:5562a99479e5	4220	break;
yabahiro	48:5562a99479e5	4221	case 255:
yabahiro	48:5562a99479e5	4222	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4223	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4224	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4225	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4226	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4227	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4228	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4229	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4230	mtc=true;
yabahiro	48:5562a99479e5	4231	break;
yabahiro	48:5562a99479e5	4232	case 253:
yabahiro	48:5562a99479e5	4233	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4234	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4235	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4236	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4237	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4238	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4239	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4240	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4241	mtc=true;
yabahiro	48:5562a99479e5	4242	break;
yabahiro	48:5562a99479e5	4243	case 254:
yabahiro	48:5562a99479e5	4244	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4245	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4246	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4247	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4248	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4249	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4250	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4251	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4252	mtc=true;
yabahiro	48:5562a99479e5	4253	break;
yabahiro	48:5562a99479e5	4254	case 1:
yabahiro	48:5562a99479e5	4255	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4256	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4257	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4258	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4259	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4260	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4261	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4262	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4263	mtc=true;
yabahiro	48:5562a99479e5	4264	break;
yabahiro	48:5562a99479e5	4265	case 3:
yabahiro	48:5562a99479e5	4266	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4267	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4268	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4269	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4270	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4271	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4272	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4273	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4274	mtc=true;
yabahiro	48:5562a99479e5	4275	break;
yabahiro	48:5562a99479e5	4276	case 2:
yabahiro	48:5562a99479e5	4277	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4278	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4279	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4280	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4281	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4282	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4283	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4284	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4285	mtc=true;
yabahiro	48:5562a99479e5	4286	break;
yabahiro	48:5562a99479e5	4287	}
yabahiro	48:5562a99479e5	4288	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4289	switch(g[1]) {
yabahiro	48:5562a99479e5	4290	case 0:
yabahiro	48:5562a99479e5	4291	mtc=false;
yabahiro	48:5562a99479e5	4292	break;
yabahiro	48:5562a99479e5	4293	case 255:
yabahiro	48:5562a99479e5	4294	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4295	mtc=false;
yabahiro	48:5562a99479e5	4296	break;
yabahiro	48:5562a99479e5	4297	case 253:
yabahiro	48:5562a99479e5	4298	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4299	mtc=false;
yabahiro	48:5562a99479e5	4300	break;
yabahiro	48:5562a99479e5	4301	case 254:
yabahiro	48:5562a99479e5	4302	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4303	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4304	mtc=false;
yabahiro	48:5562a99479e5	4305	break;
yabahiro	48:5562a99479e5	4306	case 1:
yabahiro	48:5562a99479e5	4307	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4308	mtc=false;
yabahiro	48:5562a99479e5	4309	break;
yabahiro	48:5562a99479e5	4310	case 3:
yabahiro	48:5562a99479e5	4311	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4312	mtc=false;
yabahiro	48:5562a99479e5	4313	break;
yabahiro	48:5562a99479e5	4314	case 2:
yabahiro	48:5562a99479e5	4315	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4316	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4317	mtc=false;
yabahiro	48:5562a99479e5	4318	break;
yabahiro	48:5562a99479e5	4319	}
yabahiro	48:5562a99479e5	4320	}
yabahiro	48:5562a99479e5	4321	}
yabahiro	48:5562a99479e5	4322	}
yabahiro	48:5562a99479e5	4323
yabahiro	48:5562a99479e5	4324	/*
yabahiro	48:5562a99479e5	4325	if(mode==31) {
yabahiro	48:5562a99479e5	4326	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4327	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4328	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4329	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4330	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4331	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4332	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4333	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4334	if(countss>=5000) {
yabahiro	48:5562a99479e5	4335	countss=0;
yabahiro	48:5562a99479e5	4336	mode=33;
yabahiro	48:5562a99479e5	4337	}
yabahiro	48:5562a99479e5	4338	} else if(mode==33) {
yabahiro	48:5562a99479e5	4339	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4340	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4341	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4342	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4343	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4344	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4345	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4346	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4347	if(g[3]==0) {
yabahiro	48:5562a99479e5	4348	cross=0;
yabahiro	48:5562a99479e5	4349	countss=0;
yabahiro	48:5562a99479e5	4350	mode=40;
yabahiro	48:5562a99479e5	4351	}
yabahiro	48:5562a99479e5	4352	} else
yabahiro	48:5562a99479e5	4353	*/
yabahiro	48:5562a99479e5	4354	if(mode==31) {
yabahiro	48:5562a99479e5	4355	motor[TIRE_FR].pwm = 45;
yabahiro	48:5562a99479e5	4356	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4357	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	4358	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4359	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	4360	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4361	motor[TIRE_BL].pwm = 45;
yabahiro	48:5562a99479e5	4362	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4363	if(g[3]==0) {
yabahiro	48:5562a99479e5	4364	cross=0;
yabahiro	48:5562a99479e5	4365	countss=0;
yabahiro	48:5562a99479e5	4366	mode=40;
yabahiro	48:5562a99479e5	4367	}
yabahiro	48:5562a99479e5	4368	} else if(mode==40) {
yabahiro	48:5562a99479e5	4369	switch(g[3]) {
yabahiro	48:5562a99479e5	4370	case 98:
yabahiro	48:5562a99479e5	4371	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4372	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4373	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4374	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4375	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4376	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4377	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4378	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4379	if(countss>10000) {
yabahiro	48:5562a99479e5	4380	cross++;
yabahiro	48:5562a99479e5	4381	countss=0;
yabahiro	48:5562a99479e5	4382	}
yabahiro	48:5562a99479e5	4383	mtc2=true;
yabahiro	48:5562a99479e5	4384	if(cross==1) {
yabahiro	48:5562a99479e5	4385	mode=41;
yabahiro	48:5562a99479e5	4386	countss=0;
yabahiro	48:5562a99479e5	4387	cross=0;
yabahiro	48:5562a99479e5	4388	}
yabahiro	48:5562a99479e5	4389	break;
yabahiro	48:5562a99479e5	4390	case 0:
yabahiro	48:5562a99479e5	4391	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4392	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4393	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4394	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4395	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4396	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4397	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4398	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4399	mtc2=true;
yabahiro	48:5562a99479e5	4400	break;
yabahiro	48:5562a99479e5	4401	case 255:
yabahiro	48:5562a99479e5	4402	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4403	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4404	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4405	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4406	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4407	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4408	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4409	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4410	mtc2=true;
yabahiro	48:5562a99479e5	4411	break;
yabahiro	48:5562a99479e5	4412	case 253:
yabahiro	48:5562a99479e5	4413	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4414	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4415	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4416	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4417	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4418	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4419	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4420	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4421	mtc2=true;
yabahiro	48:5562a99479e5	4422	break;
yabahiro	48:5562a99479e5	4423	case 254:
yabahiro	48:5562a99479e5	4424	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4425	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4426	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4427	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4428	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4429	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4430	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4431	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4432	mtc2=true;
yabahiro	48:5562a99479e5	4433	break;
yabahiro	48:5562a99479e5	4434	case 1:
yabahiro	48:5562a99479e5	4435	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4436	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4437	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4438	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4439	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4440	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4441	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4442	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4443	mtc2=true;
yabahiro	48:5562a99479e5	4444	break;
yabahiro	48:5562a99479e5	4445	case 3:
yabahiro	48:5562a99479e5	4446	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4447	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4448	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4449	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4450	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4451	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4452	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4453	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4454	mtc2=true;
yabahiro	48:5562a99479e5	4455	break;
yabahiro	48:5562a99479e5	4456	case 2:
yabahiro	48:5562a99479e5	4457	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4458	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4459	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4460	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4461	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4462	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4463	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4464	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4465	mtc2=true;
yabahiro	48:5562a99479e5	4466	break;
yabahiro	48:5562a99479e5	4467	}
yabahiro	48:5562a99479e5	4468	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	4469	switch(g[2]) {
yabahiro	48:5562a99479e5	4470	case 0:
yabahiro	48:5562a99479e5	4471	mtc2=false;
yabahiro	48:5562a99479e5	4472	break;
yabahiro	48:5562a99479e5	4473	case 255:
yabahiro	48:5562a99479e5	4474	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	4475	mtc2=false;
yabahiro	48:5562a99479e5	4476	break;
yabahiro	48:5562a99479e5	4477	case 253:
yabahiro	48:5562a99479e5	4478	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	4479	mtc2=false;
yabahiro	48:5562a99479e5	4480	break;
yabahiro	48:5562a99479e5	4481	case 254:
yabahiro	48:5562a99479e5	4482	motor[TIRE_FL].pwm += 20;
yabahiro	48:5562a99479e5	4483	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4484	mtc2=false;
yabahiro	48:5562a99479e5	4485	break;
yabahiro	48:5562a99479e5	4486	case 1:
yabahiro	48:5562a99479e5	4487	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4488	mtc2=false;
yabahiro	48:5562a99479e5	4489	break;
yabahiro	48:5562a99479e5	4490	case 3:
yabahiro	48:5562a99479e5	4491	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4492	mtc2=false;
yabahiro	48:5562a99479e5	4493	break;
yabahiro	48:5562a99479e5	4494	case 2:
yabahiro	48:5562a99479e5	4495	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4496	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4497	mtc2=false;
yabahiro	48:5562a99479e5	4498	break;
yabahiro	48:5562a99479e5	4499	}
yabahiro	48:5562a99479e5	4500	}
yabahiro	48:5562a99479e5	4501	} else if(mode==41) {
yabahiro	48:5562a99479e5	4502	if(LIF\|\|LIB) {
yabahiro	48:5562a99479e5	4503	mode=42;
yabahiro	48:5562a99479e5	4504	}
yabahiro	48:5562a99479e5	4505	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4506	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4507	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4508	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4509	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4510	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4511	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4512	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4513	if(g[1]==0) {
yabahiro	48:5562a99479e5	4514	countss=0;
yabahiro	48:5562a99479e5	4515	mode=70;
yabahiro	48:5562a99479e5	4516	normal=60;
yabahiro	48:5562a99479e5	4517	fast=70;
yabahiro	48:5562a99479e5	4518	slow=40;
yabahiro	48:5562a99479e5	4519	}
yabahiro	48:5562a99479e5	4520	} else if(mode==42) {
yabahiro	48:5562a99479e5	4521	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	4522	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	4523	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4524	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4525	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4526	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4527	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	4528	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	4529	if(g[1]==0) {
yabahiro	48:5562a99479e5	4530	countss=0;
yabahiro	48:5562a99479e5	4531	mode=70;
yabahiro	48:5562a99479e5	4532	}
yabahiro	48:5562a99479e5	4533	} else if(mode==70) {
yabahiro	48:5562a99479e5	4534	switch(g[0]) {
yabahiro	48:5562a99479e5	4535	case 99:
yabahiro	48:5562a99479e5	4536	if(countss>=100000) {
yabahiro	48:5562a99479e5	4537	mode=100;
yabahiro	48:5562a99479e5	4538	}
yabahiro	48:5562a99479e5	4539	break;
yabahiro	48:5562a99479e5	4540	case 98:
yabahiro	48:5562a99479e5	4541	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4542	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4543	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4544	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4545	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4546	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4547	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4548	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4549	break;
yabahiro	48:5562a99479e5	4550	case 0:
yabahiro	48:5562a99479e5	4551	motor[TIRE_FR].pwm = 80;
yabahiro	48:5562a99479e5	4552	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4553	motor[TIRE_FL].pwm = 80;
yabahiro	48:5562a99479e5	4554	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4555	motor[TIRE_BR].pwm = 80;
yabahiro	48:5562a99479e5	4556	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4557	motor[TIRE_BL].pwm = 80;
yabahiro	48:5562a99479e5	4558	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4559	mtc=true;
yabahiro	48:5562a99479e5	4560	break;
yabahiro	48:5562a99479e5	4561	case 255:
yabahiro	48:5562a99479e5	4562	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4563	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4564	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4565	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4566	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4567	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4568	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4569	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4570	mtc=true;
yabahiro	48:5562a99479e5	4571	break;
yabahiro	48:5562a99479e5	4572	case 253:
yabahiro	48:5562a99479e5	4573	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4574	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4575	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4576	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4577	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4578	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4579	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4580	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4581	mtc=true;
yabahiro	48:5562a99479e5	4582	break;
yabahiro	48:5562a99479e5	4583	case 254:
yabahiro	48:5562a99479e5	4584	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4585	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4586	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4587	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4588	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4589	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4590	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4591	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4592	mtc=true;
yabahiro	48:5562a99479e5	4593	break;
yabahiro	48:5562a99479e5	4594	case 1:
yabahiro	48:5562a99479e5	4595	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4596	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4597	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4598	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4599	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4600	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4601	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4602	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4603	mtc=true;
yabahiro	48:5562a99479e5	4604	break;
yabahiro	48:5562a99479e5	4605	case 3:
yabahiro	48:5562a99479e5	4606	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4607	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4608	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4609	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4610	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4611	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4612	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4613	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4614	mtc=true;
yabahiro	48:5562a99479e5	4615	break;
yabahiro	48:5562a99479e5	4616	case 2:
yabahiro	48:5562a99479e5	4617	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4618	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4619	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4620	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4621	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4622	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4623	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4624	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4625	mtc=true;
yabahiro	48:5562a99479e5	4626	break;
yabahiro	48:5562a99479e5	4627	}
yabahiro	48:5562a99479e5	4628	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4629	switch(g[1]) {
yabahiro	48:5562a99479e5	4630	case 0:
yabahiro	48:5562a99479e5	4631	mtc=false;
yabahiro	48:5562a99479e5	4632	break;
yabahiro	48:5562a99479e5	4633	case 255:
yabahiro	48:5562a99479e5	4634	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4635	mtc=false;
yabahiro	48:5562a99479e5	4636	break;
yabahiro	48:5562a99479e5	4637	case 253:
yabahiro	48:5562a99479e5	4638	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4639	mtc=false;
yabahiro	48:5562a99479e5	4640	break;
yabahiro	48:5562a99479e5	4641	case 254:
yabahiro	48:5562a99479e5	4642	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4643	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4644	mtc=false;
yabahiro	48:5562a99479e5	4645	break;
yabahiro	48:5562a99479e5	4646	case 1:
yabahiro	48:5562a99479e5	4647	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4648	mtc=false;
yabahiro	48:5562a99479e5	4649	break;
yabahiro	48:5562a99479e5	4650	case 3:
yabahiro	48:5562a99479e5	4651	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4652	mtc=false;
yabahiro	48:5562a99479e5	4653	break;
yabahiro	48:5562a99479e5	4654	case 2:
yabahiro	48:5562a99479e5	4655	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4656	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4657	mtc=false;
yabahiro	48:5562a99479e5	4658	break;
yabahiro	48:5562a99479e5	4659	}
yabahiro	48:5562a99479e5	4660	}
yabahiro	48:5562a99479e5	4661	} else if(mode==100) {
yabahiro	48:5562a99479e5	4662	motor[TIRE_FR].pwm = 50;
yabahiro	48:5562a99479e5	4663	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4664	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	4665	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4666	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	4667	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4668	motor[TIRE_BL].pwm = 50;
yabahiro	48:5562a99479e5	4669	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4670	} else {
yabahiro	48:5562a99479e5	4671	}
yabahiro	33:dd598bb23ad1	4672
kishibekairohan	13:b6e02d6261d7	4673	}
kishibekairohan	13:b6e02d6261d7	4674	#endif
kishibekairohan	13:b6e02d6261d7	4675
kishibekairohan	13:b6e02d6261d7	4676	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	4677	static void Process5()
Ryosei	27:dd9f27fce7d1	4678	{
yabahiro	46:68296caae1af	4679
kishibekairohan	13:b6e02d6261d7	4680	}
kishibekairohan	13:b6e02d6261d7	4681	#endif
kishibekairohan	13:b6e02d6261d7	4682
kishibekairohan	13:b6e02d6261d7	4683	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	4684	static void Process6()
kishibekairohan	13:b6e02d6261d7	4685	{
Ryosei	27:dd9f27fce7d1	4686
kishibekairohan	13:b6e02d6261d7	4687	}
kishibekairohan	13:b6e02d6261d7	4688	#endif
kishibekairohan	13:b6e02d6261d7	4689
kishibekairohan	13:b6e02d6261d7	4690	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	4691	static void Process7()
kishibekairohan	13:b6e02d6261d7	4692	{
yabahiro	33:dd598bb23ad1	4693
kishibekairohan	12:c09b3e08a316	4694	}
kishibekairohan	12:c09b3e08a316	4695	#endif
kishibekairohan	12:c09b3e08a316	4696
Ryosei	27:dd9f27fce7d1	4697	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	4698	static void Process8()
kishibekairohan	12:c09b3e08a316	4699	{
yabahiro	33:dd598bb23ad1	4700
kishibekairohan	12:c09b3e08a316	4701	}
kishibekairohan	12:c09b3e08a316	4702	#endif
kishibekairohan	12:c09b3e08a316	4703
kishibekairohan	13:b6e02d6261d7	4704	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	4705	static void Process9()
kishibekairohan	12:c09b3e08a316	4706	{
Ryosei	27:dd9f27fce7d1	4707
t_yamamoto	0:669ef71cba68	4708	}
t_yamamoto	0:669ef71cba68	4709	#endif
t_yamamoto	0:669ef71cba68	4710	#endif
t_yamamoto	0:669ef71cba68	4711	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	4712
t_yamamoto	0:669ef71cba68	4713	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	4714	{
yabahiro	33:dd598bb23ad1	4715	#ifdef USE_SOLENOID
yabahiro	33:dd598bb23ad1	4716	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	4717	#endif
yabahiro	33:dd598bb23ad1	4718
yabahiro	33:dd598bb23ad1	4719	#ifdef USE_MOTOR
yabahiro	33:dd598bb23ad1	4720	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	33:dd598bb23ad1	4721	motor[i].dir = FREE;
yabahiro	33:dd598bb23ad1	4722	motor[i].pwm = 0;
yabahiro	33:dd598bb23ad1	4723	}
yabahiro	33:dd598bb23ad1	4724	#endif
t_yamamoto	0:669ef71cba68	4725	}
t_yamamoto	0:669ef71cba68	4726
kishibekairohan	16:3f2c2d89372b	4727	#pragma region USER-DEFINED-FUNCTIONS
M_souta	29:44d5454ce8fa	4728
M_souta	29:44d5454ce8fa	4729	uint8_t SetStatus(int pwmVal)
Ryosei	27:dd9f27fce7d1	4730	{
M_souta	29:44d5454ce8fa	4731	if (pwmVal < 0) return BACK;
M_souta	29:44d5454ce8fa	4732	else if (pwmVal > 0) return FOR;
M_souta	29:44d5454ce8fa	4733	else if (pwmVal == 0) return BRAKE;
M_souta	29:44d5454ce8fa	4734	else return BRAKE;
M_souta	22:7d93f79a3686	4735	}
kishibekairohan	16:3f2c2d89372b	4736
M_souta	29:44d5454ce8fa	4737	uint8_t SetPWM(int pwmVal)
Ryosei	27:dd9f27fce7d1	4738	{
M_souta	29:44d5454ce8fa	4739	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
M_souta	29:44d5454ce8fa	4740	else return abs(pwmVal);
M_souta	22:7d93f79a3686	4741	}
kishibekairohan	16:3f2c2d89372b	4742
t_yamamoto	0:669ef71cba68	4743	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	18 Nov 2019
Imports:	1
Forks:	0
Commits:	56
Dependents:	0
Dependencies:	1
Followers:	1

System/Process/Process.cpp@54:4167f10ecad0, 2019-11-17 (annotated)

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