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大季矢花 / Mbed 2 deprecated MB2019_main_11_17_hiru

System/Process/Process.cpp@53:694dbd7dfa0e, 2019-11-15 (annotated)

Committer:: yabahiro
Date:: Fri Nov 15 11:49:03 2019 +0000
Revision:: 53:694dbd7dfa0e
Parent:: 52:4394a1debceb
Child:: 54:4167f10ecad0

ugoku

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

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