MB2019_main_11_17_hiru - aa

Users » yabahiro » Code » MB2019_main_11_17_hiru

大季矢花 / Mbed 2 deprecated MB2019_main_11_17_hiru

System/Process/Process.cpp@49:697b4e9ce884, 2019-11-13 (annotated)

Committer:: yabahiro
Date:: Wed Nov 13 09:20:49 2019 +0000
Revision:: 49:697b4e9ce884
Parent:: 48:5562a99479e5
Child:: 50:87f5fa1bc460

aa;

Who changed what in which revision?

User	Revision	Line number	New contents of line
t_yamamoto	0:669ef71cba68	1	#include "mbed.h"
t_yamamoto	0:669ef71cba68	2	#include "Process.h"
Ryosei	27:dd9f27fce7d1	3	#include <stdlib.h>
7ka884	4:ba9df71868df	4	#include "../../CommonLibraries/PID/PID.h"
t_yamamoto	0:669ef71cba68	5	#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
M_souta	21:e3b58d675c1c	6	#include "../../Communication/RS485/LineHub/LineHub.h"
t_yamamoto	0:669ef71cba68	7	#include "../../Communication/Controller/Controller.h"
M_souta	30:8f092276b2ba	8	#include "../../Switch/Switch.h"
Ryosei	27:dd9f27fce7d1	9
t_yamamoto	0:669ef71cba68	10	#include "../../LED/LED.h"
t_yamamoto	0:669ef71cba68	11	#include "../../Safty/Safty.h"
t_yamamoto	0:669ef71cba68	12	#include "../Using.h"
t_yamamoto	0:669ef71cba68	13
t_yamamoto	0:669ef71cba68	14	using namespace SWITCH;
7ka884	4:ba9df71868df	15	using namespace PID_SPACE;
Ryosei	27:dd9f27fce7d1	16
M_souta	21:e3b58d675c1c	17	using namespace LINEHUB;
t_yamamoto	0:669ef71cba68	18
t_yamamoto	0:669ef71cba68	19	static CONTROLLER::ControllerData *controller;
t_yamamoto	0:669ef71cba68	20	ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto	0:669ef71cba68	21	ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto	0:669ef71cba68	22
t_yamamoto	0:669ef71cba68	23	static bool lock;
t_yamamoto	0:669ef71cba68	24	static bool processChangeComp;
t_yamamoto	0:669ef71cba68	25	static int current;
t_yamamoto	0:669ef71cba68	26
t_yamamoto	0:669ef71cba68	27	static void AllActuatorReset();
t_yamamoto	0:669ef71cba68	28
t_yamamoto	0:669ef71cba68	29	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	30	static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto	0:669ef71cba68	31	#endif
t_yamamoto	0:669ef71cba68	32
t_yamamoto	0:669ef71cba68	33	#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	34
t_yamamoto	0:669ef71cba68	35	/Replace here with the definition code of your variables./
t_yamamoto	0:669ef71cba68	36
kishibekairohan	2:c015739085d3	37
M_souta	30:8f092276b2ba	38	//Serial pc(USBTX, USBRX);
kishibekairohan	16:3f2c2d89372b	39
Ryosei	27:dd9f27fce7d1	40	const int omni[15][15] = {
Ryosei	27:dd9f27fce7d1	41	{ 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
Ryosei	27:dd9f27fce7d1	42	{ -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
Ryosei	27:dd9f27fce7d1	43	{ -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 },
Ryosei	27:dd9f27fce7d1	44	{ -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 },
Ryosei	27:dd9f27fce7d1	45	{ -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 },
Ryosei	27:dd9f27fce7d1	46	{ -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 },
Ryosei	27:dd9f27fce7d1	47	{ -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 },
Ryosei	27:dd9f27fce7d1	48	{ -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 },
Ryosei	27:dd9f27fce7d1	49	{ -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 },
Ryosei	27:dd9f27fce7d1	50	{ -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 },
Ryosei	27:dd9f27fce7d1	51	{ -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 },
Ryosei	27:dd9f27fce7d1	52	{ -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 },
Ryosei	27:dd9f27fce7d1	53	{ -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 },
Ryosei	27:dd9f27fce7d1	54	{ -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 },
Ryosei	27:dd9f27fce7d1	55	{ -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 }
M_souta	21:e3b58d675c1c	56	};
M_souta	21:e3b58d675c1c	57
M_souta	21:e3b58d675c1c	58	const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 };
M_souta	21:e3b58d675c1c	59
kishibekairohan	42:980af34f6fe3	60	uint8_t SetStatus(int pwmVal);
kishibekairohan	42:980af34f6fe3	61	uint8_t SetPWM(int pwmVal);
yabahiro	33:dd598bb23ad1	62
kishibekairohan	35:33c6cdba5630	63	DigitalIn EMC(PC_13); //非常停止確認用
yabahiro	33:dd598bb23ad1	64
yabahiro	33:dd598bb23ad1	65	bool start_flag = true;
yabahiro	33:dd598bb23ad1	66	bool UP_flag = false;
yabahiro	33:dd598bb23ad1	67	bool SW_flag = false;
yabahiro	33:dd598bb23ad1	68	bool Air_flag = false;
yabahiro	33:dd598bb23ad1	69	bool zyouge;
yabahiro	33:dd598bb23ad1	70	bool zyougedo;
yabahiro	33:dd598bb23ad1	71	bool dz2=true;
yabahiro	33:dd598bb23ad1	72	bool dz2i=false;
yabahiro	33:dd598bb23ad1	73	bool dz3=true;
yabahiro	33:dd598bb23ad1	74	bool dz3i=false;
yabahiro	33:dd598bb23ad1	75	bool dz4=true;
yabahiro	33:dd598bb23ad1	76	bool dz4i=false;
yabahiro	33:dd598bb23ad1	77	bool zone;
yabahiro	33:dd598bb23ad1	78	bool through=false;
yabahiro	33:dd598bb23ad1	79	bool counts=false;
yabahiro	33:dd598bb23ad1	80	bool mtc=false;
yabahiro	33:dd598bb23ad1	81	bool mtc2 = false;
yabahiro	33:dd598bb23ad1	82	bool emcs=false;
yabahiro	33:dd598bb23ad1	83	bool kiri;
yabahiro	33:dd598bb23ad1	84
yabahiro	33:dd598bb23ad1	85	int g[8];
yabahiro	33:dd598bb23ad1	86	int Twsh;
yabahiro	38:40e7fdf3c694	87	int testmode =0;
yabahiro	33:dd598bb23ad1	88	int mode =0;
yabahiro	33:dd598bb23ad1	89	int cross=0;//十字数える用
yabahiro	33:dd598bb23ad1	90	int cros=0;
yabahiro	33:dd598bb23ad1	91	int countss=100000;//wait代替え
yabahiro	33:dd598bb23ad1	92
yabahiro	33:dd598bb23ad1	93	///*******PWM調整用*******///
kishibekairohan	41:99a1158f3eca	94
kishibekairohan	42:980af34f6fe3	95	int fast = 60;
yabahiro	33:dd598bb23ad1	96	int normal = 40;
yabahiro	46:68296caae1af	97	int slow = 25;
yabahiro	33:dd598bb23ad1	98
t_yamamoto	0:669ef71cba68	99	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	100
t_yamamoto	0:669ef71cba68	101	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	102	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	103	static void Process0(void);
t_yamamoto	0:669ef71cba68	104	#endif
t_yamamoto	0:669ef71cba68	105	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	106	static void Process1(void);
t_yamamoto	0:669ef71cba68	107	#endif
t_yamamoto	0:669ef71cba68	108	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	109	static void Process2(void);
t_yamamoto	0:669ef71cba68	110	#endif
t_yamamoto	0:669ef71cba68	111	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	112	static void Process3(void);
t_yamamoto	0:669ef71cba68	113	#endif
t_yamamoto	0:669ef71cba68	114	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	115	static void Process4(void);
t_yamamoto	0:669ef71cba68	116	#endif
t_yamamoto	0:669ef71cba68	117	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	118	static void Process5(void);
t_yamamoto	0:669ef71cba68	119	#endif
t_yamamoto	0:669ef71cba68	120	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	121	static void Process6(void);
t_yamamoto	0:669ef71cba68	122	#endif
t_yamamoto	0:669ef71cba68	123	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	124	static void Process7(void);
t_yamamoto	0:669ef71cba68	125	#endif
t_yamamoto	0:669ef71cba68	126	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	127	static void Process8(void);
t_yamamoto	0:669ef71cba68	128	#endif
t_yamamoto	0:669ef71cba68	129	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	130	static void Process9(void);
t_yamamoto	0:669ef71cba68	131	#endif
t_yamamoto	0:669ef71cba68	132	#endif
t_yamamoto	0:669ef71cba68	133
t_yamamoto	0:669ef71cba68	134	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	135	{
Ryosei	27:dd9f27fce7d1	136	#pragma region USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	137	/Replace here with the initialization code of your variables./
Ryosei	27:dd9f27fce7d1	138
Ryosei	27:dd9f27fce7d1	139	#pragma endregion USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	140
Ryosei	27:dd9f27fce7d1	141	lock = true;
Ryosei	27:dd9f27fce7d1	142	processChangeComp = true;
Ryosei	27:dd9f27fce7d1	143	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	144
Ryosei	27:dd9f27fce7d1	145	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	146	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	147	Process[0] = Process0;
Ryosei	27:dd9f27fce7d1	148	#endif
Ryosei	27:dd9f27fce7d1	149	#if USE_PROCESS_NUM>1
Ryosei	27:dd9f27fce7d1	150	Process[1] = Process1;
Ryosei	27:dd9f27fce7d1	151	#endif
Ryosei	27:dd9f27fce7d1	152	#if USE_PROCESS_NUM>2
Ryosei	27:dd9f27fce7d1	153	Process[2] = Process2;
Ryosei	27:dd9f27fce7d1	154	#endif
Ryosei	27:dd9f27fce7d1	155	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	156	Process[3] = Process3;
Ryosei	27:dd9f27fce7d1	157	#endif
Ryosei	27:dd9f27fce7d1	158	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	159	Process[4] = Process4;
Ryosei	27:dd9f27fce7d1	160	#endif
Ryosei	27:dd9f27fce7d1	161	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	162	Process[5] = Process5;
Ryosei	27:dd9f27fce7d1	163	#endif
Ryosei	27:dd9f27fce7d1	164	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	165	Process[6] = Process6;
Ryosei	27:dd9f27fce7d1	166	#endif
Ryosei	27:dd9f27fce7d1	167	#if USE_PROCESS_NUM>7
Ryosei	27:dd9f27fce7d1	168	Process[7] = Process7;
Ryosei	27:dd9f27fce7d1	169	#endif
Ryosei	27:dd9f27fce7d1	170	#if USE_PROCESS_NUM>8
Ryosei	27:dd9f27fce7d1	171	Process[8] = Process8;
Ryosei	27:dd9f27fce7d1	172	#endif
Ryosei	27:dd9f27fce7d1	173	#if USE_PROCESS_NUM>9
Ryosei	27:dd9f27fce7d1	174	Process[9] = Process9;
Ryosei	27:dd9f27fce7d1	175	#endif
Ryosei	27:dd9f27fce7d1	176	#endif
t_yamamoto	0:669ef71cba68	177	}
t_yamamoto	0:669ef71cba68	178
t_yamamoto	0:669ef71cba68	179	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	180	{
Ryosei	27:dd9f27fce7d1	181	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	182	if(controller->Button.HOME) lock = false;
Ryosei	27:dd9f27fce7d1	183
Ryosei	27:dd9f27fce7d1	184	if(controller->Button.START && processChangeComp) {
Ryosei	27:dd9f27fce7d1	185	current++;
Ryosei	27:dd9f27fce7d1	186	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
Ryosei	27:dd9f27fce7d1	187	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	188	} else if(controller->Button.SELECT && processChangeComp) {
Ryosei	27:dd9f27fce7d1	189	current--;
Ryosei	27:dd9f27fce7d1	190	if (current < 0) current = 0;
Ryosei	27:dd9f27fce7d1	191	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	192	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
Ryosei	27:dd9f27fce7d1	193	#endif
Ryosei	27:dd9f27fce7d1	194
Ryosei	27:dd9f27fce7d1	195	#ifdef USE_MOTOR
Ryosei	27:dd9f27fce7d1	196	ACTUATORHUB::MOTOR::Motor::Update(motor);
Ryosei	27:dd9f27fce7d1	197	#endif
Ryosei	27:dd9f27fce7d1	198
Ryosei	27:dd9f27fce7d1	199	#ifdef USE_SOLENOID
Ryosei	27:dd9f27fce7d1	200	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
Ryosei	27:dd9f27fce7d1	201	#endif
Ryosei	27:dd9f27fce7d1	202
Ryosei	27:dd9f27fce7d1	203	#ifdef USE_RS485
Ryosei	27:dd9f27fce7d1	204	ACTUATORHUB::ActuatorHub::Update();
Ryosei	27:dd9f27fce7d1	205	//LINEHUB::LineHub::Update();
Ryosei	27:dd9f27fce7d1	206	#endif
Ryosei	27:dd9f27fce7d1	207
Ryosei	27:dd9f27fce7d1	208	}
Ryosei	27:dd9f27fce7d1	209
yabahiro	39:784552c26163	210	int point1;
Ryosei	27:dd9f27fce7d1	211	void SystemProcess()
Ryosei	27:dd9f27fce7d1	212	{
Ryosei	27:dd9f27fce7d1	213	SystemProcessInitialize();
yabahiro	33:dd598bb23ad1	214
Ryosei	27:dd9f27fce7d1	215	while(1) {
yabahiro	39:784552c26163	216	//pc.printf("4:%d\n\r",g[4]);
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	39:784552c26163	472	LED::LED::TapeledMode(2);
yabahiro	33:dd598bb23ad1	473	countss++;
yabahiro	33:dd598bb23ad1	474	if(mode==1) {//スタートゾーンから白線検知
yabahiro	33:dd598bb23ad1	475	fast=40;
yabahiro	33:dd598bb23ad1	476	normal=30;
yabahiro	33:dd598bb23ad1	477	slow=20;
kishibekairohan	45:0cf48a0605cd	478	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	479	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	480	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	481	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	482	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	483	motor[TIRE_BR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	484	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	485	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	486	if(g[2]==0&&countss>=100000) {
yabahiro	33:dd598bb23ad1	487	countss=100000;
yabahiro	33:dd598bb23ad1	488	cross=0;
yabahiro	33:dd598bb23ad1	489	mode=3;
yabahiro	33:dd598bb23ad1	490	}
yabahiro	46:68296caae1af	491	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	33:dd598bb23ad1	492	motor[TIRE_FR].pwm = 30;
yabahiro	33:dd598bb23ad1	493	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	494	motor[TIRE_FL].pwm = 255;
kishibekairohan	45:0cf48a0605cd	495	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	45:0cf48a0605cd	496	motor[TIRE_BR].pwm = 255;
kishibekairohan	45:0cf48a0605cd	497	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	498	motor[TIRE_BL].pwm = 30;
yabahiro	33:dd598bb23ad1	499	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	500	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	501	mode=10;
yabahiro	33:dd598bb23ad1	502	countss=100000;
yabahiro	33:dd598bb23ad1	503	}
yabahiro	46:68296caae1af	504	} else if(mode==10) { //縦ライントレース
yabahiro	33:dd598bb23ad1	505	switch(g[1]) {
yabahiro	33:dd598bb23ad1	506	case 98:
yabahiro	49:697b4e9ce884	507	motor[TIRE_FR].pwm = normal+55;
yabahiro	33:dd598bb23ad1	508	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	509	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	510	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	511	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	512	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	513	motor[TIRE_BL].pwm = normal+45;
yabahiro	33:dd598bb23ad1	514	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	515	mtc=true;
yabahiro	39:784552c26163	516	if(countss>80000) {
yabahiro	33:dd598bb23ad1	517	cross++;
yabahiro	33:dd598bb23ad1	518	countss=0;
yabahiro	33:dd598bb23ad1	519	}
yabahiro	46:68296caae1af	520
yabahiro	46:68296caae1af	521	if(cross==2) {
yabahiro	46:68296caae1af	522	fast = 10;
yabahiro	46:68296caae1af	523	normal = 10;
kishibekairohan	45:0cf48a0605cd	524	slow = 5;
kishibekairohan	45:0cf48a0605cd	525	}
yabahiro	46:68296caae1af	526
yabahiro	39:784552c26163	527	if(cross==3) {
kishibekairohan	45:0cf48a0605cd	528	fast=40;
kishibekairohan	45:0cf48a0605cd	529	normal=30;
kishibekairohan	45:0cf48a0605cd	530	slow=20;
yabahiro	33:dd598bb23ad1	531	mode=11;
yabahiro	33:dd598bb23ad1	532	countss=0;
yabahiro	33:dd598bb23ad1	533	cross=0;
yabahiro	33:dd598bb23ad1	534	}
yabahiro	33:dd598bb23ad1	535	break;
yabahiro	33:dd598bb23ad1	536	case 0:
yabahiro	49:697b4e9ce884	537	motor[TIRE_FR].pwm = fast+55;
yabahiro	33:dd598bb23ad1	538	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	539	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	540	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	541	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	542	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	543	motor[TIRE_BL].pwm = fast+45;
yabahiro	33:dd598bb23ad1	544	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	545	mtc=true;
yabahiro	33:dd598bb23ad1	546	break;
yabahiro	33:dd598bb23ad1	547	case 255:
yabahiro	49:697b4e9ce884	548	motor[TIRE_FR].pwm = fast+55;
yabahiro	33:dd598bb23ad1	549	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	550	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	551	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	552	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	553	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	554	motor[TIRE_BL].pwm = fast+45;
yabahiro	33:dd598bb23ad1	555	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	556	mtc=true;
yabahiro	33:dd598bb23ad1	557	break;
yabahiro	33:dd598bb23ad1	558	case 253:
yabahiro	49:697b4e9ce884	559	motor[TIRE_FR].pwm = slow+55;
yabahiro	33:dd598bb23ad1	560	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	561	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	562	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	563	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	564	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	565	motor[TIRE_BL].pwm = slow+45;
yabahiro	33:dd598bb23ad1	566	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	567	mtc=true;
yabahiro	33:dd598bb23ad1	568	break;
yabahiro	33:dd598bb23ad1	569	case 254:
yabahiro	49:697b4e9ce884	570	motor[TIRE_FR].pwm = normal+55;
yabahiro	33:dd598bb23ad1	571	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	572	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	573	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	574	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	575	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	576	motor[TIRE_BL].pwm = normal+45;
yabahiro	33:dd598bb23ad1	577	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	578	mtc=true;
yabahiro	33:dd598bb23ad1	579	break;
yabahiro	33:dd598bb23ad1	580	case 1:
yabahiro	49:697b4e9ce884	581	motor[TIRE_FR].pwm = slow+55;
yabahiro	33:dd598bb23ad1	582	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	583	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	584	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	585	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	586	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	587	motor[TIRE_BL].pwm = slow+45;
yabahiro	33:dd598bb23ad1	588	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	589	mtc=true;
yabahiro	33:dd598bb23ad1	590	break;
yabahiro	33:dd598bb23ad1	591	case 3:
yabahiro	33:dd598bb23ad1	592	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	593	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	594	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	595	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	596	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	597	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	598	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	599	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	600	mtc=true;
yabahiro	33:dd598bb23ad1	601	break;
yabahiro	33:dd598bb23ad1	602	case 2:
yabahiro	33:dd598bb23ad1	603	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	604	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	605	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	606	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	607	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	608	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	609	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	610	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	611	mtc=true;
yabahiro	33:dd598bb23ad1	612	break;
yabahiro	33:dd598bb23ad1	613	}
kishibekairohan	45:0cf48a0605cd	614	if(g[1]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	615	switch(g[0]) {
yabahiro	33:dd598bb23ad1	616	case 0:
yabahiro	33:dd598bb23ad1	617	mtc=false;
yabahiro	33:dd598bb23ad1	618	break;
yabahiro	33:dd598bb23ad1	619	case 255:
kishibekairohan	45:0cf48a0605cd	620	motor[TIRE_FL].pwm += 3;
yabahiro	33:dd598bb23ad1	621	mtc=false;
yabahiro	33:dd598bb23ad1	622	break;
yabahiro	33:dd598bb23ad1	623	case 253:
kishibekairohan	45:0cf48a0605cd	624	motor[TIRE_FL].pwm += 6;
yabahiro	33:dd598bb23ad1	625	mtc=false;
yabahiro	33:dd598bb23ad1	626	break;
yabahiro	33:dd598bb23ad1	627	case 254:
kishibekairohan	45:0cf48a0605cd	628	motor[TIRE_FL].pwm += 9;
yabahiro	33:dd598bb23ad1	629	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	630	mtc=false;
yabahiro	33:dd598bb23ad1	631	break;
yabahiro	33:dd598bb23ad1	632	case 1:
kishibekairohan	45:0cf48a0605cd	633	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	634	mtc=false;
yabahiro	33:dd598bb23ad1	635	break;
yabahiro	33:dd598bb23ad1	636	case 3:
kishibekairohan	45:0cf48a0605cd	637	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	638	mtc=false;
yabahiro	33:dd598bb23ad1	639	break;
yabahiro	33:dd598bb23ad1	640	case 2:
kishibekairohan	45:0cf48a0605cd	641	motor[TIRE_FR].pwm += 9;
yabahiro	33:dd598bb23ad1	642	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	643	mtc=false;
yabahiro	33:dd598bb23ad1	644	break;
yabahiro	33:dd598bb23ad1	645	}
yabahiro	33:dd598bb23ad1	646	}
yabahiro	33:dd598bb23ad1	647	} else if(mode==11) {
yabahiro	33:dd598bb23ad1	648	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	649	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	650	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	651	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	652	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	653	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	654	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	655	motor[TIRE_BL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	656	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	33:dd598bb23ad1	657	countss=0;
yabahiro	33:dd598bb23ad1	658	cross=0;
yabahiro	33:dd598bb23ad1	659	mode=20;
yabahiro	33:dd598bb23ad1	660	}
yabahiro	46:68296caae1af	661	} else if(mode==20) {
yabahiro	48:5562a99479e5	662	solenoid.solenoid2= SOLENOID_ON;
yabahiro	33:dd598bb23ad1	663	switch(g[2]) {
yabahiro	33:dd598bb23ad1	664	case 98:
yabahiro	49:697b4e9ce884	665	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	666	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	667	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	668	motor[TIRE_FL].dir = FOR;
yabahiro	49:697b4e9ce884	669	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	670	motor[TIRE_BR].dir = BACK;
yabahiro	49:697b4e9ce884	671	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	672	motor[TIRE_BL].dir = BACK;
yabahiro	49:697b4e9ce884	673	if(countss>20000) {
yabahiro	33:dd598bb23ad1	674	cross++;
yabahiro	33:dd598bb23ad1	675	countss=0;
yabahiro	33:dd598bb23ad1	676	}
yabahiro	33:dd598bb23ad1	677	mtc2=true;
yabahiro	46:68296caae1af	678
kishibekairohan	45:0cf48a0605cd	679	if(YELLOW) {
kishibekairohan	45:0cf48a0605cd	680	if(cross==1) {
kishibekairohan	47:a9cad8502999	681	fast=20;
kishibekairohan	47:a9cad8502999	682	normal=15;
kishibekairohan	47:a9cad8502999	683	slow=15;
yabahiro	49:697b4e9ce884	684	}
yabahiro	49:697b4e9ce884	685	if(cross==2) {
yabahiro	39:784552c26163	686	mode=21;
yabahiro	39:784552c26163	687	countss=0;
yabahiro	39:784552c26163	688	cross=0;
yabahiro	39:784552c26163	689	}
yabahiro	39:784552c26163	690	} else {
kishibekairohan	45:0cf48a0605cd	691	if(cross==3) {
yabahiro	39:784552c26163	692	mode=21;
yabahiro	39:784552c26163	693	countss=0;
yabahiro	39:784552c26163	694	cross=0;
yabahiro	39:784552c26163	695	}
yabahiro	39:784552c26163	696	}
yabahiro	33:dd598bb23ad1	697	break;
yabahiro	33:dd598bb23ad1	698	case 0:
kishibekairohan	45:0cf48a0605cd	699	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	700	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	701	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	702	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	703	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	704	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	705	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	706	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	707	mtc2=true;
yabahiro	33:dd598bb23ad1	708	break;
yabahiro	33:dd598bb23ad1	709	case 255:
kishibekairohan	45:0cf48a0605cd	710	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	711	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	712	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	713	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	714	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	715	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	716	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	717	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	718	mtc2=true;
yabahiro	33:dd598bb23ad1	719	break;
yabahiro	33:dd598bb23ad1	720	case 253:
yabahiro	33:dd598bb23ad1	721	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	722	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	723	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	724	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	725	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	726	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	727	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	728	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	729	mtc2=true;
yabahiro	33:dd598bb23ad1	730	break;
yabahiro	33:dd598bb23ad1	731	case 254:
yabahiro	33:dd598bb23ad1	732	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	733	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	734	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	735	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	736	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	737	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	738	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	739	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	740	mtc2=true;
yabahiro	33:dd598bb23ad1	741	break;
yabahiro	33:dd598bb23ad1	742	case 1:
kishibekairohan	45:0cf48a0605cd	743	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	744	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	745	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	746	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	747	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	748	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	749	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	750	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	751	mtc2=true;
yabahiro	33:dd598bb23ad1	752	break;
yabahiro	33:dd598bb23ad1	753	case 3:
kishibekairohan	45:0cf48a0605cd	754	motor[TIRE_FR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	755	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	756	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	757	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	758	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	759	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	760	motor[TIRE_BL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	761	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	762	mtc2=true;
yabahiro	33:dd598bb23ad1	763	break;
yabahiro	33:dd598bb23ad1	764	case 2:
kishibekairohan	45:0cf48a0605cd	765	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	766	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	767	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	768	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	769	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	770	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	771	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	772	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	773	mtc2=true;
yabahiro	33:dd598bb23ad1	774	break;
yabahiro	33:dd598bb23ad1	775	}
yabahiro	33:dd598bb23ad1	776	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	777	switch(g[3]) {
yabahiro	33:dd598bb23ad1	778	case 0:
yabahiro	33:dd598bb23ad1	779	mtc2=false;
yabahiro	33:dd598bb23ad1	780	break;
yabahiro	33:dd598bb23ad1	781	case 255:
yabahiro	33:dd598bb23ad1	782	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	783	mtc2=false;
yabahiro	33:dd598bb23ad1	784	break;
yabahiro	33:dd598bb23ad1	785	case 253:
yabahiro	33:dd598bb23ad1	786	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	787	mtc2=false;
yabahiro	33:dd598bb23ad1	788	break;
yabahiro	33:dd598bb23ad1	789	case 254:
kishibekairohan	45:0cf48a0605cd	790	motor[TIRE_BL].pwm += 15;
yabahiro	33:dd598bb23ad1	791	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	792	mtc2=false;
yabahiro	33:dd598bb23ad1	793	break;
yabahiro	33:dd598bb23ad1	794	case 1:
yabahiro	33:dd598bb23ad1	795	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	796	mtc2=false;
yabahiro	33:dd598bb23ad1	797	break;
yabahiro	33:dd598bb23ad1	798	case 3:
yabahiro	33:dd598bb23ad1	799	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	800	mtc2=false;
yabahiro	33:dd598bb23ad1	801	break;
yabahiro	33:dd598bb23ad1	802	case 2:
kishibekairohan	45:0cf48a0605cd	803	motor[TIRE_FL].pwm += 15;
yabahiro	33:dd598bb23ad1	804	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	805	mtc2=false;
yabahiro	33:dd598bb23ad1	806	break;
yabahiro	33:dd598bb23ad1	807	}
yabahiro	33:dd598bb23ad1	808	}
yabahiro	33:dd598bb23ad1	809	}
yabahiro	39:784552c26163	810	if(YELLOW) {
yabahiro	39:784552c26163	811	if(mode==21) {
yabahiro	33:dd598bb23ad1	812	motor[TIRE_FR].pwm = 20;
yabahiro	33:dd598bb23ad1	813	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	814	motor[TIRE_FL].pwm = 20;
yabahiro	33:dd598bb23ad1	815	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	816	motor[TIRE_BR].pwm = 20;
yabahiro	33:dd598bb23ad1	817	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	818	motor[TIRE_BL].pwm = 20;
yabahiro	33:dd598bb23ad1	819	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	820	if(g[3]==98&&countss>=10000) {
yabahiro	39:784552c26163	821	mode=22;
yabahiro	33:dd598bb23ad1	822	countss=0;
yabahiro	39:784552c26163	823	fast=60;
yabahiro	39:784552c26163	824	normal=40;
yabahiro	39:784552c26163	825	slow=20;
yabahiro	39:784552c26163	826	}
yabahiro	46:68296caae1af	827	} else if(mode==22) {
yabahiro	39:784552c26163	828	if(g[4]==3\|\|g[4]==2) {
yabahiro	39:784552c26163	829	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	830	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	831	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	832	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	833	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	834	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	835	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	836	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	837	}
yabahiro	39:784552c26163	838	if(g[4]==253\|\|g[4]==254) {
yabahiro	39:784552c26163	839	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	840	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	841	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	842	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	843	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	844	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	845	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	846	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	847	}
yabahiro	39:784552c26163	848	switch(g[2]) {
yabahiro	39:784552c26163	849	case 0:
yabahiro	39:784552c26163	850	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	851	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	852	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	853	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	854	break;
yabahiro	39:784552c26163	855	case 255:
yabahiro	39:784552c26163	856	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	857	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	858	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	859	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	860	break;
yabahiro	39:784552c26163	861	case 253:
yabahiro	39:784552c26163	862	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	863	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	864	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	865	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	866	break;
yabahiro	39:784552c26163	867	case 254:
yabahiro	39:784552c26163	868	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	869	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	870	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	871	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	872	break;
yabahiro	39:784552c26163	873	case 1:
yabahiro	39:784552c26163	874	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	875	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	876	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	877	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	878	break;
yabahiro	39:784552c26163	879	case 3:
yabahiro	39:784552c26163	880	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	881	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	882	motor[TIRE_BR].pwm = 40;
yabahiro	39:784552c26163	883	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	884	break;
yabahiro	39:784552c26163	885	case 2:
yabahiro	39:784552c26163	886	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	887	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	888	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	889	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	890	break;
yabahiro	39:784552c26163	891	}
yabahiro	39:784552c26163	892	switch(g[3]) {
yabahiro	39:784552c26163	893	case 0:
yabahiro	39:784552c26163	894	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	895	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	896	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	897	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	898	break;
yabahiro	39:784552c26163	899	case 255:
yabahiro	39:784552c26163	900	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	901	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	902	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	903	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	904	case 253:
yabahiro	39:784552c26163	905	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	906	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	907	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	908	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	909	break;
yabahiro	39:784552c26163	910	case 254:
yabahiro	39:784552c26163	911	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	912	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	913	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	914	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	915	break;
yabahiro	39:784552c26163	916	case 1:
yabahiro	39:784552c26163	917	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	918	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	919	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	920	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	921	break;
yabahiro	39:784552c26163	922	case 3:
yabahiro	39:784552c26163	923	motor[TIRE_FL].pwm = 40;
yabahiro	39:784552c26163	924	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	925	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	926	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	927	break;
yabahiro	39:784552c26163	928	case 2:
yabahiro	39:784552c26163	929	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	930	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	931	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	932	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	933	break;
yabahiro	39:784552c26163	934	}
yabahiro	39:784552c26163	935	if(g[3]==0&&g[2]==0) {
yabahiro	39:784552c26163	936	mode=23;
yabahiro	33:dd598bb23ad1	937	countss=0;
yabahiro	33:dd598bb23ad1	938	}
yabahiro	46:68296caae1af	939	} else if(mode==23) {
yabahiro	39:784552c26163	940	switch(g[4]) {
yabahiro	39:784552c26163	941	case 98:
kishibekairohan	45:0cf48a0605cd	942	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	943	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	944	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	945	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	946	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	947	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	948	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	949	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	950	break;
yabahiro	39:784552c26163	951	case 99:
yabahiro	39:784552c26163	952	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	953	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	954	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	955	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	956	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	957	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	958	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	959	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	960	break;
yabahiro	39:784552c26163	961	case 0:
kishibekairohan	45:0cf48a0605cd	962	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	963	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	964	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	965	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	966	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	967	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	968	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	969	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	970	break;
yabahiro	39:784552c26163	971	case 255:
yabahiro	39:784552c26163	972	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	973	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	974	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	975	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	976	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	977	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	978	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	979	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	980	break;
yabahiro	39:784552c26163	981	case 253:
kishibekairohan	45:0cf48a0605cd	982	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	983	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	984	motor[TIRE_FL].pwm = slow-5;
yabahiro	39:784552c26163	985	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	986	motor[TIRE_BR].pwm = slow-5;
yabahiro	39:784552c26163	987	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	988	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	989	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	990	break;
yabahiro	39:784552c26163	991	case 254:
kishibekairohan	45:0cf48a0605cd	992	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	993	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	994	motor[TIRE_FL].pwm = normal-5;
yabahiro	39:784552c26163	995	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	996	motor[TIRE_BR].pwm = normal-5;
yabahiro	39:784552c26163	997	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	998	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	999	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1000	break;
yabahiro	39:784552c26163	1001	case 1:
yabahiro	39:784552c26163	1002	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1003	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1004	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1005	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1006	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1007	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1008	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1009	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1010	break;
yabahiro	39:784552c26163	1011	case 3:
kishibekairohan	45:0cf48a0605cd	1012	motor[TIRE_FR].pwm = slow-5;
yabahiro	39:784552c26163	1013	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1014	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	1015	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1016	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	1017	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1018	motor[TIRE_BL].pwm = slow-5;
yabahiro	39:784552c26163	1019	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1020	break;
yabahiro	39:784552c26163	1021	case 2:
kishibekairohan	45:0cf48a0605cd	1022	motor[TIRE_FR].pwm = normal-5;
yabahiro	39:784552c26163	1023	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1024	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	1025	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1026	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	1027	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1028	motor[TIRE_BL].pwm = normal-5;
yabahiro	39:784552c26163	1029	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1030	break;
yabahiro	39:784552c26163	1031	}
yabahiro	49:697b4e9ce884	1032	if(g[0]==98) {
yabahiro	49:697b4e9ce884	1033	fast=30;
yabahiro	49:697b4e9ce884	1034	normal=25;
yabahiro	49:697b4e9ce884	1035	slow=20;
yabahiro	49:697b4e9ce884	1036	}
yabahiro	39:784552c26163	1037	if(g[2]==254&&countss>=100000) {
yabahiro	39:784552c26163	1038	mode=24;
yabahiro	48:5562a99479e5	1039	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	1040	countss=0;
yabahiro	39:784552c26163	1041	fast=60;
yabahiro	39:784552c26163	1042	normal=40;
kishibekairohan	45:0cf48a0605cd	1043	slow=20;
yabahiro	39:784552c26163	1044	}
yabahiro	46:68296caae1af	1045	} else if(mode==24) {
yabahiro	39:784552c26163	1046	if(g[4]==3\|\|g[4]==2) {
yabahiro	39:784552c26163	1047	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1048	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	1049	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1050	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1051	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1052	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1053	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1054	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1055	}
yabahiro	39:784552c26163	1056	if(g[4]==253\|\|g[4]==254) {
yabahiro	39:784552c26163	1057	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1058	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1059	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1060	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	1061	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1062	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1063	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1064	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1065	}
yabahiro	39:784552c26163	1066	switch(g[2]) {
yabahiro	39:784552c26163	1067	case 0:
yabahiro	39:784552c26163	1068	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	1069	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1070	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1071	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1072	break;
yabahiro	39:784552c26163	1073	case 255:
yabahiro	39:784552c26163	1074	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1075	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1076	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1077	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1078	break;
yabahiro	39:784552c26163	1079	case 253:
yabahiro	39:784552c26163	1080	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1081	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1082	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1083	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1084	break;
yabahiro	39:784552c26163	1085	case 254:
yabahiro	39:784552c26163	1086	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1087	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1088	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1089	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1090	break;
yabahiro	39:784552c26163	1091	case 1:
yabahiro	39:784552c26163	1092	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	1093	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1094	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1095	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1096	break;
yabahiro	39:784552c26163	1097	case 3:
yabahiro	39:784552c26163	1098	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	1099	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1100	motor[TIRE_BR].pwm = 40;
yabahiro	39:784552c26163	1101	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1102	break;
yabahiro	39:784552c26163	1103	case 2:
yabahiro	39:784552c26163	1104	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1105	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	1106	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1107	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1108	break;
yabahiro	39:784552c26163	1109	}
yabahiro	39:784552c26163	1110	switch(g[3]) {
yabahiro	39:784552c26163	1111	case 0:
yabahiro	39:784552c26163	1112	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1113	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1114	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	1115	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1116	break;
yabahiro	39:784552c26163	1117	case 255:
yabahiro	39:784552c26163	1118	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1119	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1120	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1121	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1122	case 253:
yabahiro	39:784552c26163	1123	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1124	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1125	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1126	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1127	break;
yabahiro	39:784552c26163	1128	case 254:
yabahiro	39:784552c26163	1129	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1130	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	1131	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1132	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1133	break;
yabahiro	39:784552c26163	1134	case 1:
yabahiro	39:784552c26163	1135	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1136	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1137	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	1138	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1139	break;
yabahiro	39:784552c26163	1140	case 3:
yabahiro	39:784552c26163	1141	motor[TIRE_FL].pwm = 40;
yabahiro	39:784552c26163	1142	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1143	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	1144	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1145	break;
yabahiro	39:784552c26163	1146	case 2:
yabahiro	39:784552c26163	1147	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1148	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1149	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1150	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1151	break;
yabahiro	33:dd598bb23ad1	1152	}
yabahiro	39:784552c26163	1153	if(g[3]==0&&g[2]==0) {
yabahiro	46:68296caae1af	1154	mode=25;
yabahiro	39:784552c26163	1155	}
yabahiro	46:68296caae1af	1156	} else if(mode==25) {
yabahiro	46:68296caae1af	1157	motor[TIRE_FR].pwm = 100;
yabahiro	46:68296caae1af	1158	motor[TIRE_FR].dir = BRAKE;
yabahiro	46:68296caae1af	1159	motor[TIRE_FL].pwm = 100;
yabahiro	46:68296caae1af	1160	motor[TIRE_FL].dir = BRAKE;
yabahiro	46:68296caae1af	1161	motor[TIRE_BR].pwm = 100;
yabahiro	46:68296caae1af	1162	motor[TIRE_BR].dir = BRAKE;
yabahiro	46:68296caae1af	1163	motor[TIRE_BL].pwm = 100;
yabahiro	46:68296caae1af	1164	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	1165	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	1166	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	1167	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	1168	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	1169	countss=0;
yabahiro	48:5562a99479e5	1170	mode=26;
yabahiro	48:5562a99479e5	1171	}
yabahiro	46:68296caae1af	1172	} else {
yabahiro	46:68296caae1af	1173	motor[MOTOR_0].pwm = 100;
yabahiro	46:68296caae1af	1174	motor[MOTOR_0].dir = BACK;
yabahiro	46:68296caae1af	1175	}
yabahiro	46:68296caae1af	1176	} else if(mode==26) {
yabahiro	39:784552c26163	1177	switch(g[4]) {
yabahiro	39:784552c26163	1178	case 98:
kishibekairohan	45:0cf48a0605cd	1179	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1180	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1181	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1182	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1183	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1184	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1185	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1186	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1187	break;
yabahiro	39:784552c26163	1188	case 99:
yabahiro	39:784552c26163	1189	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1190	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1191	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1192	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1193	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1194	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1195	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1196	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1197	break;
yabahiro	39:784552c26163	1198	case 0:
kishibekairohan	45:0cf48a0605cd	1199	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1200	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1201	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1202	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1203	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1204	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1205	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1206	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1207	break;
yabahiro	39:784552c26163	1208	case 255:
yabahiro	39:784552c26163	1209	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1210	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1211	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1212	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1213	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1214	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1215	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1216	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1217	break;
yabahiro	39:784552c26163	1218	case 253:
kishibekairohan	45:0cf48a0605cd	1219	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1220	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1221	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1222	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1223	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1224	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1225	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1226	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1227	break;
yabahiro	39:784552c26163	1228	case 254:
kishibekairohan	45:0cf48a0605cd	1229	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1230	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1231	motor[TIRE_FL].pwm = 40;
yabahiro	39:784552c26163	1232	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1233	motor[TIRE_BR].pwm = 40;
yabahiro	39:784552c26163	1234	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1235	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1236	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1237	break;
yabahiro	39:784552c26163	1238	case 1:
yabahiro	39:784552c26163	1239	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1240	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1241	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1242	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1243	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1244	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1245	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1246	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1247	break;
yabahiro	39:784552c26163	1248	case 3:
kishibekairohan	45:0cf48a0605cd	1249	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1250	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1251	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1252	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1253	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1254	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1255	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1256	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1257	break;
yabahiro	39:784552c26163	1258	case 2:
kishibekairohan	45:0cf48a0605cd	1259	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1260	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1261	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1262	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1263	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1264	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1265	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1266	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1267	break;
yabahiro	39:784552c26163	1268	}
kishibekairohan	45:0cf48a0605cd	1269	if(g[0]==98) {
yabahiro	39:784552c26163	1270	mode=31;
yabahiro	33:dd598bb23ad1	1271	}
yabahiro	33:dd598bb23ad1	1272	}
yabahiro	46:68296caae1af	1273	} else {
yabahiro	39:784552c26163	1274	if(mode==21) {
kishibekairohan	47:a9cad8502999	1275	motor[TIRE_FR].pwm = 255;
kishibekairohan	47:a9cad8502999	1276	motor[TIRE_FR].dir = BRAKE;
yabahiro	39:784552c26163	1277	motor[TIRE_FL].pwm = 30;
yabahiro	33:dd598bb23ad1	1278	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1279	motor[TIRE_BR].pwm = 30;
yabahiro	33:dd598bb23ad1	1280	motor[TIRE_BR].dir = BACK;
kishibekairohan	47:a9cad8502999	1281	motor[TIRE_BL].pwm = 255;
kishibekairohan	47:a9cad8502999	1282	motor[TIRE_BL].dir = BRAKE;
yabahiro	49:697b4e9ce884	1283	if(g[0]==0) {
yabahiro	39:784552c26163	1284	mode=22;
yabahiro	39:784552c26163	1285	fast=60;
yabahiro	39:784552c26163	1286	normal=40;
kishibekairohan	47:a9cad8502999	1287	slow=25;
yabahiro	39:784552c26163	1288	}
yabahiro	39:784552c26163	1289	} else if(mode==22) {
yabahiro	48:5562a99479e5	1290	if(g[0]==98) {
kishibekairohan	47:a9cad8502999	1291	slow=25;
kishibekairohan	47:a9cad8502999	1292	normal=30;
kishibekairohan	47:a9cad8502999	1293	fast=40;
kishibekairohan	47:a9cad8502999	1294	}
yabahiro	39:784552c26163	1295	if(g[3]==0) {
kishibekairohan	47:a9cad8502999	1296	slow=25;
kishibekairohan	47:a9cad8502999	1297	normal=40;
kishibekairohan	47:a9cad8502999	1298	fast=40;
yabahiro	39:784552c26163	1299	mode=23;
yabahiro	39:784552c26163	1300	}
yabahiro	39:784552c26163	1301	switch(g[0]) {
yabahiro	39:784552c26163	1302	case 98:
yabahiro	48:5562a99479e5	1303	solenoid.solenoid2 = SOLENOID_OFF;
kishibekairohan	47:a9cad8502999	1304	fast=40;
kishibekairohan	47:a9cad8502999	1305	normal=30;
kishibekairohan	47:a9cad8502999	1306	slow=25;
yabahiro	39:784552c26163	1307	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1308	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1309	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1310	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1311	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1312	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1313	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1314	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1315	break;
yabahiro	39:784552c26163	1316	case 0:
yabahiro	39:784552c26163	1317	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1318	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1319	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1320	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1321	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1322	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1323	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1324	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1325	mtc=true;
yabahiro	39:784552c26163	1326	break;
yabahiro	39:784552c26163	1327	case 255:
yabahiro	39:784552c26163	1328	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1329	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1330	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1331	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1332	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1333	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1334	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1335	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1336	mtc=true;
yabahiro	39:784552c26163	1337	break;
yabahiro	39:784552c26163	1338	case 253:
yabahiro	39:784552c26163	1339	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1340	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1341	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1342	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1343	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1344	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1345	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1346	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1347	mtc=true;
yabahiro	39:784552c26163	1348	break;
yabahiro	39:784552c26163	1349	case 254:
yabahiro	39:784552c26163	1350	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1351	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1352	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1353	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1354	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1355	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1356	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1357	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1358	mtc=true;
yabahiro	39:784552c26163	1359	break;
yabahiro	39:784552c26163	1360	case 1:
yabahiro	39:784552c26163	1361	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1362	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1363	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1364	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1365	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1366	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1367	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1368	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1369	mtc=true;
yabahiro	39:784552c26163	1370	break;
yabahiro	39:784552c26163	1371	case 3:
yabahiro	39:784552c26163	1372	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1373	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1374	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1375	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1376	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1377	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1378	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1379	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1380	mtc=true;
yabahiro	39:784552c26163	1381	break;
yabahiro	39:784552c26163	1382	case 2:
yabahiro	39:784552c26163	1383	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1384	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1385	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1386	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1387	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1388	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1389	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1390	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1391	mtc=true;
yabahiro	39:784552c26163	1392	break;
yabahiro	39:784552c26163	1393	}
yabahiro	39:784552c26163	1394	if(g[0]!=98&&mtc==true) {
yabahiro	39:784552c26163	1395	switch(g[0]) {
yabahiro	39:784552c26163	1396	case 0:
yabahiro	39:784552c26163	1397	mtc=false;
yabahiro	39:784552c26163	1398	break;
yabahiro	39:784552c26163	1399	case 255:
yabahiro	39:784552c26163	1400	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1401	mtc=false;
yabahiro	39:784552c26163	1402	break;
yabahiro	39:784552c26163	1403	case 253:
yabahiro	39:784552c26163	1404	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1405	mtc=false;
yabahiro	39:784552c26163	1406	break;
yabahiro	39:784552c26163	1407	case 254:
yabahiro	39:784552c26163	1408	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1409	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1410	mtc=false;
yabahiro	39:784552c26163	1411	break;
yabahiro	39:784552c26163	1412	case 1:
yabahiro	39:784552c26163	1413	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1414	mtc=false;
yabahiro	39:784552c26163	1415	break;
yabahiro	39:784552c26163	1416	case 3:
yabahiro	39:784552c26163	1417	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1418	mtc=false;
yabahiro	39:784552c26163	1419	break;
yabahiro	39:784552c26163	1420	case 2:
yabahiro	39:784552c26163	1421	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1422	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1423	mtc=false;
yabahiro	39:784552c26163	1424	break;
yabahiro	39:784552c26163	1425	}
yabahiro	39:784552c26163	1426	}
yabahiro	39:784552c26163	1427	} else if(mode==23) {
yabahiro	39:784552c26163	1428	if(UPLS==true\|\|DOLS==true) {
yabahiro	48:5562a99479e5	1429	if(UPLS==true\|\|DOLS==true) {
yabahiro	48:5562a99479e5	1430	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	1431	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	1432	fast=60;
yabahiro	48:5562a99479e5	1433	normal=40;
yabahiro	48:5562a99479e5	1434	slow=20;
yabahiro	48:5562a99479e5	1435	countss=0;
yabahiro	48:5562a99479e5	1436	mode=24;
yabahiro	48:5562a99479e5	1437	}
yabahiro	39:784552c26163	1438	} else {
yabahiro	39:784552c26163	1439	motor[MOTOR_0].pwm = 100;
yabahiro	39:784552c26163	1440	motor[MOTOR_0].dir = BACK;
yabahiro	39:784552c26163	1441	}
kishibekairohan	47:a9cad8502999	1442	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	1443	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1444	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	1445	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1446	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	1447	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1448	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	1449	motor[TIRE_BL].dir = BRAKE;
yabahiro	39:784552c26163	1450	} else if(mode==24) {
yabahiro	39:784552c26163	1451	if(g[0]==98&&countss>=40000) {
yabahiro	39:784552c26163	1452	mode=31;
yabahiro	39:784552c26163	1453	countss=0;
yabahiro	39:784552c26163	1454	}
yabahiro	39:784552c26163	1455	switch(g[0]) {
yabahiro	39:784552c26163	1456	case 98:
kishibekairohan	47:a9cad8502999	1457	fast=40;
kishibekairohan	47:a9cad8502999	1458	normal=30;
kishibekairohan	47:a9cad8502999	1459	slow=25;
yabahiro	39:784552c26163	1460	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1461	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1462	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1463	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1464	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1465	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1466	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1467	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1468	break;
yabahiro	39:784552c26163	1469	case 0:
yabahiro	39:784552c26163	1470	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1471	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1472	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1473	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1474	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1475	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1476	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1477	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1478	mtc=true;
yabahiro	39:784552c26163	1479	break;
yabahiro	39:784552c26163	1480	case 255:
yabahiro	39:784552c26163	1481	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1482	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1483	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1484	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1485	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1486	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1487	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1488	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1489	mtc=true;
yabahiro	39:784552c26163	1490	break;
yabahiro	39:784552c26163	1491	case 253:
yabahiro	39:784552c26163	1492	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1493	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1494	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1495	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1496	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1497	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1498	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1499	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1500	mtc=true;
yabahiro	39:784552c26163	1501	break;
yabahiro	39:784552c26163	1502	case 254:
yabahiro	39:784552c26163	1503	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1504	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1505	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1506	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1507	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1508	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1509	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1510	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1511	mtc=true;
yabahiro	39:784552c26163	1512	break;
yabahiro	39:784552c26163	1513	case 1:
yabahiro	39:784552c26163	1514	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1515	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1516	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1517	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1518	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1519	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1520	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1521	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1522	mtc=true;
yabahiro	39:784552c26163	1523	break;
yabahiro	39:784552c26163	1524	case 3:
yabahiro	39:784552c26163	1525	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1526	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1527	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1528	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1529	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1530	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1531	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1532	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1533	mtc=true;
yabahiro	39:784552c26163	1534	break;
yabahiro	39:784552c26163	1535	case 2:
yabahiro	39:784552c26163	1536	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1537	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1538	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1539	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1540	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1541	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1542	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1543	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1544	mtc=true;
yabahiro	39:784552c26163	1545	break;
yabahiro	39:784552c26163	1546	}
yabahiro	39:784552c26163	1547	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1548	switch(g[1]) {
yabahiro	39:784552c26163	1549	case 0:
yabahiro	39:784552c26163	1550	mtc=false;
yabahiro	39:784552c26163	1551	break;
yabahiro	39:784552c26163	1552	case 255:
yabahiro	39:784552c26163	1553	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1554	mtc=false;
yabahiro	39:784552c26163	1555	break;
yabahiro	39:784552c26163	1556	case 253:
yabahiro	39:784552c26163	1557	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1558	mtc=false;
yabahiro	39:784552c26163	1559	break;
yabahiro	39:784552c26163	1560	case 254:
yabahiro	39:784552c26163	1561	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1562	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1563	mtc=false;
yabahiro	39:784552c26163	1564	break;
yabahiro	39:784552c26163	1565	case 1:
yabahiro	39:784552c26163	1566	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1567	mtc=false;
yabahiro	39:784552c26163	1568	break;
yabahiro	39:784552c26163	1569	case 3:
yabahiro	39:784552c26163	1570	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1571	mtc=false;
yabahiro	39:784552c26163	1572	break;
yabahiro	39:784552c26163	1573	case 2:
yabahiro	39:784552c26163	1574	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1575	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1576	mtc=false;
yabahiro	39:784552c26163	1577	break;
yabahiro	39:784552c26163	1578	}
yabahiro	33:dd598bb23ad1	1579	}
yabahiro	33:dd598bb23ad1	1580	}
yabahiro	33:dd598bb23ad1	1581	}
yabahiro	48:5562a99479e5	1582
kishibekairohan	47:a9cad8502999	1583	/*
yabahiro	39:784552c26163	1584	if(mode==31) {
yabahiro	33:dd598bb23ad1	1585	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1586	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1587	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1588	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1589	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1590	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1591	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1592	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1593	if(countss>=5000) {
yabahiro	33:dd598bb23ad1	1594	countss=0;
yabahiro	33:dd598bb23ad1	1595	mode=33;
yabahiro	33:dd598bb23ad1	1596	}
yabahiro	33:dd598bb23ad1	1597	} else if(mode==33) {
yabahiro	33:dd598bb23ad1	1598	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1599	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1600	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1601	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1602	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1603	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1604	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1605	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1606	if(g[3]==0) {
yabahiro	39:784552c26163	1607	cross=0;
yabahiro	33:dd598bb23ad1	1608	countss=0;
yabahiro	33:dd598bb23ad1	1609	mode=40;
yabahiro	33:dd598bb23ad1	1610	}
yabahiro	48:5562a99479e5	1611	} else
kishibekairohan	47:a9cad8502999	1612	*/
kishibekairohan	47:a9cad8502999	1613	if(mode==31) {
kishibekairohan	47:a9cad8502999	1614	motor[TIRE_FR].pwm = 45;
kishibekairohan	47:a9cad8502999	1615	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1616	motor[TIRE_FL].pwm = 255;
kishibekairohan	47:a9cad8502999	1617	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1618	motor[TIRE_BR].pwm = 255;
kishibekairohan	47:a9cad8502999	1619	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1620	motor[TIRE_BL].pwm = 45;
kishibekairohan	47:a9cad8502999	1621	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	1622	if(g[2]==0) {
kishibekairohan	47:a9cad8502999	1623	cross=0;
kishibekairohan	47:a9cad8502999	1624	countss=0;
kishibekairohan	47:a9cad8502999	1625	mode=40;
kishibekairohan	47:a9cad8502999	1626	}
yabahiro	33:dd598bb23ad1	1627	} else if(mode==40) {
yabahiro	49:697b4e9ce884	1628	if(LIF\|\|LIB) {
yabahiro	49:697b4e9ce884	1629	mode=42;
yabahiro	49:697b4e9ce884	1630	}
yabahiro	33:dd598bb23ad1	1631	switch(g[3]) {
yabahiro	33:dd598bb23ad1	1632	case 98:
kishibekairohan	47:a9cad8502999	1633	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1634	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1635	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1636	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1637	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1638	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1639	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1640	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1641	if(countss>10000) {
yabahiro	33:dd598bb23ad1	1642	cross++;
yabahiro	33:dd598bb23ad1	1643	countss=0;
yabahiro	33:dd598bb23ad1	1644	}
yabahiro	33:dd598bb23ad1	1645	mtc2=true;
yabahiro	49:697b4e9ce884	1646	if(YELLOW) {
yabahiro	49:697b4e9ce884	1647	if(cross==1) {
yabahiro	49:697b4e9ce884	1648	mode=41;
yabahiro	49:697b4e9ce884	1649	countss=0;
yabahiro	49:697b4e9ce884	1650	cross=0;
yabahiro	49:697b4e9ce884	1651	}
yabahiro	49:697b4e9ce884	1652	} else {
yabahiro	49:697b4e9ce884	1653	if(cross==3) {
yabahiro	49:697b4e9ce884	1654	mode=41;
yabahiro	49:697b4e9ce884	1655	countss=0;
yabahiro	49:697b4e9ce884	1656	cross=0;
yabahiro	49:697b4e9ce884	1657	}
yabahiro	33:dd598bb23ad1	1658	}
yabahiro	33:dd598bb23ad1	1659	break;
yabahiro	33:dd598bb23ad1	1660	case 0:
kishibekairohan	47:a9cad8502999	1661	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1662	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1663	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1664	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1665	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1666	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1667	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1668	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1669	mtc2=true;
yabahiro	33:dd598bb23ad1	1670	break;
yabahiro	33:dd598bb23ad1	1671	case 255:
kishibekairohan	47:a9cad8502999	1672	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1673	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1674	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1675	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1676	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1677	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1678	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1679	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1680	mtc2=true;
yabahiro	33:dd598bb23ad1	1681	break;
yabahiro	33:dd598bb23ad1	1682	case 253:
yabahiro	33:dd598bb23ad1	1683	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1684	motor[TIRE_FR].dir = FREE;
kishibekairohan	47:a9cad8502999	1685	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1686	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1687	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1688	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1689	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1690	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1691	mtc2=true;
yabahiro	33:dd598bb23ad1	1692	break;
yabahiro	33:dd598bb23ad1	1693	case 254:
yabahiro	33:dd598bb23ad1	1694	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1695	motor[TIRE_FR].dir = FREE;
kishibekairohan	47:a9cad8502999	1696	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1697	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1698	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1699	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1700	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1701	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1702	mtc2=true;
yabahiro	33:dd598bb23ad1	1703	break;
yabahiro	33:dd598bb23ad1	1704	case 1:
kishibekairohan	47:a9cad8502999	1705	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1706	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1707	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1708	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1709	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1710	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1711	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1712	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1713	mtc2=true;
yabahiro	33:dd598bb23ad1	1714	break;
yabahiro	33:dd598bb23ad1	1715	case 3:
kishibekairohan	47:a9cad8502999	1716	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1717	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1718	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1719	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1720	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1721	motor[TIRE_BR].dir = FREE;
kishibekairohan	47:a9cad8502999	1722	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1723	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1724	mtc2=true;
yabahiro	33:dd598bb23ad1	1725	break;
yabahiro	33:dd598bb23ad1	1726	case 2:
kishibekairohan	47:a9cad8502999	1727	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1728	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1729	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1730	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1731	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1732	motor[TIRE_BR].dir = FREE;
kishibekairohan	47:a9cad8502999	1733	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1734	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1735	mtc2=true;
yabahiro	33:dd598bb23ad1	1736	break;
yabahiro	33:dd598bb23ad1	1737	}
yabahiro	33:dd598bb23ad1	1738	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	1739	switch(g[2]) {
yabahiro	33:dd598bb23ad1	1740	case 0:
yabahiro	33:dd598bb23ad1	1741	mtc2=false;
yabahiro	33:dd598bb23ad1	1742	break;
yabahiro	33:dd598bb23ad1	1743	case 255:
yabahiro	39:784552c26163	1744	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	1745	mtc2=false;
yabahiro	33:dd598bb23ad1	1746	break;
yabahiro	33:dd598bb23ad1	1747	case 253:
yabahiro	39:784552c26163	1748	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	1749	mtc2=false;
yabahiro	33:dd598bb23ad1	1750	break;
yabahiro	33:dd598bb23ad1	1751	case 254:
yabahiro	39:784552c26163	1752	motor[TIRE_FL].pwm += 20;
yabahiro	39:784552c26163	1753	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1754	mtc2=false;
yabahiro	33:dd598bb23ad1	1755	break;
yabahiro	33:dd598bb23ad1	1756	case 1:
yabahiro	39:784552c26163	1757	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	1758	mtc2=false;
yabahiro	33:dd598bb23ad1	1759	break;
yabahiro	33:dd598bb23ad1	1760	case 3:
yabahiro	39:784552c26163	1761	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	1762	mtc2=false;
yabahiro	33:dd598bb23ad1	1763	break;
yabahiro	33:dd598bb23ad1	1764	case 2:
yabahiro	39:784552c26163	1765	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1766	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1767	mtc2=false;
yabahiro	33:dd598bb23ad1	1768	break;
yabahiro	33:dd598bb23ad1	1769	}
yabahiro	33:dd598bb23ad1	1770	}
yabahiro	33:dd598bb23ad1	1771	} else if(mode==41) {
yabahiro	33:dd598bb23ad1	1772	if(LIF\|\|LIB) {
yabahiro	33:dd598bb23ad1	1773	mode=42;
yabahiro	33:dd598bb23ad1	1774	}
yabahiro	33:dd598bb23ad1	1775	motor[TIRE_FR].pwm = 30;
yabahiro	33:dd598bb23ad1	1776	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1777	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1778	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1779	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1780	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1781	motor[TIRE_BL].pwm = 30;
yabahiro	33:dd598bb23ad1	1782	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1783	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	1784	countss=0;
yabahiro	33:dd598bb23ad1	1785	mode=70;
yabahiro	33:dd598bb23ad1	1786	normal=60;
yabahiro	33:dd598bb23ad1	1787	fast=70;
yabahiro	33:dd598bb23ad1	1788	slow=40;
yabahiro	33:dd598bb23ad1	1789	}
yabahiro	33:dd598bb23ad1	1790	} else if(mode==42) {
kishibekairohan	47:a9cad8502999	1791	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1792	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	1793	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1794	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1795	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1796	motor[TIRE_BR].dir = FREE;
kishibekairohan	47:a9cad8502999	1797	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1798	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1799	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	1800	countss=0;
yabahiro	39:784552c26163	1801	mode=70;
yabahiro	33:dd598bb23ad1	1802	}
yabahiro	39:784552c26163	1803	} else if(mode==70) {
yabahiro	33:dd598bb23ad1	1804	switch(g[0]) {
yabahiro	33:dd598bb23ad1	1805	case 99:
yabahiro	33:dd598bb23ad1	1806	if(countss>=100000) {
yabahiro	33:dd598bb23ad1	1807	mode=100;
yabahiro	33:dd598bb23ad1	1808	}
yabahiro	33:dd598bb23ad1	1809	break;
yabahiro	33:dd598bb23ad1	1810	case 98:
yabahiro	33:dd598bb23ad1	1811	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1812	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1813	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1814	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1815	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1816	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1817	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1818	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1819	break;
yabahiro	33:dd598bb23ad1	1820	case 0:
yabahiro	39:784552c26163	1821	motor[TIRE_FR].pwm = 80;
yabahiro	33:dd598bb23ad1	1822	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1823	motor[TIRE_FL].pwm = 80;
yabahiro	33:dd598bb23ad1	1824	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1825	motor[TIRE_BR].pwm = 80;
yabahiro	33:dd598bb23ad1	1826	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1827	motor[TIRE_BL].pwm = 80;
yabahiro	33:dd598bb23ad1	1828	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1829	mtc=true;
yabahiro	33:dd598bb23ad1	1830	break;
yabahiro	33:dd598bb23ad1	1831	case 255:
yabahiro	33:dd598bb23ad1	1832	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	1833	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1834	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1835	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1836	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1837	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1838	motor[TIRE_BL].pwm = fast;
yabahiro	33:dd598bb23ad1	1839	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1840	mtc=true;
yabahiro	33:dd598bb23ad1	1841	break;
yabahiro	33:dd598bb23ad1	1842	case 253:
yabahiro	33:dd598bb23ad1	1843	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1844	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1845	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1846	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1847	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1848	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1849	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1850	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1851	mtc=true;
yabahiro	33:dd598bb23ad1	1852	break;
yabahiro	33:dd598bb23ad1	1853	case 254:
yabahiro	33:dd598bb23ad1	1854	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1855	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1856	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1857	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1858	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1859	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1860	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1861	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1862	mtc=true;
yabahiro	33:dd598bb23ad1	1863	break;
yabahiro	33:dd598bb23ad1	1864	case 1:
yabahiro	33:dd598bb23ad1	1865	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1866	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1867	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	1868	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1869	motor[TIRE_BR].pwm = fast;
yabahiro	33:dd598bb23ad1	1870	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1871	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1872	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1873	mtc=true;
yabahiro	33:dd598bb23ad1	1874	break;
yabahiro	33:dd598bb23ad1	1875	case 3:
yabahiro	33:dd598bb23ad1	1876	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1877	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1878	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1879	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1880	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1881	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1882	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1883	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1884	mtc=true;
yabahiro	33:dd598bb23ad1	1885	break;
yabahiro	33:dd598bb23ad1	1886	case 2:
yabahiro	33:dd598bb23ad1	1887	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1888	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1889	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1890	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1891	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1892	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1893	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1894	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1895	mtc=true;
yabahiro	33:dd598bb23ad1	1896	break;
yabahiro	33:dd598bb23ad1	1897	}
yabahiro	39:784552c26163	1898	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1899	switch(g[1]) {
yabahiro	39:784552c26163	1900	case 0:
yabahiro	39:784552c26163	1901	mtc=false;
yabahiro	39:784552c26163	1902	break;
yabahiro	39:784552c26163	1903	case 255:
yabahiro	39:784552c26163	1904	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1905	mtc=false;
yabahiro	39:784552c26163	1906	break;
yabahiro	39:784552c26163	1907	case 253:
yabahiro	39:784552c26163	1908	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1909	mtc=false;
yabahiro	39:784552c26163	1910	break;
yabahiro	39:784552c26163	1911	case 254:
yabahiro	39:784552c26163	1912	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1913	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1914	mtc=false;
yabahiro	39:784552c26163	1915	break;
yabahiro	39:784552c26163	1916	case 1:
yabahiro	39:784552c26163	1917	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1918	mtc=false;
yabahiro	39:784552c26163	1919	break;
yabahiro	39:784552c26163	1920	case 3:
yabahiro	39:784552c26163	1921	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1922	mtc=false;
yabahiro	39:784552c26163	1923	break;
yabahiro	39:784552c26163	1924	case 2:
yabahiro	39:784552c26163	1925	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1926	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1927	mtc=false;
yabahiro	39:784552c26163	1928	break;
yabahiro	39:784552c26163	1929	}
yabahiro	33:dd598bb23ad1	1930	}
yabahiro	33:dd598bb23ad1	1931	} else if(mode==100) {
kishibekairohan	47:a9cad8502999	1932	motor[TIRE_FR].pwm = 50;
yabahiro	33:dd598bb23ad1	1933	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1934	motor[TIRE_FL].pwm = 50;
yabahiro	33:dd598bb23ad1	1935	motor[TIRE_FL].dir = FOR;
kishibekairohan	47:a9cad8502999	1936	motor[TIRE_BR].pwm = 50;
yabahiro	33:dd598bb23ad1	1937	motor[TIRE_BR].dir = BACK;
kishibekairohan	47:a9cad8502999	1938	motor[TIRE_BL].pwm = 50;
yabahiro	33:dd598bb23ad1	1939	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1940	} else {
yabahiro	33:dd598bb23ad1	1941	}
yabahiro	39:784552c26163	1942
kishibekairohan	13:b6e02d6261d7	1943	}
kishibekairohan	13:b6e02d6261d7	1944	#endif
kishibekairohan	13:b6e02d6261d7	1945
kishibekairohan	13:b6e02d6261d7	1946	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	1947	static void Process3()
kishibekairohan	13:b6e02d6261d7	1948	{
yabahiro	33:dd598bb23ad1	1949	//Clearly 赤ゾーン
kishibekairohan	35:33c6cdba5630	1950	LED::LED::TapeledMode(3);
yabahiro	33:dd598bb23ad1	1951	countss++;
yabahiro	33:dd598bb23ad1	1952	if(mode==1) {//スタートゾーンから白線検知
yabahiro	33:dd598bb23ad1	1953	fast=40;
yabahiro	33:dd598bb23ad1	1954	normal=30;
yabahiro	33:dd598bb23ad1	1955	slow=20;
kishibekairohan	42:980af34f6fe3	1956	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1957	motor[TIRE_FR].dir = BACK;
kishibekairohan	42:980af34f6fe3	1958	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1959	motor[TIRE_FL].dir = FOR;
kishibekairohan	42:980af34f6fe3	1960	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1961	motor[TIRE_BR].dir = BACK;
kishibekairohan	42:980af34f6fe3	1962	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1963	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1964	if(g[2]==0&&countss>=100000) {
yabahiro	33:dd598bb23ad1	1965	countss=100000;
yabahiro	33:dd598bb23ad1	1966	cross=0;
yabahiro	33:dd598bb23ad1	1967	mode=3;
yabahiro	33:dd598bb23ad1	1968	}
yabahiro	46:68296caae1af	1969	} else if(mode==3) { //横ライントレースから縦ライントレースへ
kishibekairohan	44:2aff0da5ebdb	1970	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	1971	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	42:980af34f6fe3	1972	motor[TIRE_FL].pwm = 30;
yabahiro	33:dd598bb23ad1	1973	motor[TIRE_FL].dir = FOR;
kishibekairohan	42:980af34f6fe3	1974	motor[TIRE_BR].pwm = 30;
yabahiro	33:dd598bb23ad1	1975	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1976	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	1977	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	1978	if(g[0]==0) {
yabahiro	33:dd598bb23ad1	1979	mode=10;
yabahiro	33:dd598bb23ad1	1980	countss=100000;
yabahiro	33:dd598bb23ad1	1981	}
yabahiro	46:68296caae1af	1982	} else if(mode==10) { //縦ライントレース
yabahiro	33:dd598bb23ad1	1983	switch(g[0]) {
yabahiro	33:dd598bb23ad1	1984	case 98:
kishibekairohan	44:2aff0da5ebdb	1985	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1986	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1987	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1988	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	1989	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1990	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1991	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1992	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1993	mtc=true;
yabahiro	33:dd598bb23ad1	1994	if(countss>80000) {
yabahiro	33:dd598bb23ad1	1995	cross++;
yabahiro	33:dd598bb23ad1	1996	countss=0;
yabahiro	33:dd598bb23ad1	1997	}
yabahiro	46:68296caae1af	1998	if(cross==2) {
yabahiro	46:68296caae1af	1999	fast = 10;
yabahiro	46:68296caae1af	2000	normal = 10;
kishibekairohan	44:2aff0da5ebdb	2001	slow = 5;
yabahiro	46:68296caae1af	2002	}
yabahiro	46:68296caae1af	2003
yabahiro	38:40e7fdf3c694	2004	if(cross==3) {
kishibekairohan	44:2aff0da5ebdb	2005	fast=40;
kishibekairohan	44:2aff0da5ebdb	2006	normal=30;
kishibekairohan	44:2aff0da5ebdb	2007	slow=20;
yabahiro	33:dd598bb23ad1	2008	mode=11;
yabahiro	33:dd598bb23ad1	2009	countss=0;
yabahiro	33:dd598bb23ad1	2010	cross=0;
yabahiro	46:68296caae1af	2011
yabahiro	33:dd598bb23ad1	2012	}
yabahiro	33:dd598bb23ad1	2013	break;
yabahiro	33:dd598bb23ad1	2014	case 0:
kishibekairohan	44:2aff0da5ebdb	2015	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2016	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2017	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2018	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2019	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2020	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2021	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2022	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2023	mtc=true;
yabahiro	33:dd598bb23ad1	2024	break;
yabahiro	33:dd598bb23ad1	2025	case 255:
kishibekairohan	44:2aff0da5ebdb	2026	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2027	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2028	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2029	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2030	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2031	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2032	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2033	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2034	mtc=true;
yabahiro	33:dd598bb23ad1	2035	break;
yabahiro	33:dd598bb23ad1	2036	case 253:
kishibekairohan	44:2aff0da5ebdb	2037	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2038	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2039	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2040	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2041	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2042	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2043	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2044	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2045	mtc=true;
yabahiro	33:dd598bb23ad1	2046	break;
yabahiro	33:dd598bb23ad1	2047	case 254:
kishibekairohan	44:2aff0da5ebdb	2048	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2049	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2050	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2051	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2052	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2053	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2054	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2055	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2056	mtc=true;
yabahiro	33:dd598bb23ad1	2057	break;
yabahiro	33:dd598bb23ad1	2058	case 1:
kishibekairohan	44:2aff0da5ebdb	2059	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2060	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2061	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2062	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2063	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2064	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2065	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2066	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2067	mtc=true;
yabahiro	33:dd598bb23ad1	2068	break;
yabahiro	33:dd598bb23ad1	2069	case 3:
yabahiro	33:dd598bb23ad1	2070	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2071	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2072	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2073	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2074	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2075	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2076	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2077	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2078	mtc=true;
yabahiro	33:dd598bb23ad1	2079	break;
yabahiro	33:dd598bb23ad1	2080	case 2:
yabahiro	33:dd598bb23ad1	2081	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2082	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2083	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2084	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2085	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2086	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2087	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2088	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2089	mtc=true;
yabahiro	33:dd598bb23ad1	2090	break;
yabahiro	33:dd598bb23ad1	2091	}
yabahiro	33:dd598bb23ad1	2092	if(g[0]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	2093	switch(g[1]) {
yabahiro	33:dd598bb23ad1	2094	case 0:
yabahiro	33:dd598bb23ad1	2095	mtc=false;
yabahiro	33:dd598bb23ad1	2096	break;
yabahiro	33:dd598bb23ad1	2097	case 255:
kishibekairohan	44:2aff0da5ebdb	2098	motor[TIRE_BR].pwm += 3;
yabahiro	33:dd598bb23ad1	2099	mtc=false;
yabahiro	33:dd598bb23ad1	2100	break;
yabahiro	33:dd598bb23ad1	2101	case 253:
kishibekairohan	44:2aff0da5ebdb	2102	motor[TIRE_BR].pwm += 6;
yabahiro	33:dd598bb23ad1	2103	mtc=false;
yabahiro	33:dd598bb23ad1	2104	break;
yabahiro	33:dd598bb23ad1	2105	case 254:
kishibekairohan	44:2aff0da5ebdb	2106	motor[TIRE_BR].pwm += 9;
yabahiro	33:dd598bb23ad1	2107	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2108	mtc=false;
yabahiro	33:dd598bb23ad1	2109	break;
yabahiro	33:dd598bb23ad1	2110	case 1:
kishibekairohan	44:2aff0da5ebdb	2111	motor[TIRE_BL].pwm += 3;
yabahiro	33:dd598bb23ad1	2112	mtc=false;
yabahiro	33:dd598bb23ad1	2113	break;
yabahiro	33:dd598bb23ad1	2114	case 3:
kishibekairohan	44:2aff0da5ebdb	2115	motor[TIRE_BL].pwm += 6;
yabahiro	33:dd598bb23ad1	2116	mtc=false;
yabahiro	33:dd598bb23ad1	2117	break;
yabahiro	33:dd598bb23ad1	2118	case 2:
kishibekairohan	44:2aff0da5ebdb	2119	motor[TIRE_BL].pwm += 9;
yabahiro	33:dd598bb23ad1	2120	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2121	mtc=false;
yabahiro	33:dd598bb23ad1	2122	break;
yabahiro	33:dd598bb23ad1	2123	}
yabahiro	33:dd598bb23ad1	2124	}
yabahiro	46:68296caae1af	2125	} else if(mode==11) {
kishibekairohan	44:2aff0da5ebdb	2126	motor[TIRE_FR].pwm = 25;
kishibekairohan	44:2aff0da5ebdb	2127	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2128	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	2129	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	2130	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	2131	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2132	motor[TIRE_BL].pwm = 25;
kishibekairohan	44:2aff0da5ebdb	2133	motor[TIRE_BL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2134	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	33:dd598bb23ad1	2135	countss=0;
yabahiro	33:dd598bb23ad1	2136	cross=0;
yabahiro	33:dd598bb23ad1	2137	mode=20;
yabahiro	33:dd598bb23ad1	2138	}
yabahiro	46:68296caae1af	2139	} else if(mode==20) {
yabahiro	38:40e7fdf3c694	2140	solenoid.solenoid4= SOLENOID_ON;
yabahiro	33:dd598bb23ad1	2141	switch(g[2]) {
yabahiro	33:dd598bb23ad1	2142	case 98:
kishibekairohan	44:2aff0da5ebdb	2143	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2144	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2145	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2146	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2147	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2148	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2149	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2150	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2151	if(countss>30000) {
yabahiro	33:dd598bb23ad1	2152	cross++;
yabahiro	33:dd598bb23ad1	2153	countss=0;
yabahiro	33:dd598bb23ad1	2154	}
yabahiro	33:dd598bb23ad1	2155	mtc2=true;
yabahiro	46:68296caae1af	2156
kishibekairohan	44:2aff0da5ebdb	2157	if(YELLOW) {
kishibekairohan	44:2aff0da5ebdb	2158	if(cross==1) {
yabahiro	46:68296caae1af	2159	fast=20;
yabahiro	46:68296caae1af	2160	normal=15;
yabahiro	46:68296caae1af	2161	slow=15;
yabahiro	46:68296caae1af	2162	} else if(cross==2) {
yabahiro	38:40e7fdf3c694	2163	mode=21;
yabahiro	38:40e7fdf3c694	2164	countss=0;
yabahiro	38:40e7fdf3c694	2165	cross=0;
yabahiro	38:40e7fdf3c694	2166	}
yabahiro	38:40e7fdf3c694	2167	} else {
yabahiro	40:ed2409e0ce6b	2168	if(cross==3) {
yabahiro	38:40e7fdf3c694	2169	mode=21;
yabahiro	38:40e7fdf3c694	2170	countss=0;
yabahiro	38:40e7fdf3c694	2171	cross=0;
yabahiro	38:40e7fdf3c694	2172	}
yabahiro	38:40e7fdf3c694	2173	}
yabahiro	33:dd598bb23ad1	2174	break;
yabahiro	33:dd598bb23ad1	2175	case 0:
kishibekairohan	44:2aff0da5ebdb	2176	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2177	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2178	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2179	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2180	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2181	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2182	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2183	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2184	mtc2=true;
yabahiro	33:dd598bb23ad1	2185	break;
yabahiro	33:dd598bb23ad1	2186	case 255:
kishibekairohan	44:2aff0da5ebdb	2187	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2188	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2189	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2190	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2191	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2192	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2193	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2194	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2195	mtc2=true;
yabahiro	33:dd598bb23ad1	2196	break;
yabahiro	33:dd598bb23ad1	2197	case 253:
yabahiro	33:dd598bb23ad1	2198	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2199	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2200	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2201	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2202	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2203	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2204	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2205	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2206	mtc2=true;
yabahiro	33:dd598bb23ad1	2207	break;
yabahiro	33:dd598bb23ad1	2208	case 254:
yabahiro	33:dd598bb23ad1	2209	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2210	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2211	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2212	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2213	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2214	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2215	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2216	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2217	mtc2=true;
yabahiro	33:dd598bb23ad1	2218	break;
yabahiro	33:dd598bb23ad1	2219	case 1:
kishibekairohan	44:2aff0da5ebdb	2220	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2221	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2222	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2223	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2224	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2225	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2226	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2227	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2228	mtc2=true;
yabahiro	33:dd598bb23ad1	2229	break;
yabahiro	33:dd598bb23ad1	2230	case 3:
kishibekairohan	44:2aff0da5ebdb	2231	motor[TIRE_FR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2232	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2233	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2234	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2235	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2236	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2237	motor[TIRE_BL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2238	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2239	mtc2=true;
yabahiro	33:dd598bb23ad1	2240	break;
yabahiro	33:dd598bb23ad1	2241	case 2:
kishibekairohan	44:2aff0da5ebdb	2242	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2243	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2244	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2245	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2246	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2247	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2248	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2249	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2250	mtc2=true;
yabahiro	33:dd598bb23ad1	2251	break;
yabahiro	33:dd598bb23ad1	2252	}
yabahiro	33:dd598bb23ad1	2253	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	2254	switch(g[3]) {
yabahiro	33:dd598bb23ad1	2255	case 0:
yabahiro	33:dd598bb23ad1	2256	mtc2=false;
yabahiro	33:dd598bb23ad1	2257	break;
yabahiro	33:dd598bb23ad1	2258	case 255:
yabahiro	33:dd598bb23ad1	2259	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	2260	mtc2=false;
yabahiro	33:dd598bb23ad1	2261	break;
yabahiro	33:dd598bb23ad1	2262	case 253:
yabahiro	33:dd598bb23ad1	2263	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	2264	mtc2=false;
yabahiro	33:dd598bb23ad1	2265	break;
yabahiro	33:dd598bb23ad1	2266	case 254:
kishibekairohan	44:2aff0da5ebdb	2267	motor[TIRE_BL].pwm += 15;
yabahiro	33:dd598bb23ad1	2268	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2269	mtc2=false;
yabahiro	33:dd598bb23ad1	2270	break;
yabahiro	33:dd598bb23ad1	2271	case 1:
yabahiro	33:dd598bb23ad1	2272	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	2273	mtc2=false;
yabahiro	33:dd598bb23ad1	2274	break;
yabahiro	33:dd598bb23ad1	2275	case 3:
yabahiro	33:dd598bb23ad1	2276	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	2277	mtc2=false;
yabahiro	33:dd598bb23ad1	2278	break;
yabahiro	33:dd598bb23ad1	2279	case 2:
kishibekairohan	44:2aff0da5ebdb	2280	motor[TIRE_FL].pwm += 15;
yabahiro	33:dd598bb23ad1	2281	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2282	mtc2=false;
yabahiro	33:dd598bb23ad1	2283	break;
yabahiro	33:dd598bb23ad1	2284	}
yabahiro	33:dd598bb23ad1	2285	}
yabahiro	33:dd598bb23ad1	2286	}
yabahiro	38:40e7fdf3c694	2287	if(YELLOW) {
yabahiro	38:40e7fdf3c694	2288	if(mode==21) {
yabahiro	33:dd598bb23ad1	2289	motor[TIRE_FR].pwm = 20;
yabahiro	33:dd598bb23ad1	2290	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2291	motor[TIRE_FL].pwm = 20;
yabahiro	33:dd598bb23ad1	2292	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	2293	motor[TIRE_BR].pwm = 20;
yabahiro	33:dd598bb23ad1	2294	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	2295	motor[TIRE_BL].pwm = 20;
yabahiro	33:dd598bb23ad1	2296	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2297	if(g[3]==98&&countss>=10000) {
yabahiro	38:40e7fdf3c694	2298	mode=22;
yabahiro	33:dd598bb23ad1	2299	countss=0;
yabahiro	38:40e7fdf3c694	2300	fast=60;
yabahiro	38:40e7fdf3c694	2301	normal=40;
yabahiro	38:40e7fdf3c694	2302	slow=20;
yabahiro	38:40e7fdf3c694	2303	}
yabahiro	46:68296caae1af	2304	} else if(mode==22) {
yabahiro	38:40e7fdf3c694	2305	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2306	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2307	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2308	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2309	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2310	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2311	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2312	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2313	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2314	}
yabahiro	38:40e7fdf3c694	2315	if(g[4]==253\|\|g[4]==254) {
yabahiro	38:40e7fdf3c694	2316	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2317	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2318	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2319	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2320	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2321	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2322	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2323	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2324	}
yabahiro	38:40e7fdf3c694	2325	switch(g[2]) {
yabahiro	38:40e7fdf3c694	2326	case 0:
yabahiro	38:40e7fdf3c694	2327	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2328	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2329	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2330	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2331	break;
yabahiro	38:40e7fdf3c694	2332	case 255:
yabahiro	38:40e7fdf3c694	2333	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2334	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2335	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2336	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2337	break;
yabahiro	38:40e7fdf3c694	2338	case 253:
yabahiro	38:40e7fdf3c694	2339	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2340	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2341	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2342	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2343	break;
yabahiro	38:40e7fdf3c694	2344	case 254:
yabahiro	38:40e7fdf3c694	2345	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2346	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2347	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2348	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2349	break;
yabahiro	38:40e7fdf3c694	2350	case 1:
yabahiro	38:40e7fdf3c694	2351	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2352	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2353	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2354	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2355	break;
yabahiro	38:40e7fdf3c694	2356	case 3:
yabahiro	38:40e7fdf3c694	2357	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2358	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2359	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2360	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2361	break;
yabahiro	38:40e7fdf3c694	2362	case 2:
yabahiro	38:40e7fdf3c694	2363	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2364	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2365	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2366	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2367	break;
yabahiro	38:40e7fdf3c694	2368	}
yabahiro	38:40e7fdf3c694	2369	switch(g[3]) {
yabahiro	38:40e7fdf3c694	2370	case 0:
yabahiro	38:40e7fdf3c694	2371	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2372	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2373	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2374	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2375	break;
yabahiro	38:40e7fdf3c694	2376	case 255:
yabahiro	38:40e7fdf3c694	2377	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2378	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2379	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2380	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2381	case 253:
yabahiro	38:40e7fdf3c694	2382	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2383	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2384	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2385	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2386	break;
yabahiro	38:40e7fdf3c694	2387	case 254:
yabahiro	38:40e7fdf3c694	2388	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2389	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2390	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2391	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2392	break;
yabahiro	38:40e7fdf3c694	2393	case 1:
yabahiro	38:40e7fdf3c694	2394	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2395	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2396	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2397	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2398	break;
yabahiro	38:40e7fdf3c694	2399	case 3:
yabahiro	38:40e7fdf3c694	2400	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2401	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2402	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2403	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2404	break;
yabahiro	38:40e7fdf3c694	2405	case 2:
yabahiro	38:40e7fdf3c694	2406	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2407	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2408	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2409	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2410	break;
yabahiro	38:40e7fdf3c694	2411	}
yabahiro	38:40e7fdf3c694	2412	if(g[3]==0&&g[2]==0) {
yabahiro	38:40e7fdf3c694	2413	mode=23;
yabahiro	33:dd598bb23ad1	2414	countss=0;
yabahiro	33:dd598bb23ad1	2415	}
yabahiro	46:68296caae1af	2416	} else if(mode==23) {
yabahiro	38:40e7fdf3c694	2417	switch(g[4]) {
yabahiro	38:40e7fdf3c694	2418	case 98:
kishibekairohan	41:99a1158f3eca	2419	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2420	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2421	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2422	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2423	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2424	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2425	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2426	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2427	break;
yabahiro	38:40e7fdf3c694	2428	case 99:
yabahiro	38:40e7fdf3c694	2429	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2430	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2431	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2432	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2433	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2434	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2435	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2436	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2437	break;
yabahiro	38:40e7fdf3c694	2438	case 0:
kishibekairohan	41:99a1158f3eca	2439	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2440	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2441	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2442	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2443	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2444	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2445	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2446	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2447	break;
yabahiro	38:40e7fdf3c694	2448	case 255:
yabahiro	38:40e7fdf3c694	2449	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2450	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2451	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2452	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2453	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2454	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2455	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2456	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2457	break;
yabahiro	38:40e7fdf3c694	2458	case 253:
yabahiro	46:68296caae1af	2459	motor[TIRE_FR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2460	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2461	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2462	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2463	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2464	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	2465	motor[TIRE_BL].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2466	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2467	break;
yabahiro	38:40e7fdf3c694	2468	case 254:
yabahiro	46:68296caae1af	2469	motor[TIRE_FR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2470	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2471	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2472	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2473	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2474	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	2475	motor[TIRE_BL].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2476	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2477	break;
yabahiro	38:40e7fdf3c694	2478	case 1:
yabahiro	38:40e7fdf3c694	2479	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2480	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2481	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2482	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2483	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2484	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2485	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2486	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2487	break;
yabahiro	38:40e7fdf3c694	2488	case 3:
kishibekairohan	41:99a1158f3eca	2489	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2490	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	2491	motor[TIRE_FL].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2492	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	2493	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2494	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2495	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2496	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2497	break;
yabahiro	38:40e7fdf3c694	2498	case 2:
kishibekairohan	41:99a1158f3eca	2499	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2500	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	2501	motor[TIRE_FL].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2502	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	2503	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2504	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2505	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2506	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2507	break;
yabahiro	33:dd598bb23ad1	2508	}
yabahiro	38:40e7fdf3c694	2509	if(g[1]==98) {
kishibekairohan	42:980af34f6fe3	2510	fast=20;
kishibekairohan	42:980af34f6fe3	2511	normal=15;
kishibekairohan	42:980af34f6fe3	2512	slow=10;
yabahiro	38:40e7fdf3c694	2513	}
yabahiro	38:40e7fdf3c694	2514	if(g[3]==254&&countss>=100000) {
yabahiro	38:40e7fdf3c694	2515	mode=24;
yabahiro	38:40e7fdf3c694	2516	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	2517	countss=0;
yabahiro	38:40e7fdf3c694	2518	fast=60;
yabahiro	38:40e7fdf3c694	2519	normal=40;
kishibekairohan	42:980af34f6fe3	2520	slow=20;
yabahiro	33:dd598bb23ad1	2521	}
yabahiro	46:68296caae1af	2522	} else if(mode==24) {
yabahiro	38:40e7fdf3c694	2523	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2524	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2525	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2526	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2527	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2528	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2529	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2530	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2531	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2532	}
yabahiro	38:40e7fdf3c694	2533	if(g[4]==253\|\|g[4]==254) {
yabahiro	38:40e7fdf3c694	2534	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2535	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2536	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2537	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2538	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2539	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2540	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2541	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2542	}
yabahiro	38:40e7fdf3c694	2543	switch(g[2]) {
yabahiro	38:40e7fdf3c694	2544	case 0:
yabahiro	46:68296caae1af	2545	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2546	motor[TIRE_FR].dir = FREE;
yabahiro	46:68296caae1af	2547	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2548	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2549	break;
yabahiro	38:40e7fdf3c694	2550	case 255:
yabahiro	38:40e7fdf3c694	2551	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2552	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	2553	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2554	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2555	break;
yabahiro	38:40e7fdf3c694	2556	case 253:
yabahiro	38:40e7fdf3c694	2557	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2558	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	2559	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2560	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2561	break;
yabahiro	38:40e7fdf3c694	2562	case 254:
yabahiro	38:40e7fdf3c694	2563	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2564	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2565	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2566	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2567	break;
yabahiro	38:40e7fdf3c694	2568	case 1:
yabahiro	46:68296caae1af	2569	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2570	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2571	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2572	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2573	break;
yabahiro	38:40e7fdf3c694	2574	case 3:
yabahiro	46:68296caae1af	2575	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2576	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2577	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2578	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2579	break;
yabahiro	38:40e7fdf3c694	2580	case 2:
yabahiro	38:40e7fdf3c694	2581	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2582	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2583	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2584	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2585	break;
yabahiro	38:40e7fdf3c694	2586	}
yabahiro	38:40e7fdf3c694	2587	switch(g[3]) {
yabahiro	38:40e7fdf3c694	2588	case 0:
yabahiro	46:68296caae1af	2589	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2590	motor[TIRE_FL].dir = FREE;
yabahiro	46:68296caae1af	2591	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2592	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2593	break;
yabahiro	38:40e7fdf3c694	2594	case 255:
yabahiro	46:68296caae1af	2595	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2596	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2597	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2598	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2599	case 253:
yabahiro	46:68296caae1af	2600	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2601	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2602	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2603	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2604	break;
yabahiro	38:40e7fdf3c694	2605	case 254:
yabahiro	38:40e7fdf3c694	2606	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2607	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2608	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2609	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2610	break;
yabahiro	38:40e7fdf3c694	2611	case 1:
yabahiro	38:40e7fdf3c694	2612	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2613	motor[TIRE_FL].dir = FOR;
yabahiro	46:68296caae1af	2614	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2615	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2616	break;
yabahiro	38:40e7fdf3c694	2617	case 3:
yabahiro	38:40e7fdf3c694	2618	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2619	motor[TIRE_FL].dir = FOR;
yabahiro	46:68296caae1af	2620	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2621	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2622	break;
yabahiro	38:40e7fdf3c694	2623	case 2:
yabahiro	38:40e7fdf3c694	2624	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2625	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2626	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2627	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2628	break;
yabahiro	38:40e7fdf3c694	2629	}
yabahiro	38:40e7fdf3c694	2630	if(g[3]==0&&g[2]==0) {
yabahiro	46:68296caae1af	2631	mode=25;
yabahiro	38:40e7fdf3c694	2632	}
yabahiro	46:68296caae1af	2633	} else if(mode==25) {
kishibekairohan	47:a9cad8502999	2634	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	2635	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2636	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	2637	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2638	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	2639	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2640	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	2641	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	2642	if(UPLS==true\|\|DOLS==true) {
yabahiro	46:68296caae1af	2643	motor[MOTOR_0].pwm = 200;
yabahiro	46:68296caae1af	2644	motor[MOTOR_0].dir = BRAKE;
yabahiro	46:68296caae1af	2645	mode=26;
yabahiro	46:68296caae1af	2646	} else {
yabahiro	46:68296caae1af	2647	motor[MOTOR_0].pwm = 100;
yabahiro	46:68296caae1af	2648	motor[MOTOR_0].dir = BACK;
yabahiro	46:68296caae1af	2649	}
yabahiro	46:68296caae1af	2650	} else if(mode==26) {
yabahiro	38:40e7fdf3c694	2651	switch(g[4]) {
yabahiro	38:40e7fdf3c694	2652	case 98:
yabahiro	38:40e7fdf3c694	2653	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2654	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2655	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2656	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2657	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2658	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2659	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2660	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2661	break;
yabahiro	38:40e7fdf3c694	2662	case 99:
yabahiro	38:40e7fdf3c694	2663	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2664	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2665	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2666	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2667	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2668	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2669	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2670	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2671	break;
yabahiro	38:40e7fdf3c694	2672	case 0:
yabahiro	38:40e7fdf3c694	2673	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2674	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2675	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2676	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2677	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2678	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2679	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2680	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2681	break;
yabahiro	38:40e7fdf3c694	2682	case 255:
yabahiro	38:40e7fdf3c694	2683	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2684	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2685	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2686	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2687	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2688	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2689	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2690	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2691	break;
yabahiro	38:40e7fdf3c694	2692	case 253:
yabahiro	46:68296caae1af	2693	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2694	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2695	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2696	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2697	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2698	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	2699	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2700	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2701	break;
yabahiro	38:40e7fdf3c694	2702	case 254:
yabahiro	38:40e7fdf3c694	2703	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2704	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2705	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2706	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2707	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2708	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2709	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2710	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2711	break;
yabahiro	38:40e7fdf3c694	2712	case 1:
yabahiro	38:40e7fdf3c694	2713	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2714	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2715	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2716	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2717	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2718	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2719	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2720	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2721	break;
yabahiro	38:40e7fdf3c694	2722	case 3:
yabahiro	38:40e7fdf3c694	2723	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2724	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	2725	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2726	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	2727	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2728	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2729	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2730	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2731	break;
yabahiro	38:40e7fdf3c694	2732	case 2:
yabahiro	38:40e7fdf3c694	2733	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2734	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2735	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2736	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2737	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2738	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2739	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2740	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2741	break;
yabahiro	38:40e7fdf3c694	2742	}
yabahiro	38:40e7fdf3c694	2743	if(g[1]==98) {
kishibekairohan	45:0cf48a0605cd	2744	mode=31;
yabahiro	33:dd598bb23ad1	2745	}
yabahiro	33:dd598bb23ad1	2746	}
yabahiro	46:68296caae1af	2747	} else {
yabahiro	38:40e7fdf3c694	2748	if(mode==21) {
yabahiro	38:40e7fdf3c694	2749	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2750	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2751	motor[TIRE_FL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	2752	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	2753	motor[TIRE_BR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	2754	motor[TIRE_BR].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2755	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2756	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2757	if(g[1]==0) {
yabahiro	38:40e7fdf3c694	2758	mode=22;
yabahiro	38:40e7fdf3c694	2759	fast=60;
yabahiro	38:40e7fdf3c694	2760	normal=40;
yabahiro	46:68296caae1af	2761	slow=25;
yabahiro	38:40e7fdf3c694	2762	}
yabahiro	46:68296caae1af	2763	} else if(mode==22) {
yabahiro	40:ed2409e0ce6b	2764	if(g[1]==98) {
yabahiro	46:68296caae1af	2765	slow=25;
kishibekairohan	44:2aff0da5ebdb	2766	normal=30;
kishibekairohan	44:2aff0da5ebdb	2767	fast=40;
yabahiro	40:ed2409e0ce6b	2768	}
yabahiro	46:68296caae1af	2769	if(g[3]==0) {
yabahiro	46:68296caae1af	2770	slow=25;
yabahiro	40:ed2409e0ce6b	2771	normal=40;
yabahiro	40:ed2409e0ce6b	2772	fast=60;
yabahiro	38:40e7fdf3c694	2773	mode=23;
yabahiro	46:68296caae1af	2774	}
yabahiro	38:40e7fdf3c694	2775	switch(g[1]) {
yabahiro	38:40e7fdf3c694	2776	case 98:
yabahiro	38:40e7fdf3c694	2777	solenoid.solenoid4 = SOLENOID_OFF;
kishibekairohan	44:2aff0da5ebdb	2778	fast=40;
kishibekairohan	44:2aff0da5ebdb	2779	normal=30;
yabahiro	46:68296caae1af	2780	slow=25;
yabahiro	38:40e7fdf3c694	2781	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2782	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2783	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2784	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2785	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2786	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2787	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2788	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2789	break;
yabahiro	38:40e7fdf3c694	2790	case 0:
yabahiro	38:40e7fdf3c694	2791	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2792	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2793	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2794	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2795	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2796	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2797	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2798	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2799	mtc=true;
yabahiro	38:40e7fdf3c694	2800	break;
yabahiro	38:40e7fdf3c694	2801	case 255:
yabahiro	38:40e7fdf3c694	2802	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2803	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2804	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2805	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2806	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2807	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2808	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2809	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2810	mtc=true;
yabahiro	38:40e7fdf3c694	2811	break;
yabahiro	38:40e7fdf3c694	2812	case 253:
yabahiro	38:40e7fdf3c694	2813	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2814	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2815	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2816	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2817	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2818	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2819	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2820	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2821	mtc=true;
yabahiro	38:40e7fdf3c694	2822	break;
yabahiro	38:40e7fdf3c694	2823	case 254:
yabahiro	38:40e7fdf3c694	2824	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2825	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2826	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2827	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2828	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2829	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2830	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2831	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2832	mtc=true;
yabahiro	38:40e7fdf3c694	2833	break;
yabahiro	38:40e7fdf3c694	2834	case 1:
yabahiro	38:40e7fdf3c694	2835	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2836	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2837	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2838	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2839	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2840	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2841	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2842	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2843	mtc=true;
yabahiro	38:40e7fdf3c694	2844	break;
yabahiro	38:40e7fdf3c694	2845	case 3:
yabahiro	38:40e7fdf3c694	2846	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2847	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2848	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2849	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2850	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2851	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2852	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2853	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2854	mtc=true;
yabahiro	38:40e7fdf3c694	2855	break;
yabahiro	38:40e7fdf3c694	2856	case 2:
yabahiro	38:40e7fdf3c694	2857	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2858	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2859	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2860	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2861	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2862	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2863	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2864	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2865	mtc=true;
yabahiro	38:40e7fdf3c694	2866	break;
yabahiro	38:40e7fdf3c694	2867	}
yabahiro	38:40e7fdf3c694	2868	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	2869	switch(g[0]) {
yabahiro	38:40e7fdf3c694	2870	case 0:
yabahiro	38:40e7fdf3c694	2871	mtc=false;
yabahiro	38:40e7fdf3c694	2872	break;
yabahiro	38:40e7fdf3c694	2873	case 255:
kishibekairohan	44:2aff0da5ebdb	2874	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	2875	mtc=false;
yabahiro	38:40e7fdf3c694	2876	break;
yabahiro	38:40e7fdf3c694	2877	case 253:
kishibekairohan	44:2aff0da5ebdb	2878	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	2879	mtc=false;
yabahiro	38:40e7fdf3c694	2880	break;
yabahiro	38:40e7fdf3c694	2881	case 254:
kishibekairohan	44:2aff0da5ebdb	2882	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	2883	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2884	mtc=false;
yabahiro	38:40e7fdf3c694	2885	break;
yabahiro	38:40e7fdf3c694	2886	case 1:
kishibekairohan	44:2aff0da5ebdb	2887	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	2888	mtc=false;
yabahiro	38:40e7fdf3c694	2889	break;
yabahiro	38:40e7fdf3c694	2890	case 3:
kishibekairohan	44:2aff0da5ebdb	2891	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	2892	mtc=false;
yabahiro	38:40e7fdf3c694	2893	break;
yabahiro	38:40e7fdf3c694	2894	case 2:
kishibekairohan	44:2aff0da5ebdb	2895	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	2896	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2897	mtc=false;
yabahiro	38:40e7fdf3c694	2898	break;
yabahiro	38:40e7fdf3c694	2899	}
yabahiro	38:40e7fdf3c694	2900	}
yabahiro	46:68296caae1af	2901	} else if(mode==23) {
yabahiro	46:68296caae1af	2902	if(UPLS\|\|DOLS) {
yabahiro	46:68296caae1af	2903	if(UPLS\|\|DOLS) {
yabahiro	46:68296caae1af	2904	motor[MOTOR_0].pwm = 200;
yabahiro	46:68296caae1af	2905	motor[MOTOR_0].dir = BRAKE;
yabahiro	46:68296caae1af	2906	fast=60;
yabahiro	46:68296caae1af	2907	normal=40;
yabahiro	46:68296caae1af	2908	slow=25;
yabahiro	46:68296caae1af	2909	countss=0;
yabahiro	46:68296caae1af	2910	mode=24;
yabahiro	46:68296caae1af	2911	}
yabahiro	46:68296caae1af	2912	} else {
yabahiro	38:40e7fdf3c694	2913	motor[MOTOR_0].pwm = 100;
yabahiro	38:40e7fdf3c694	2914	motor[MOTOR_0].dir = BACK;
yabahiro	38:40e7fdf3c694	2915	}
yabahiro	40:ed2409e0ce6b	2916	motor[TIRE_FR].pwm = 100;
yabahiro	40:ed2409e0ce6b	2917	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2918	motor[TIRE_FL].pwm = 100;
yabahiro	40:ed2409e0ce6b	2919	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2920	motor[TIRE_BR].pwm = 100;
yabahiro	40:ed2409e0ce6b	2921	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2922	motor[TIRE_BL].pwm = 100;
yabahiro	40:ed2409e0ce6b	2923	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	2924	} else if(mode==24) {
yabahiro	38:40e7fdf3c694	2925	if(g[1]==98&&countss>=40000) {
kishibekairohan	45:0cf48a0605cd	2926	mode=31;
yabahiro	38:40e7fdf3c694	2927	countss=0;
yabahiro	38:40e7fdf3c694	2928	}
yabahiro	38:40e7fdf3c694	2929	switch(g[1]) {
yabahiro	38:40e7fdf3c694	2930	case 98:
kishibekairohan	44:2aff0da5ebdb	2931	fast=40;
kishibekairohan	44:2aff0da5ebdb	2932	normal=30;
yabahiro	46:68296caae1af	2933	slow=25;
yabahiro	38:40e7fdf3c694	2934	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2935	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2936	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2937	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2938	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2939	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2940	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2941	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2942	break;
yabahiro	38:40e7fdf3c694	2943	case 0:
yabahiro	38:40e7fdf3c694	2944	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2945	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2946	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2947	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2948	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2949	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2950	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2951	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2952	mtc=true;
yabahiro	38:40e7fdf3c694	2953	break;
yabahiro	38:40e7fdf3c694	2954	case 255:
yabahiro	38:40e7fdf3c694	2955	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2956	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2957	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2958	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2959	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2960	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2961	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2962	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2963	mtc=true;
yabahiro	38:40e7fdf3c694	2964	break;
yabahiro	38:40e7fdf3c694	2965	case 253:
yabahiro	38:40e7fdf3c694	2966	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2967	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2968	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2969	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2970	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2971	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2972	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2973	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2974	mtc=true;
yabahiro	38:40e7fdf3c694	2975	break;
yabahiro	38:40e7fdf3c694	2976	case 254:
yabahiro	38:40e7fdf3c694	2977	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2978	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2979	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2980	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2981	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2982	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2983	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2984	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2985	mtc=true;
yabahiro	38:40e7fdf3c694	2986	break;
yabahiro	38:40e7fdf3c694	2987	case 1:
yabahiro	38:40e7fdf3c694	2988	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2989	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2990	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2991	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2992	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2993	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2994	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2995	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2996	mtc=true;
yabahiro	38:40e7fdf3c694	2997	break;
yabahiro	38:40e7fdf3c694	2998	case 3:
yabahiro	38:40e7fdf3c694	2999	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3000	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3001	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3002	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3003	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	3004	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3005	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3006	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3007	mtc=true;
yabahiro	38:40e7fdf3c694	3008	break;
yabahiro	38:40e7fdf3c694	3009	case 2:
yabahiro	38:40e7fdf3c694	3010	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3011	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3012	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3013	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3014	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	3015	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3016	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3017	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3018	mtc=true;
yabahiro	38:40e7fdf3c694	3019	break;
yabahiro	38:40e7fdf3c694	3020	}
yabahiro	38:40e7fdf3c694	3021	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	3022	switch(g[0]) {
yabahiro	38:40e7fdf3c694	3023	case 0:
yabahiro	38:40e7fdf3c694	3024	mtc=false;
yabahiro	38:40e7fdf3c694	3025	break;
yabahiro	38:40e7fdf3c694	3026	case 255:
kishibekairohan	44:2aff0da5ebdb	3027	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	3028	mtc=false;
yabahiro	38:40e7fdf3c694	3029	break;
yabahiro	38:40e7fdf3c694	3030	case 253:
kishibekairohan	44:2aff0da5ebdb	3031	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	3032	mtc=false;
yabahiro	38:40e7fdf3c694	3033	break;
yabahiro	38:40e7fdf3c694	3034	case 254:
kishibekairohan	44:2aff0da5ebdb	3035	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	3036	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3037	mtc=false;
yabahiro	38:40e7fdf3c694	3038	break;
yabahiro	38:40e7fdf3c694	3039	case 1:
kishibekairohan	44:2aff0da5ebdb	3040	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	3041	mtc=false;
yabahiro	38:40e7fdf3c694	3042	break;
yabahiro	38:40e7fdf3c694	3043	case 3:
kishibekairohan	44:2aff0da5ebdb	3044	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	3045	mtc=false;
yabahiro	38:40e7fdf3c694	3046	break;
yabahiro	38:40e7fdf3c694	3047	case 2:
kishibekairohan	44:2aff0da5ebdb	3048	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	3049	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3050	mtc=false;
yabahiro	38:40e7fdf3c694	3051	break;
yabahiro	38:40e7fdf3c694	3052	}
yabahiro	33:dd598bb23ad1	3053	}
yabahiro	33:dd598bb23ad1	3054	}
yabahiro	33:dd598bb23ad1	3055	}
yabahiro	46:68296caae1af	3056
kishibekairohan	44:2aff0da5ebdb	3057	/*
yabahiro	38:40e7fdf3c694	3058	if(mode==31) {
yabahiro	33:dd598bb23ad1	3059	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3060	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3061	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3062	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3063	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3064	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3065	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3066	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3067	if(countss>=5000) {
yabahiro	33:dd598bb23ad1	3068	countss=0;
yabahiro	33:dd598bb23ad1	3069	mode=32;
yabahiro	33:dd598bb23ad1	3070	}
yabahiro	33:dd598bb23ad1	3071	} else if(mode==32) {
yabahiro	33:dd598bb23ad1	3072	motor[TIRE_FR].pwm = 10;
yabahiro	33:dd598bb23ad1	3073	motor[TIRE_FR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3074	motor[TIRE_FL].pwm = 10;
yabahiro	33:dd598bb23ad1	3075	motor[TIRE_FL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3076	motor[TIRE_BR].pwm = 10;
yabahiro	33:dd598bb23ad1	3077	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3078	motor[TIRE_BL].pwm = 10;
yabahiro	33:dd598bb23ad1	3079	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3080	if(countss>=40000) {
yabahiro	33:dd598bb23ad1	3081	mode=33;
yabahiro	33:dd598bb23ad1	3082	countss=0;
yabahiro	33:dd598bb23ad1	3083	}
yabahiro	46:68296caae1af	3084	}
kishibekairohan	44:2aff0da5ebdb	3085	*/
kishibekairohan	45:0cf48a0605cd	3086	if(mode==31) {
kishibekairohan	44:2aff0da5ebdb	3087	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3088	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	3089	motor[TIRE_FL].pwm = 45;
yabahiro	38:40e7fdf3c694	3090	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3091	motor[TIRE_BR].pwm = 45;
yabahiro	38:40e7fdf3c694	3092	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3093	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3094	motor[TIRE_BL].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	3095	if(g[2]==0) {
yabahiro	38:40e7fdf3c694	3096	cross=0;
yabahiro	33:dd598bb23ad1	3097	countss=0;
yabahiro	33:dd598bb23ad1	3098	mode=40;
yabahiro	33:dd598bb23ad1	3099	}
yabahiro	46:68296caae1af	3100	} else if(mode==40) {
yabahiro	33:dd598bb23ad1	3101	switch(g[3]) {
yabahiro	33:dd598bb23ad1	3102	case 98:
yabahiro	46:68296caae1af	3103	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3104	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3105	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3106	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3107	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3108	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3109	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3110	motor[TIRE_BL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3111	if(countss>30000) {
yabahiro	33:dd598bb23ad1	3112	cross++;
yabahiro	33:dd598bb23ad1	3113	countss=0;
yabahiro	33:dd598bb23ad1	3114	}
yabahiro	33:dd598bb23ad1	3115	mtc2=true;
yabahiro	33:dd598bb23ad1	3116	break;
yabahiro	33:dd598bb23ad1	3117	case 0:
yabahiro	46:68296caae1af	3118	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3119	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3120	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3121	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3122	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3123	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3124	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3125	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3126	mtc2=true;
yabahiro	33:dd598bb23ad1	3127	break;
yabahiro	33:dd598bb23ad1	3128	case 255:
yabahiro	46:68296caae1af	3129	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3130	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3131	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3132	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3133	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3134	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3135	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3136	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3137	mtc2=true;
yabahiro	33:dd598bb23ad1	3138	break;
yabahiro	33:dd598bb23ad1	3139	case 253:
yabahiro	33:dd598bb23ad1	3140	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3141	motor[TIRE_FR].dir = FREE;
yabahiro	46:68296caae1af	3142	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3143	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3144	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3145	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3146	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3147	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3148	mtc2=true;
yabahiro	33:dd598bb23ad1	3149	break;
yabahiro	33:dd598bb23ad1	3150	case 254:
yabahiro	33:dd598bb23ad1	3151	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3152	motor[TIRE_FR].dir = FREE;
yabahiro	46:68296caae1af	3153	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3154	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3155	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3156	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3157	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3158	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3159	mtc2=true;
yabahiro	33:dd598bb23ad1	3160	break;
yabahiro	33:dd598bb23ad1	3161	case 1:
yabahiro	46:68296caae1af	3162	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3163	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3164	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3165	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3166	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3167	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3168	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3169	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3170	mtc2=true;
yabahiro	33:dd598bb23ad1	3171	break;
yabahiro	33:dd598bb23ad1	3172	case 3:
yabahiro	46:68296caae1af	3173	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3174	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	3175	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3176	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3177	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3178	motor[TIRE_BR].dir = FREE;
yabahiro	46:68296caae1af	3179	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3180	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3181	mtc2=true;
yabahiro	33:dd598bb23ad1	3182	break;
yabahiro	33:dd598bb23ad1	3183	case 2:
yabahiro	46:68296caae1af	3184	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3185	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	3186	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3187	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3188	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3189	motor[TIRE_BR].dir = FREE;
yabahiro	46:68296caae1af	3190	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3191	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3192	mtc2=true;
yabahiro	33:dd598bb23ad1	3193	break;
yabahiro	33:dd598bb23ad1	3194	}
yabahiro	33:dd598bb23ad1	3195	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	3196	switch(g[2]) {
yabahiro	33:dd598bb23ad1	3197	case 0:
yabahiro	33:dd598bb23ad1	3198	mtc2=false;
yabahiro	33:dd598bb23ad1	3199	break;
yabahiro	33:dd598bb23ad1	3200	case 255:
kishibekairohan	44:2aff0da5ebdb	3201	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	3202	mtc2=false;
yabahiro	33:dd598bb23ad1	3203	break;
yabahiro	33:dd598bb23ad1	3204	case 253:
kishibekairohan	44:2aff0da5ebdb	3205	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	3206	mtc2=false;
yabahiro	33:dd598bb23ad1	3207	break;
yabahiro	33:dd598bb23ad1	3208	case 254:
kishibekairohan	44:2aff0da5ebdb	3209	motor[TIRE_FR].pwm += 9;
kishibekairohan	44:2aff0da5ebdb	3210	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3211	mtc2=false;
yabahiro	33:dd598bb23ad1	3212	break;
yabahiro	33:dd598bb23ad1	3213	case 1:
kishibekairohan	44:2aff0da5ebdb	3214	motor[TIRE_BR].pwm += 3;
yabahiro	33:dd598bb23ad1	3215	mtc2=false;
yabahiro	33:dd598bb23ad1	3216	break;
yabahiro	33:dd598bb23ad1	3217	case 3:
kishibekairohan	44:2aff0da5ebdb	3218	motor[TIRE_BR].pwm += 6;
yabahiro	33:dd598bb23ad1	3219	mtc2=false;
yabahiro	33:dd598bb23ad1	3220	break;
yabahiro	33:dd598bb23ad1	3221	case 2:
kishibekairohan	44:2aff0da5ebdb	3222	motor[TIRE_BR].pwm += 9;
kishibekairohan	44:2aff0da5ebdb	3223	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3224	mtc2=false;
yabahiro	33:dd598bb23ad1	3225	break;
yabahiro	33:dd598bb23ad1	3226	}
yabahiro	33:dd598bb23ad1	3227	}
yabahiro	46:68296caae1af	3228
kishibekairohan	42:980af34f6fe3	3229	if(YELLOW) {
kishibekairohan	42:980af34f6fe3	3230	if(cross==1) {
kishibekairohan	42:980af34f6fe3	3231	mode=41;
kishibekairohan	42:980af34f6fe3	3232	countss=0;
kishibekairohan	42:980af34f6fe3	3233	cross=0;
kishibekairohan	42:980af34f6fe3	3234	}
yabahiro	46:68296caae1af	3235	} else {
kishibekairohan	42:980af34f6fe3	3236	if(cross==3) {
kishibekairohan	42:980af34f6fe3	3237	mode=41;
kishibekairohan	42:980af34f6fe3	3238	countss=0;
kishibekairohan	42:980af34f6fe3	3239	cross=0;
kishibekairohan	42:980af34f6fe3	3240	}
kishibekairohan	42:980af34f6fe3	3241	}
yabahiro	46:68296caae1af	3242	if(LIF\|\|LIB) {
yabahiro	46:68296caae1af	3243	mode=42;
yabahiro	46:68296caae1af	3244	}
yabahiro	46:68296caae1af	3245
yabahiro	46:68296caae1af	3246	} else if(mode==41) {
yabahiro	33:dd598bb23ad1	3247	if(LIF\|\|LIB) {
yabahiro	33:dd598bb23ad1	3248	mode=42;
yabahiro	33:dd598bb23ad1	3249	}
kishibekairohan	44:2aff0da5ebdb	3250	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3251	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	42:980af34f6fe3	3252	motor[TIRE_FL].pwm = 40;
yabahiro	33:dd598bb23ad1	3253	motor[TIRE_FL].dir = BACK;
kishibekairohan	42:980af34f6fe3	3254	motor[TIRE_BR].pwm = 40;
yabahiro	33:dd598bb23ad1	3255	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3256	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3257	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3258	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	3259	countss=0;
yabahiro	33:dd598bb23ad1	3260	mode=70;
kishibekairohan	42:980af34f6fe3	3261	normal=80;
kishibekairohan	42:980af34f6fe3	3262	fast=100;
kishibekairohan	42:980af34f6fe3	3263	slow=60;
yabahiro	33:dd598bb23ad1	3264	}
yabahiro	46:68296caae1af	3265	} else if(mode==42) {
kishibekairohan	42:980af34f6fe3	3266	motor[TIRE_FR].pwm = 40;
yabahiro	33:dd598bb23ad1	3267	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3268	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3269	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3270	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3271	motor[TIRE_BR].dir = FREE;
kishibekairohan	42:980af34f6fe3	3272	motor[TIRE_BL].pwm = 40;
yabahiro	33:dd598bb23ad1	3273	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3274	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	3275	countss=0;
yabahiro	33:dd598bb23ad1	3276	mode=70;
yabahiro	33:dd598bb23ad1	3277	}
yabahiro	46:68296caae1af	3278	} else if(mode==70) {
yabahiro	33:dd598bb23ad1	3279	switch(g[1]) {
yabahiro	33:dd598bb23ad1	3280	case 99:
yabahiro	33:dd598bb23ad1	3281	if(countss>=100000) {
yabahiro	33:dd598bb23ad1	3282	mode=100;
yabahiro	33:dd598bb23ad1	3283	}
yabahiro	33:dd598bb23ad1	3284	break;
yabahiro	33:dd598bb23ad1	3285	case 98:
yabahiro	33:dd598bb23ad1	3286	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	3287	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3288	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	3289	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3290	motor[TIRE_BR].pwm = normal+5;
yabahiro	33:dd598bb23ad1	3291	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3292	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	3293	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3294	break;
yabahiro	33:dd598bb23ad1	3295	case 0:
kishibekairohan	42:980af34f6fe3	3296	motor[TIRE_FR].pwm = 100;
yabahiro	33:dd598bb23ad1	3297	motor[TIRE_FR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3298	motor[TIRE_FL].pwm = 100;
yabahiro	33:dd598bb23ad1	3299	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3300	motor[TIRE_BR].pwm = 105;
yabahiro	33:dd598bb23ad1	3301	motor[TIRE_BR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3302	motor[TIRE_BL].pwm = 100;
yabahiro	33:dd598bb23ad1	3303	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3304	mtc=true;
yabahiro	33:dd598bb23ad1	3305	break;
yabahiro	33:dd598bb23ad1	3306	case 255:
yabahiro	33:dd598bb23ad1	3307	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	3308	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3309	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	3310	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3311	motor[TIRE_BR].pwm = slow+5;
yabahiro	33:dd598bb23ad1	3312	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3313	motor[TIRE_BL].pwm = fast;
yabahiro	33:dd598bb23ad1	3314	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3315	mtc=true;
yabahiro	33:dd598bb23ad1	3316	break;
yabahiro	33:dd598bb23ad1	3317	case 253:
yabahiro	33:dd598bb23ad1	3318	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	3319	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3320	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3321	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3322	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3323	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3324	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	3325	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3326	mtc=true;
yabahiro	33:dd598bb23ad1	3327	break;
yabahiro	33:dd598bb23ad1	3328	case 254:
yabahiro	33:dd598bb23ad1	3329	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	3330	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3331	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3332	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3333	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3334	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3335	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	3336	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3337	mtc=true;
yabahiro	33:dd598bb23ad1	3338	break;
yabahiro	33:dd598bb23ad1	3339	case 1:
yabahiro	33:dd598bb23ad1	3340	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	3341	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3342	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	3343	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3344	motor[TIRE_BR].pwm = fast+5;
yabahiro	33:dd598bb23ad1	3345	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3346	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	3347	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3348	mtc=true;
yabahiro	33:dd598bb23ad1	3349	break;
yabahiro	33:dd598bb23ad1	3350	case 3:
yabahiro	33:dd598bb23ad1	3351	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3352	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3353	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	3354	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3355	motor[TIRE_BR].pwm = slow+5;
yabahiro	33:dd598bb23ad1	3356	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3357	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3358	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3359	mtc=true;
yabahiro	33:dd598bb23ad1	3360	break;
yabahiro	33:dd598bb23ad1	3361	case 2:
yabahiro	33:dd598bb23ad1	3362	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3363	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3364	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	3365	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3366	motor[TIRE_BR].pwm = normal+5;
yabahiro	33:dd598bb23ad1	3367	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3368	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3369	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3370	mtc=true;
yabahiro	33:dd598bb23ad1	3371	break;
yabahiro	33:dd598bb23ad1	3372	}
yabahiro	33:dd598bb23ad1	3373	if(g[1]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	3374	switch(g[0]) {
yabahiro	33:dd598bb23ad1	3375	case 0:
yabahiro	33:dd598bb23ad1	3376	mtc=false;
yabahiro	33:dd598bb23ad1	3377	break;
yabahiro	33:dd598bb23ad1	3378	case 255:
kishibekairohan	44:2aff0da5ebdb	3379	motor[TIRE_FL].pwm += 3;
yabahiro	33:dd598bb23ad1	3380	mtc=false;
yabahiro	33:dd598bb23ad1	3381	break;
yabahiro	33:dd598bb23ad1	3382	case 253:
kishibekairohan	44:2aff0da5ebdb	3383	motor[TIRE_FL].pwm += 6;
yabahiro	33:dd598bb23ad1	3384	mtc=false;
yabahiro	33:dd598bb23ad1	3385	break;
yabahiro	33:dd598bb23ad1	3386	case 254:
kishibekairohan	44:2aff0da5ebdb	3387	motor[TIRE_FL].pwm += 9;
yabahiro	33:dd598bb23ad1	3388	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3389	mtc=false;
yabahiro	33:dd598bb23ad1	3390	break;
yabahiro	33:dd598bb23ad1	3391	case 1:
kishibekairohan	44:2aff0da5ebdb	3392	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	3393	mtc=false;
yabahiro	33:dd598bb23ad1	3394	break;
yabahiro	33:dd598bb23ad1	3395	case 3:
kishibekairohan	44:2aff0da5ebdb	3396	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	3397	mtc=false;
yabahiro	33:dd598bb23ad1	3398	break;
yabahiro	33:dd598bb23ad1	3399	case 2:
kishibekairohan	44:2aff0da5ebdb	3400	motor[TIRE_FR].pwm += 9;
yabahiro	33:dd598bb23ad1	3401	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3402	mtc=false;
yabahiro	33:dd598bb23ad1	3403	break;
yabahiro	33:dd598bb23ad1	3404	}
yabahiro	33:dd598bb23ad1	3405	}
yabahiro	46:68296caae1af	3406	} else if(mode==100) {
kishibekairohan	42:980af34f6fe3	3407	motor[TIRE_FR].pwm = 50;
yabahiro	33:dd598bb23ad1	3408	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	3409	motor[TIRE_FL].pwm = 55;
yabahiro	33:dd598bb23ad1	3410	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3411	motor[TIRE_BR].pwm = 60;
yabahiro	33:dd598bb23ad1	3412	motor[TIRE_BR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3413	motor[TIRE_BL].pwm = 50;
yabahiro	33:dd598bb23ad1	3414	motor[TIRE_BL].dir = BACK;
yabahiro	46:68296caae1af	3415	}
yabahiro	46:68296caae1af	3416
kishibekairohan	13:b6e02d6261d7	3417	}
kishibekairohan	13:b6e02d6261d7	3418	#endif
kishibekairohan	13:b6e02d6261d7	3419
kishibekairohan	13:b6e02d6261d7	3420	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	3421	static void Process4()
M_souta	22:7d93f79a3686	3422	{
yabahiro	48:5562a99479e5	3423	//Oh So 決勝青ゾーン
yabahiro	48:5562a99479e5	3424	LED::LED::TapeledMode(2);
yabahiro	48:5562a99479e5	3425	countss++;
yabahiro	48:5562a99479e5	3426	if(mode==1) {//スタートゾーンから白線検知
yabahiro	48:5562a99479e5	3427	fast=40;
yabahiro	48:5562a99479e5	3428	normal=30;
yabahiro	48:5562a99479e5	3429	slow=20;
yabahiro	48:5562a99479e5	3430	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3431	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3432	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3433	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3434	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3435	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3436	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3437	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3438	if(g[2]==0&&countss>=100000) {
yabahiro	48:5562a99479e5	3439	countss=100000;
yabahiro	48:5562a99479e5	3440	cross=0;
yabahiro	48:5562a99479e5	3441	mode=3;
yabahiro	48:5562a99479e5	3442	}
yabahiro	48:5562a99479e5	3443	} 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	3444	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3445	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3446	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	3447	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	3448	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	3449	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3450	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3451	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3452	if(g[1]==0) {
yabahiro	48:5562a99479e5	3453	mode=10;
yabahiro	48:5562a99479e5	3454	countss=100000;
yabahiro	48:5562a99479e5	3455	}
yabahiro	48:5562a99479e5	3456	} else if(mode==10) { //縦ライントレース
yabahiro	48:5562a99479e5	3457	switch(g[1]) {
yabahiro	48:5562a99479e5	3458	case 98:
yabahiro	48:5562a99479e5	3459	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3460	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3461	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3462	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3463	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3464	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3465	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3466	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3467	mtc=true;
yabahiro	49:697b4e9ce884	3468	if(YELLOW) {
yabahiro	49:697b4e9ce884	3469	if(countss>80000) {
yabahiro	49:697b4e9ce884	3470	cross++;
yabahiro	49:697b4e9ce884	3471	countss=0;
yabahiro	49:697b4e9ce884	3472	}
yabahiro	48:5562a99479e5	3473
yabahiro	49:697b4e9ce884	3474	if(cross==2) {
yabahiro	49:697b4e9ce884	3475	fast = 10;
yabahiro	49:697b4e9ce884	3476	normal = 10;
yabahiro	49:697b4e9ce884	3477	slow = 5;
yabahiro	49:697b4e9ce884	3478	}
yabahiro	48:5562a99479e5	3479
yabahiro	49:697b4e9ce884	3480	if(cross==3) {
yabahiro	49:697b4e9ce884	3481	fast=40;
yabahiro	49:697b4e9ce884	3482	normal=30;
yabahiro	49:697b4e9ce884	3483	slow=20;
yabahiro	49:697b4e9ce884	3484	mode=11;
yabahiro	49:697b4e9ce884	3485	countss=0;
yabahiro	49:697b4e9ce884	3486	cross=0;
yabahiro	49:697b4e9ce884	3487	}
yabahiro	49:697b4e9ce884	3488	} else {
yabahiro	48:5562a99479e5	3489	mode=11;
yabahiro	48:5562a99479e5	3490	}
yabahiro	48:5562a99479e5	3491	break;
yabahiro	48:5562a99479e5	3492	case 0:
yabahiro	48:5562a99479e5	3493	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3494	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3495	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3496	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3497	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3498	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3499	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3500	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3501	mtc=true;
yabahiro	48:5562a99479e5	3502	break;
yabahiro	48:5562a99479e5	3503	case 255:
yabahiro	48:5562a99479e5	3504	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3505	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3506	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3507	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3508	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3509	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3510	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3511	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3512	mtc=true;
yabahiro	48:5562a99479e5	3513	break;
yabahiro	48:5562a99479e5	3514	case 253:
yabahiro	48:5562a99479e5	3515	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3516	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3517	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3518	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3519	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3520	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3521	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3522	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3523	mtc=true;
yabahiro	48:5562a99479e5	3524	break;
yabahiro	48:5562a99479e5	3525	case 254:
yabahiro	48:5562a99479e5	3526	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3527	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3528	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3529	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3530	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3531	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3532	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3533	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3534	mtc=true;
yabahiro	48:5562a99479e5	3535	break;
yabahiro	48:5562a99479e5	3536	case 1:
yabahiro	48:5562a99479e5	3537	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3538	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3539	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3540	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3541	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3542	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3543	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3544	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3545	mtc=true;
yabahiro	48:5562a99479e5	3546	break;
yabahiro	48:5562a99479e5	3547	case 3:
yabahiro	48:5562a99479e5	3548	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3549	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3550	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3551	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3552	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3553	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3554	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3555	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3556	mtc=true;
yabahiro	48:5562a99479e5	3557	break;
yabahiro	48:5562a99479e5	3558	case 2:
yabahiro	48:5562a99479e5	3559	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3560	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3561	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3562	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3563	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3564	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3565	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3566	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3567	mtc=true;
yabahiro	48:5562a99479e5	3568	break;
yabahiro	48:5562a99479e5	3569	}
yabahiro	48:5562a99479e5	3570	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	3571	switch(g[0]) {
yabahiro	48:5562a99479e5	3572	case 0:
yabahiro	48:5562a99479e5	3573	mtc=false;
yabahiro	48:5562a99479e5	3574	break;
yabahiro	48:5562a99479e5	3575	case 255:
yabahiro	48:5562a99479e5	3576	motor[TIRE_FL].pwm += 3;
yabahiro	48:5562a99479e5	3577	mtc=false;
yabahiro	48:5562a99479e5	3578	break;
yabahiro	48:5562a99479e5	3579	case 253:
yabahiro	48:5562a99479e5	3580	motor[TIRE_FL].pwm += 6;
yabahiro	48:5562a99479e5	3581	mtc=false;
yabahiro	48:5562a99479e5	3582	break;
yabahiro	48:5562a99479e5	3583	case 254:
yabahiro	48:5562a99479e5	3584	motor[TIRE_FL].pwm += 9;
yabahiro	48:5562a99479e5	3585	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3586	mtc=false;
yabahiro	48:5562a99479e5	3587	break;
yabahiro	48:5562a99479e5	3588	case 1:
yabahiro	48:5562a99479e5	3589	motor[TIRE_FR].pwm += 3;
yabahiro	48:5562a99479e5	3590	mtc=false;
yabahiro	48:5562a99479e5	3591	break;
yabahiro	48:5562a99479e5	3592	case 3:
yabahiro	48:5562a99479e5	3593	motor[TIRE_FR].pwm += 6;
yabahiro	48:5562a99479e5	3594	mtc=false;
yabahiro	48:5562a99479e5	3595	break;
yabahiro	48:5562a99479e5	3596	case 2:
yabahiro	48:5562a99479e5	3597	motor[TIRE_FR].pwm += 9;
yabahiro	48:5562a99479e5	3598	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3599	mtc=false;
yabahiro	48:5562a99479e5	3600	break;
yabahiro	48:5562a99479e5	3601	}
yabahiro	48:5562a99479e5	3602	}
yabahiro	48:5562a99479e5	3603	} else if(mode==11) {
yabahiro	48:5562a99479e5	3604	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	3605	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	3606	motor[TIRE_FL].pwm = 50;
yabahiro	49:697b4e9ce884	3607	motor[TIRE_FL].dir = BRAKE;
yabahiro	49:697b4e9ce884	3608	motor[TIRE_BR].pwm = 50;
yabahiro	49:697b4e9ce884	3609	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3610	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	3611	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3612	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	48:5562a99479e5	3613	countss=0;
yabahiro	48:5562a99479e5	3614	cross=0;
yabahiro	48:5562a99479e5	3615	mode=20;
yabahiro	48:5562a99479e5	3616	}
yabahiro	48:5562a99479e5	3617	} else if(mode==20) {
yabahiro	48:5562a99479e5	3618	switch(g[2]) {
yabahiro	48:5562a99479e5	3619	case 98:
yabahiro	48:5562a99479e5	3620	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3621	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3622	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3623	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3624	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3625	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3626	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3627	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3628	if(countss>30000) {
yabahiro	48:5562a99479e5	3629	cross++;
yabahiro	48:5562a99479e5	3630	countss=0;
yabahiro	48:5562a99479e5	3631	}
yabahiro	48:5562a99479e5	3632	mtc2=true;
yabahiro	48:5562a99479e5	3633
yabahiro	48:5562a99479e5	3634	if(YELLOW) {
yabahiro	49:697b4e9ce884	3635	solenoid.solenoid4= SOLENOID_ON;
yabahiro	48:5562a99479e5	3636	if(cross==1) {
yabahiro	48:5562a99479e5	3637	fast=20;
yabahiro	48:5562a99479e5	3638	normal=15;
yabahiro	48:5562a99479e5	3639	slow=15;
yabahiro	48:5562a99479e5	3640	} else if(cross==2) {
yabahiro	48:5562a99479e5	3641	mode=21;
yabahiro	48:5562a99479e5	3642	countss=0;
yabahiro	48:5562a99479e5	3643	cross=0;
yabahiro	48:5562a99479e5	3644	}
yabahiro	48:5562a99479e5	3645	} else {
yabahiro	49:697b4e9ce884	3646	if(cross==2) {
yabahiro	49:697b4e9ce884	3647	fast=20;
yabahiro	49:697b4e9ce884	3648	normal=15;
yabahiro	49:697b4e9ce884	3649	slow=15;
yabahiro	49:697b4e9ce884	3650	}
yabahiro	48:5562a99479e5	3651	if(cross==3) {
yabahiro	48:5562a99479e5	3652	mode=21;
yabahiro	48:5562a99479e5	3653	countss=0;
yabahiro	48:5562a99479e5	3654	cross=0;
yabahiro	48:5562a99479e5	3655	}
yabahiro	48:5562a99479e5	3656	}
yabahiro	48:5562a99479e5	3657	break;
yabahiro	48:5562a99479e5	3658	case 0:
yabahiro	48:5562a99479e5	3659	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3660	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3661	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3662	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3663	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3664	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3665	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3666	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3667	mtc2=true;
yabahiro	48:5562a99479e5	3668	break;
yabahiro	48:5562a99479e5	3669	case 255:
yabahiro	48:5562a99479e5	3670	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3671	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3672	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3673	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3674	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3675	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3676	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3677	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3678	mtc2=true;
yabahiro	48:5562a99479e5	3679	break;
yabahiro	48:5562a99479e5	3680	case 253:
yabahiro	48:5562a99479e5	3681	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3682	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3683	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3684	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3685	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3686	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3687	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3688	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3689	mtc2=true;
yabahiro	48:5562a99479e5	3690	break;
yabahiro	48:5562a99479e5	3691	case 254:
yabahiro	48:5562a99479e5	3692	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3693	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3694	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3695	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3696	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3697	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3698	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3699	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3700	mtc2=true;
yabahiro	48:5562a99479e5	3701	break;
yabahiro	48:5562a99479e5	3702	case 1:
yabahiro	48:5562a99479e5	3703	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3704	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3705	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3706	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3707	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3708	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3709	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3710	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3711	mtc2=true;
yabahiro	48:5562a99479e5	3712	break;
yabahiro	48:5562a99479e5	3713	case 3:
yabahiro	48:5562a99479e5	3714	motor[TIRE_FR].pwm = slow+20;
yabahiro	48:5562a99479e5	3715	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3716	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3717	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3718	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3719	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3720	motor[TIRE_BL].pwm = slow+20;
yabahiro	48:5562a99479e5	3721	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3722	mtc2=true;
yabahiro	48:5562a99479e5	3723	break;
yabahiro	48:5562a99479e5	3724	case 2:
yabahiro	48:5562a99479e5	3725	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3726	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3727	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3728	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3729	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3730	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3731	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3732	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3733	mtc2=true;
yabahiro	48:5562a99479e5	3734	break;
yabahiro	48:5562a99479e5	3735	}
yabahiro	48:5562a99479e5	3736	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	3737	switch(g[3]) {
yabahiro	48:5562a99479e5	3738	case 0:
yabahiro	48:5562a99479e5	3739	mtc2=false;
yabahiro	48:5562a99479e5	3740	break;
yabahiro	48:5562a99479e5	3741	case 255:
yabahiro	48:5562a99479e5	3742	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	3743	mtc2=false;
yabahiro	48:5562a99479e5	3744	break;
yabahiro	48:5562a99479e5	3745	case 253:
yabahiro	48:5562a99479e5	3746	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	3747	mtc2=false;
yabahiro	48:5562a99479e5	3748	break;
yabahiro	48:5562a99479e5	3749	case 254:
yabahiro	48:5562a99479e5	3750	motor[TIRE_BL].pwm += 15;
yabahiro	48:5562a99479e5	3751	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3752	mtc2=false;
yabahiro	48:5562a99479e5	3753	break;
yabahiro	48:5562a99479e5	3754	case 1:
yabahiro	48:5562a99479e5	3755	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	3756	mtc2=false;
yabahiro	48:5562a99479e5	3757	break;
yabahiro	48:5562a99479e5	3758	case 3:
yabahiro	48:5562a99479e5	3759	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	3760	mtc2=false;
yabahiro	48:5562a99479e5	3761	break;
yabahiro	48:5562a99479e5	3762	case 2:
yabahiro	48:5562a99479e5	3763	motor[TIRE_FL].pwm += 15;
yabahiro	48:5562a99479e5	3764	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3765	mtc2=false;
yabahiro	48:5562a99479e5	3766	break;
yabahiro	48:5562a99479e5	3767	}
yabahiro	48:5562a99479e5	3768	}
yabahiro	48:5562a99479e5	3769	}
yabahiro	48:5562a99479e5	3770	if(YELLOW) {
yabahiro	48:5562a99479e5	3771	if(mode==21) {
yabahiro	48:5562a99479e5	3772	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3773	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3774	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3775	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3776	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3777	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3778	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3779	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3780	if(g[3]==98&&countss>=10000) {
yabahiro	48:5562a99479e5	3781	mode=22;
yabahiro	48:5562a99479e5	3782	countss=0;
yabahiro	48:5562a99479e5	3783	fast=60;
yabahiro	48:5562a99479e5	3784	normal=40;
yabahiro	48:5562a99479e5	3785	slow=20;
yabahiro	48:5562a99479e5	3786	}
yabahiro	48:5562a99479e5	3787	} else if(mode==22) {
yabahiro	48:5562a99479e5	3788	if(g[4]==3\|\|g[4]==2) {
yabahiro	48:5562a99479e5	3789	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3790	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3791	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3792	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3793	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3794	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3795	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3796	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3797	}
yabahiro	48:5562a99479e5	3798	if(g[4]==253\|\|g[4]==254) {
yabahiro	48:5562a99479e5	3799	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3800	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3801	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3802	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3803	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3804	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3805	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3806	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3807	}
yabahiro	48:5562a99479e5	3808	switch(g[2]) {
yabahiro	48:5562a99479e5	3809	case 0:
yabahiro	48:5562a99479e5	3810	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3811	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3812	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3813	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3814	break;
yabahiro	48:5562a99479e5	3815	case 255:
yabahiro	48:5562a99479e5	3816	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3817	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3818	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3819	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3820	break;
yabahiro	48:5562a99479e5	3821	case 253:
yabahiro	48:5562a99479e5	3822	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	3823	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3824	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3825	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3826	break;
yabahiro	48:5562a99479e5	3827	case 254:
yabahiro	48:5562a99479e5	3828	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3829	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3830	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3831	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3832	break;
yabahiro	48:5562a99479e5	3833	case 1:
yabahiro	48:5562a99479e5	3834	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3835	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3836	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3837	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3838	break;
yabahiro	48:5562a99479e5	3839	case 3:
yabahiro	48:5562a99479e5	3840	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3841	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3842	motor[TIRE_BR].pwm = 40;
yabahiro	48:5562a99479e5	3843	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3844	break;
yabahiro	48:5562a99479e5	3845	case 2:
yabahiro	48:5562a99479e5	3846	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3847	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3848	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3849	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3850	break;
yabahiro	48:5562a99479e5	3851	}
yabahiro	48:5562a99479e5	3852	switch(g[3]) {
yabahiro	48:5562a99479e5	3853	case 0:
yabahiro	48:5562a99479e5	3854	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3855	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3856	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3857	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3858	break;
yabahiro	48:5562a99479e5	3859	case 255:
yabahiro	48:5562a99479e5	3860	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3861	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3862	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3863	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3864	case 253:
yabahiro	48:5562a99479e5	3865	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3866	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3867	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	3868	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3869	break;
yabahiro	48:5562a99479e5	3870	case 254:
yabahiro	48:5562a99479e5	3871	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3872	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3873	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3874	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3875	break;
yabahiro	48:5562a99479e5	3876	case 1:
yabahiro	48:5562a99479e5	3877	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3878	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3879	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3880	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3881	break;
yabahiro	48:5562a99479e5	3882	case 3:
yabahiro	48:5562a99479e5	3883	motor[TIRE_FL].pwm = 40;
yabahiro	48:5562a99479e5	3884	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3885	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3886	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3887	break;
yabahiro	48:5562a99479e5	3888	case 2:
yabahiro	48:5562a99479e5	3889	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3890	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3891	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3892	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3893	break;
yabahiro	48:5562a99479e5	3894	}
yabahiro	48:5562a99479e5	3895	if(g[3]==0&&g[2]==0) {
yabahiro	48:5562a99479e5	3896	mode=23;
yabahiro	48:5562a99479e5	3897	countss=0;
yabahiro	48:5562a99479e5	3898	}
yabahiro	48:5562a99479e5	3899	} else if(mode==23) {
yabahiro	48:5562a99479e5	3900	switch(g[4]) {
yabahiro	48:5562a99479e5	3901	case 98:
yabahiro	48:5562a99479e5	3902	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3903	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3904	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3905	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3906	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3907	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3908	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3909	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3910	break;
yabahiro	48:5562a99479e5	3911	case 99:
yabahiro	48:5562a99479e5	3912	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3913	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3914	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3915	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3916	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3917	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3918	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3919	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3920	break;
yabahiro	48:5562a99479e5	3921	case 0:
yabahiro	48:5562a99479e5	3922	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3923	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3924	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3925	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3926	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3927	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3928	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3929	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3930	break;
yabahiro	48:5562a99479e5	3931	case 255:
yabahiro	48:5562a99479e5	3932	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3933	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3934	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3935	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3936	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3937	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3938	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3939	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3940	break;
yabahiro	48:5562a99479e5	3941	case 253:
yabahiro	48:5562a99479e5	3942	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3943	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3944	motor[TIRE_FL].pwm = slow-5;
yabahiro	48:5562a99479e5	3945	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3946	motor[TIRE_BR].pwm = slow-5;
yabahiro	48:5562a99479e5	3947	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3948	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3949	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3950	break;
yabahiro	48:5562a99479e5	3951	case 254:
yabahiro	48:5562a99479e5	3952	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3953	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3954	motor[TIRE_FL].pwm = normal-5;
yabahiro	48:5562a99479e5	3955	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3956	motor[TIRE_BR].pwm = normal-5;
yabahiro	48:5562a99479e5	3957	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3958	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3959	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3960	break;
yabahiro	48:5562a99479e5	3961	case 1:
yabahiro	48:5562a99479e5	3962	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3963	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3964	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3965	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3966	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3967	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3968	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3969	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3970	break;
yabahiro	48:5562a99479e5	3971	case 3:
yabahiro	48:5562a99479e5	3972	motor[TIRE_FR].pwm = slow-5;
yabahiro	48:5562a99479e5	3973	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3974	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3975	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3976	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3977	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3978	motor[TIRE_BL].pwm = slow-5;
yabahiro	48:5562a99479e5	3979	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3980	break;
yabahiro	48:5562a99479e5	3981	case 2:
yabahiro	48:5562a99479e5	3982	motor[TIRE_FR].pwm = normal-5;
yabahiro	48:5562a99479e5	3983	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3984	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3985	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3986	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3987	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3988	motor[TIRE_BL].pwm = normal-5;
yabahiro	48:5562a99479e5	3989	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3990	break;
yabahiro	48:5562a99479e5	3991	}
yabahiro	48:5562a99479e5	3992	if(g[2]==254&&countss>=100000) {
yabahiro	48:5562a99479e5	3993	mode=24;
yabahiro	48:5562a99479e5	3994	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	48:5562a99479e5	3995	countss=0;
yabahiro	48:5562a99479e5	3996	fast=60;
yabahiro	48:5562a99479e5	3997	normal=40;
yabahiro	48:5562a99479e5	3998	slow=20;
yabahiro	48:5562a99479e5	3999	}
yabahiro	48:5562a99479e5	4000	} else if(mode==24) {
yabahiro	48:5562a99479e5	4001	motor[TIRE_FR].pwm = 60;
yabahiro	48:5562a99479e5	4002	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4003	motor[TIRE_FL].pwm = 60;
yabahiro	48:5562a99479e5	4004	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4005	motor[TIRE_BR].pwm = 60;
yabahiro	48:5562a99479e5	4006	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4007	motor[TIRE_BL].pwm = 60;
yabahiro	48:5562a99479e5	4008	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4009	if(g[0]==0) {
yabahiro	48:5562a99479e5	4010	mode=25;
yabahiro	48:5562a99479e5	4011	}
yabahiro	48:5562a99479e5	4012	} else if(mode==25) {
yabahiro	48:5562a99479e5	4013	motor[TIRE_FR].pwm = 100;
yabahiro	48:5562a99479e5	4014	motor[TIRE_FR].dir = BRAKE;
yabahiro	48:5562a99479e5	4015	motor[TIRE_FL].pwm = 100;
yabahiro	48:5562a99479e5	4016	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4017	motor[TIRE_BR].pwm = 100;
yabahiro	48:5562a99479e5	4018	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4019	motor[TIRE_BL].pwm = 100;
yabahiro	48:5562a99479e5	4020	motor[TIRE_BL].dir = BRAKE;
yabahiro	48:5562a99479e5	4021	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	4022	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	4023	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	4024	mode=26;
yabahiro	48:5562a99479e5	4025	countss=0;
yabahiro	48:5562a99479e5	4026	} else {
yabahiro	48:5562a99479e5	4027	motor[MOTOR_0].pwm = 100;
yabahiro	48:5562a99479e5	4028	motor[MOTOR_0].dir = BACK;
yabahiro	48:5562a99479e5	4029	}
yabahiro	48:5562a99479e5	4030	} else if(mode==26) {
yabahiro	48:5562a99479e5	4031	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4032	mode=31;
yabahiro	48:5562a99479e5	4033	countss=0;
yabahiro	48:5562a99479e5	4034	}
yabahiro	48:5562a99479e5	4035	switch(g[0]) {
yabahiro	48:5562a99479e5	4036	case 98:
yabahiro	48:5562a99479e5	4037	fast=40;
yabahiro	48:5562a99479e5	4038	normal=30;
yabahiro	48:5562a99479e5	4039	slow=25;
yabahiro	48:5562a99479e5	4040	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4041	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4042	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4043	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4044	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4045	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4046	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4047	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4048	break;
yabahiro	48:5562a99479e5	4049	case 0:
yabahiro	48:5562a99479e5	4050	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4051	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4052	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4053	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4054	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4055	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4056	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4057	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4058	mtc=true;
yabahiro	48:5562a99479e5	4059	break;
yabahiro	48:5562a99479e5	4060	case 255:
yabahiro	48:5562a99479e5	4061	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4062	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4063	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4064	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4065	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4066	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4067	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4068	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4069	mtc=true;
yabahiro	48:5562a99479e5	4070	break;
yabahiro	48:5562a99479e5	4071	case 253:
yabahiro	48:5562a99479e5	4072	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4073	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4074	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4075	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4076	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4077	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4078	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4079	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4080	mtc=true;
yabahiro	48:5562a99479e5	4081	break;
yabahiro	48:5562a99479e5	4082	case 254:
yabahiro	48:5562a99479e5	4083	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4084	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4085	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4086	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4087	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4088	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4089	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4090	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4091	mtc=true;
yabahiro	48:5562a99479e5	4092	break;
yabahiro	48:5562a99479e5	4093	case 1:
yabahiro	48:5562a99479e5	4094	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4095	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4096	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4097	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4098	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4099	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4100	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4101	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4102	mtc=true;
yabahiro	48:5562a99479e5	4103	break;
yabahiro	48:5562a99479e5	4104	case 3:
yabahiro	48:5562a99479e5	4105	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4106	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4107	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4108	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4109	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4110	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4111	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4112	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4113	mtc=true;
yabahiro	48:5562a99479e5	4114	break;
yabahiro	48:5562a99479e5	4115	case 2:
yabahiro	48:5562a99479e5	4116	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4117	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4118	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4119	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4120	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4121	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4122	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4123	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4124	mtc=true;
yabahiro	48:5562a99479e5	4125	break;
yabahiro	48:5562a99479e5	4126	}
yabahiro	48:5562a99479e5	4127	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4128	switch(g[1]) {
yabahiro	48:5562a99479e5	4129	case 0:
yabahiro	48:5562a99479e5	4130	mtc=false;
yabahiro	48:5562a99479e5	4131	break;
yabahiro	48:5562a99479e5	4132	case 255:
yabahiro	48:5562a99479e5	4133	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4134	mtc=false;
yabahiro	48:5562a99479e5	4135	break;
yabahiro	48:5562a99479e5	4136	case 253:
yabahiro	48:5562a99479e5	4137	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4138	mtc=false;
yabahiro	48:5562a99479e5	4139	break;
yabahiro	48:5562a99479e5	4140	case 254:
yabahiro	48:5562a99479e5	4141	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4142	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4143	mtc=false;
yabahiro	48:5562a99479e5	4144	break;
yabahiro	48:5562a99479e5	4145	case 1:
yabahiro	48:5562a99479e5	4146	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4147	mtc=false;
yabahiro	48:5562a99479e5	4148	break;
yabahiro	48:5562a99479e5	4149	case 3:
yabahiro	48:5562a99479e5	4150	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4151	mtc=false;
yabahiro	48:5562a99479e5	4152	break;
yabahiro	48:5562a99479e5	4153	case 2:
yabahiro	48:5562a99479e5	4154	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4155	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4156	mtc=false;
yabahiro	48:5562a99479e5	4157	break;
yabahiro	48:5562a99479e5	4158	}
yabahiro	48:5562a99479e5	4159	}
yabahiro	48:5562a99479e5	4160	}
yabahiro	48:5562a99479e5	4161	} else {
yabahiro	48:5562a99479e5	4162	if(mode==21) {
yabahiro	49:697b4e9ce884	4163	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4164	fast=60;
yabahiro	48:5562a99479e5	4165	normal=30;
yabahiro	48:5562a99479e5	4166	slow=25;
yabahiro	48:5562a99479e5	4167	mode=31;
yabahiro	48:5562a99479e5	4168	countss=0;
yabahiro	48:5562a99479e5	4169	}
yabahiro	48:5562a99479e5	4170	switch(g[0]) {
yabahiro	48:5562a99479e5	4171	case 98:
yabahiro	48:5562a99479e5	4172	fast=40;
yabahiro	48:5562a99479e5	4173	normal=30;
yabahiro	48:5562a99479e5	4174	slow=25;
yabahiro	48:5562a99479e5	4175	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4176	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4177	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4178	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4179	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4180	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4181	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4182	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4183	break;
yabahiro	48:5562a99479e5	4184	case 0:
yabahiro	48:5562a99479e5	4185	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4186	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4187	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4188	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4189	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4190	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4191	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4192	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4193	mtc=true;
yabahiro	48:5562a99479e5	4194	break;
yabahiro	48:5562a99479e5	4195	case 255:
yabahiro	48:5562a99479e5	4196	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4197	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4198	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4199	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4200	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4201	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4202	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4203	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4204	mtc=true;
yabahiro	48:5562a99479e5	4205	break;
yabahiro	48:5562a99479e5	4206	case 253:
yabahiro	48:5562a99479e5	4207	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4208	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4209	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4210	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4211	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4212	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4213	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4214	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4215	mtc=true;
yabahiro	48:5562a99479e5	4216	break;
yabahiro	48:5562a99479e5	4217	case 254:
yabahiro	48:5562a99479e5	4218	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4219	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4220	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4221	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4222	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4223	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4224	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4225	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4226	mtc=true;
yabahiro	48:5562a99479e5	4227	break;
yabahiro	48:5562a99479e5	4228	case 1:
yabahiro	48:5562a99479e5	4229	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4230	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4231	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4232	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4233	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4234	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4235	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4236	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4237	mtc=true;
yabahiro	48:5562a99479e5	4238	break;
yabahiro	48:5562a99479e5	4239	case 3:
yabahiro	48:5562a99479e5	4240	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4241	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4242	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4243	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4244	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4245	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4246	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4247	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4248	mtc=true;
yabahiro	48:5562a99479e5	4249	break;
yabahiro	48:5562a99479e5	4250	case 2:
yabahiro	48:5562a99479e5	4251	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4252	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4253	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4254	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4255	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4256	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4257	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4258	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4259	mtc=true;
yabahiro	48:5562a99479e5	4260	break;
yabahiro	48:5562a99479e5	4261	}
yabahiro	48:5562a99479e5	4262	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4263	switch(g[1]) {
yabahiro	48:5562a99479e5	4264	case 0:
yabahiro	48:5562a99479e5	4265	mtc=false;
yabahiro	48:5562a99479e5	4266	break;
yabahiro	48:5562a99479e5	4267	case 255:
yabahiro	48:5562a99479e5	4268	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4269	mtc=false;
yabahiro	48:5562a99479e5	4270	break;
yabahiro	48:5562a99479e5	4271	case 253:
yabahiro	48:5562a99479e5	4272	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4273	mtc=false;
yabahiro	48:5562a99479e5	4274	break;
yabahiro	48:5562a99479e5	4275	case 254:
yabahiro	48:5562a99479e5	4276	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4277	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4278	mtc=false;
yabahiro	48:5562a99479e5	4279	break;
yabahiro	48:5562a99479e5	4280	case 1:
yabahiro	48:5562a99479e5	4281	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4282	mtc=false;
yabahiro	48:5562a99479e5	4283	break;
yabahiro	48:5562a99479e5	4284	case 3:
yabahiro	48:5562a99479e5	4285	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4286	mtc=false;
yabahiro	48:5562a99479e5	4287	break;
yabahiro	48:5562a99479e5	4288	case 2:
yabahiro	48:5562a99479e5	4289	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4290	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4291	mtc=false;
yabahiro	48:5562a99479e5	4292	break;
yabahiro	48:5562a99479e5	4293	}
yabahiro	48:5562a99479e5	4294	}
yabahiro	48:5562a99479e5	4295	}
yabahiro	48:5562a99479e5	4296	}
yabahiro	48:5562a99479e5	4297
yabahiro	48:5562a99479e5	4298	/*
yabahiro	48:5562a99479e5	4299	if(mode==31) {
yabahiro	48:5562a99479e5	4300	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4301	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4302	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4303	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4304	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4305	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4306	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4307	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4308	if(countss>=5000) {
yabahiro	48:5562a99479e5	4309	countss=0;
yabahiro	48:5562a99479e5	4310	mode=33;
yabahiro	48:5562a99479e5	4311	}
yabahiro	48:5562a99479e5	4312	} else if(mode==33) {
yabahiro	48:5562a99479e5	4313	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4314	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4315	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4316	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4317	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4318	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4319	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4320	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4321	if(g[3]==0) {
yabahiro	48:5562a99479e5	4322	cross=0;
yabahiro	48:5562a99479e5	4323	countss=0;
yabahiro	48:5562a99479e5	4324	mode=40;
yabahiro	48:5562a99479e5	4325	}
yabahiro	48:5562a99479e5	4326	} else
yabahiro	48:5562a99479e5	4327	*/
yabahiro	48:5562a99479e5	4328	if(mode==31) {
yabahiro	48:5562a99479e5	4329	motor[TIRE_FR].pwm = 45;
yabahiro	48:5562a99479e5	4330	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4331	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	4332	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4333	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	4334	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4335	motor[TIRE_BL].pwm = 45;
yabahiro	48:5562a99479e5	4336	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4337	if(g[3]==0) {
yabahiro	48:5562a99479e5	4338	cross=0;
yabahiro	48:5562a99479e5	4339	countss=0;
yabahiro	48:5562a99479e5	4340	mode=40;
yabahiro	48:5562a99479e5	4341	}
yabahiro	48:5562a99479e5	4342	} else if(mode==40) {
yabahiro	48:5562a99479e5	4343	switch(g[3]) {
yabahiro	48:5562a99479e5	4344	case 98:
yabahiro	48:5562a99479e5	4345	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4346	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4347	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4348	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4349	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4350	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4351	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4352	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4353	if(countss>10000) {
yabahiro	48:5562a99479e5	4354	cross++;
yabahiro	48:5562a99479e5	4355	countss=0;
yabahiro	48:5562a99479e5	4356	}
yabahiro	48:5562a99479e5	4357	mtc2=true;
yabahiro	48:5562a99479e5	4358	if(cross==1) {
yabahiro	48:5562a99479e5	4359	mode=41;
yabahiro	48:5562a99479e5	4360	countss=0;
yabahiro	48:5562a99479e5	4361	cross=0;
yabahiro	48:5562a99479e5	4362	}
yabahiro	48:5562a99479e5	4363	break;
yabahiro	48:5562a99479e5	4364	case 0:
yabahiro	48:5562a99479e5	4365	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4366	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4367	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4368	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4369	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4370	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4371	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4372	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4373	mtc2=true;
yabahiro	48:5562a99479e5	4374	break;
yabahiro	48:5562a99479e5	4375	case 255:
yabahiro	48:5562a99479e5	4376	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4377	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4378	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4379	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4380	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4381	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4382	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4383	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4384	mtc2=true;
yabahiro	48:5562a99479e5	4385	break;
yabahiro	48:5562a99479e5	4386	case 253:
yabahiro	48:5562a99479e5	4387	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4388	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4389	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4390	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4391	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4392	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4393	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4394	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4395	mtc2=true;
yabahiro	48:5562a99479e5	4396	break;
yabahiro	48:5562a99479e5	4397	case 254:
yabahiro	48:5562a99479e5	4398	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4399	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4400	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4401	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4402	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4403	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4404	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4405	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4406	mtc2=true;
yabahiro	48:5562a99479e5	4407	break;
yabahiro	48:5562a99479e5	4408	case 1:
yabahiro	48:5562a99479e5	4409	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4410	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4411	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4412	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4413	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4414	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4415	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4416	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4417	mtc2=true;
yabahiro	48:5562a99479e5	4418	break;
yabahiro	48:5562a99479e5	4419	case 3:
yabahiro	48:5562a99479e5	4420	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4421	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4422	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4423	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4424	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4425	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4426	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4427	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4428	mtc2=true;
yabahiro	48:5562a99479e5	4429	break;
yabahiro	48:5562a99479e5	4430	case 2:
yabahiro	48:5562a99479e5	4431	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4432	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4433	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4434	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4435	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4436	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4437	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4438	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4439	mtc2=true;
yabahiro	48:5562a99479e5	4440	break;
yabahiro	48:5562a99479e5	4441	}
yabahiro	48:5562a99479e5	4442	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	4443	switch(g[2]) {
yabahiro	48:5562a99479e5	4444	case 0:
yabahiro	48:5562a99479e5	4445	mtc2=false;
yabahiro	48:5562a99479e5	4446	break;
yabahiro	48:5562a99479e5	4447	case 255:
yabahiro	48:5562a99479e5	4448	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	4449	mtc2=false;
yabahiro	48:5562a99479e5	4450	break;
yabahiro	48:5562a99479e5	4451	case 253:
yabahiro	48:5562a99479e5	4452	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	4453	mtc2=false;
yabahiro	48:5562a99479e5	4454	break;
yabahiro	48:5562a99479e5	4455	case 254:
yabahiro	48:5562a99479e5	4456	motor[TIRE_FL].pwm += 20;
yabahiro	48:5562a99479e5	4457	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4458	mtc2=false;
yabahiro	48:5562a99479e5	4459	break;
yabahiro	48:5562a99479e5	4460	case 1:
yabahiro	48:5562a99479e5	4461	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4462	mtc2=false;
yabahiro	48:5562a99479e5	4463	break;
yabahiro	48:5562a99479e5	4464	case 3:
yabahiro	48:5562a99479e5	4465	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4466	mtc2=false;
yabahiro	48:5562a99479e5	4467	break;
yabahiro	48:5562a99479e5	4468	case 2:
yabahiro	48:5562a99479e5	4469	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4470	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4471	mtc2=false;
yabahiro	48:5562a99479e5	4472	break;
yabahiro	48:5562a99479e5	4473	}
yabahiro	48:5562a99479e5	4474	}
yabahiro	48:5562a99479e5	4475	} else if(mode==41) {
yabahiro	48:5562a99479e5	4476	if(LIF\|\|LIB) {
yabahiro	48:5562a99479e5	4477	mode=42;
yabahiro	48:5562a99479e5	4478	}
yabahiro	48:5562a99479e5	4479	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4480	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4481	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4482	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4483	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4484	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4485	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4486	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4487	if(g[1]==0) {
yabahiro	48:5562a99479e5	4488	countss=0;
yabahiro	48:5562a99479e5	4489	mode=70;
yabahiro	48:5562a99479e5	4490	normal=60;
yabahiro	48:5562a99479e5	4491	fast=70;
yabahiro	48:5562a99479e5	4492	slow=40;
yabahiro	48:5562a99479e5	4493	}
yabahiro	48:5562a99479e5	4494	} else if(mode==42) {
yabahiro	48:5562a99479e5	4495	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	4496	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	4497	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4498	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4499	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4500	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4501	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	4502	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	4503	if(g[1]==0) {
yabahiro	48:5562a99479e5	4504	countss=0;
yabahiro	48:5562a99479e5	4505	mode=70;
yabahiro	48:5562a99479e5	4506	}
yabahiro	48:5562a99479e5	4507	} else if(mode==70) {
yabahiro	48:5562a99479e5	4508	switch(g[0]) {
yabahiro	48:5562a99479e5	4509	case 99:
yabahiro	48:5562a99479e5	4510	if(countss>=100000) {
yabahiro	48:5562a99479e5	4511	mode=100;
yabahiro	48:5562a99479e5	4512	}
yabahiro	48:5562a99479e5	4513	break;
yabahiro	48:5562a99479e5	4514	case 98:
yabahiro	48:5562a99479e5	4515	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4516	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4517	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4518	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4519	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4520	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4521	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4522	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4523	break;
yabahiro	48:5562a99479e5	4524	case 0:
yabahiro	48:5562a99479e5	4525	motor[TIRE_FR].pwm = 80;
yabahiro	48:5562a99479e5	4526	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4527	motor[TIRE_FL].pwm = 80;
yabahiro	48:5562a99479e5	4528	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4529	motor[TIRE_BR].pwm = 80;
yabahiro	48:5562a99479e5	4530	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4531	motor[TIRE_BL].pwm = 80;
yabahiro	48:5562a99479e5	4532	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4533	mtc=true;
yabahiro	48:5562a99479e5	4534	break;
yabahiro	48:5562a99479e5	4535	case 255:
yabahiro	48:5562a99479e5	4536	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4537	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4538	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4539	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4540	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4541	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4542	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4543	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4544	mtc=true;
yabahiro	48:5562a99479e5	4545	break;
yabahiro	48:5562a99479e5	4546	case 253:
yabahiro	48:5562a99479e5	4547	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4548	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4549	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4550	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4551	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4552	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4553	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4554	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4555	mtc=true;
yabahiro	48:5562a99479e5	4556	break;
yabahiro	48:5562a99479e5	4557	case 254:
yabahiro	48:5562a99479e5	4558	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4559	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4560	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4561	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4562	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4563	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4564	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4565	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4566	mtc=true;
yabahiro	48:5562a99479e5	4567	break;
yabahiro	48:5562a99479e5	4568	case 1:
yabahiro	48:5562a99479e5	4569	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4570	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4571	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4572	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4573	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4574	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4575	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4576	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4577	mtc=true;
yabahiro	48:5562a99479e5	4578	break;
yabahiro	48:5562a99479e5	4579	case 3:
yabahiro	48:5562a99479e5	4580	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4581	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4582	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4583	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4584	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4585	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4586	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4587	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4588	mtc=true;
yabahiro	48:5562a99479e5	4589	break;
yabahiro	48:5562a99479e5	4590	case 2:
yabahiro	48:5562a99479e5	4591	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4592	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4593	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4594	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4595	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4596	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4597	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4598	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4599	mtc=true;
yabahiro	48:5562a99479e5	4600	break;
yabahiro	48:5562a99479e5	4601	}
yabahiro	48:5562a99479e5	4602	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4603	switch(g[1]) {
yabahiro	48:5562a99479e5	4604	case 0:
yabahiro	48:5562a99479e5	4605	mtc=false;
yabahiro	48:5562a99479e5	4606	break;
yabahiro	48:5562a99479e5	4607	case 255:
yabahiro	48:5562a99479e5	4608	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4609	mtc=false;
yabahiro	48:5562a99479e5	4610	break;
yabahiro	48:5562a99479e5	4611	case 253:
yabahiro	48:5562a99479e5	4612	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4613	mtc=false;
yabahiro	48:5562a99479e5	4614	break;
yabahiro	48:5562a99479e5	4615	case 254:
yabahiro	48:5562a99479e5	4616	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4617	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4618	mtc=false;
yabahiro	48:5562a99479e5	4619	break;
yabahiro	48:5562a99479e5	4620	case 1:
yabahiro	48:5562a99479e5	4621	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4622	mtc=false;
yabahiro	48:5562a99479e5	4623	break;
yabahiro	48:5562a99479e5	4624	case 3:
yabahiro	48:5562a99479e5	4625	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4626	mtc=false;
yabahiro	48:5562a99479e5	4627	break;
yabahiro	48:5562a99479e5	4628	case 2:
yabahiro	48:5562a99479e5	4629	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4630	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4631	mtc=false;
yabahiro	48:5562a99479e5	4632	break;
yabahiro	48:5562a99479e5	4633	}
yabahiro	48:5562a99479e5	4634	}
yabahiro	48:5562a99479e5	4635	} else if(mode==100) {
yabahiro	48:5562a99479e5	4636	motor[TIRE_FR].pwm = 50;
yabahiro	48:5562a99479e5	4637	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4638	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	4639	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4640	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	4641	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4642	motor[TIRE_BL].pwm = 50;
yabahiro	48:5562a99479e5	4643	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4644	} else {
yabahiro	48:5562a99479e5	4645	}
yabahiro	33:dd598bb23ad1	4646
kishibekairohan	13:b6e02d6261d7	4647	}
kishibekairohan	13:b6e02d6261d7	4648	#endif
kishibekairohan	13:b6e02d6261d7	4649
kishibekairohan	13:b6e02d6261d7	4650	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	4651	static void Process5()
Ryosei	27:dd9f27fce7d1	4652	{
yabahiro	46:68296caae1af	4653
kishibekairohan	13:b6e02d6261d7	4654	}
kishibekairohan	13:b6e02d6261d7	4655	#endif
kishibekairohan	13:b6e02d6261d7	4656
kishibekairohan	13:b6e02d6261d7	4657	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	4658	static void Process6()
kishibekairohan	13:b6e02d6261d7	4659	{
Ryosei	27:dd9f27fce7d1	4660
kishibekairohan	13:b6e02d6261d7	4661	}
kishibekairohan	13:b6e02d6261d7	4662	#endif
kishibekairohan	13:b6e02d6261d7	4663
kishibekairohan	13:b6e02d6261d7	4664	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	4665	static void Process7()
kishibekairohan	13:b6e02d6261d7	4666	{
yabahiro	33:dd598bb23ad1	4667
kishibekairohan	12:c09b3e08a316	4668	}
kishibekairohan	12:c09b3e08a316	4669	#endif
kishibekairohan	12:c09b3e08a316	4670
Ryosei	27:dd9f27fce7d1	4671	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	4672	static void Process8()
kishibekairohan	12:c09b3e08a316	4673	{
yabahiro	33:dd598bb23ad1	4674
kishibekairohan	12:c09b3e08a316	4675	}
kishibekairohan	12:c09b3e08a316	4676	#endif
kishibekairohan	12:c09b3e08a316	4677
kishibekairohan	13:b6e02d6261d7	4678	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	4679	static void Process9()
kishibekairohan	12:c09b3e08a316	4680	{
Ryosei	27:dd9f27fce7d1	4681
t_yamamoto	0:669ef71cba68	4682	}
t_yamamoto	0:669ef71cba68	4683	#endif
t_yamamoto	0:669ef71cba68	4684	#endif
t_yamamoto	0:669ef71cba68	4685	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	4686
t_yamamoto	0:669ef71cba68	4687	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	4688	{
yabahiro	33:dd598bb23ad1	4689	#ifdef USE_SOLENOID
yabahiro	33:dd598bb23ad1	4690	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	4691	#endif
yabahiro	33:dd598bb23ad1	4692
yabahiro	33:dd598bb23ad1	4693	#ifdef USE_MOTOR
yabahiro	33:dd598bb23ad1	4694	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	33:dd598bb23ad1	4695	motor[i].dir = FREE;
yabahiro	33:dd598bb23ad1	4696	motor[i].pwm = 0;
yabahiro	33:dd598bb23ad1	4697	}
yabahiro	33:dd598bb23ad1	4698	#endif
t_yamamoto	0:669ef71cba68	4699	}
t_yamamoto	0:669ef71cba68	4700
kishibekairohan	16:3f2c2d89372b	4701	#pragma region USER-DEFINED-FUNCTIONS
M_souta	29:44d5454ce8fa	4702
M_souta	29:44d5454ce8fa	4703	uint8_t SetStatus(int pwmVal)
Ryosei	27:dd9f27fce7d1	4704	{
M_souta	29:44d5454ce8fa	4705	if (pwmVal < 0) return BACK;
M_souta	29:44d5454ce8fa	4706	else if (pwmVal > 0) return FOR;
M_souta	29:44d5454ce8fa	4707	else if (pwmVal == 0) return BRAKE;
M_souta	29:44d5454ce8fa	4708	else return BRAKE;
M_souta	22:7d93f79a3686	4709	}
kishibekairohan	16:3f2c2d89372b	4710
M_souta	29:44d5454ce8fa	4711	uint8_t SetPWM(int pwmVal)
Ryosei	27:dd9f27fce7d1	4712	{
M_souta	29:44d5454ce8fa	4713	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
M_souta	29:44d5454ce8fa	4714	else return abs(pwmVal);
M_souta	22:7d93f79a3686	4715	}
kishibekairohan	16:3f2c2d89372b	4716
t_yamamoto	0:669ef71cba68	4717	#pragma endregion

Repository toolbox

Export to desktop IDE

Build repository

Repository details

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@49:697b4e9ce884, 2019-11-13 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning