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@55:844ac0974740, 2019-11-18 (annotated)

Committer:: yabahiro
Date:: Mon Nov 18 04:18:06 2019 +0000
Revision:: 55:844ac0974740
Parent:: 54:4167f10ecad0

aaa;

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	55:844ac0974740	92	int num=0;
yabahiro	33:dd598bb23ad1	93
yabahiro	33:dd598bb23ad1	94	///*******PWM調整用*******///
kishibekairohan	41:99a1158f3eca	95
kishibekairohan	42:980af34f6fe3	96	int fast = 60;
yabahiro	33:dd598bb23ad1	97	int normal = 40;
yabahiro	46:68296caae1af	98	int slow = 25;
yabahiro	33:dd598bb23ad1	99
yabahiro	55:844ac0974740	100	/*
yabahiro	55:844ac0974740	101	void Count();
yabahiro	55:844ac0974740	102	Ticker bunzin;
yabahiro	55:844ac0974740	103	*/
yabahiro	55:844ac0974740	104
yabahiro	55:844ac0974740	105	//Timer time;
yabahiro	55:844ac0974740	106	//int value;
yabahiro	55:844ac0974740	107
t_yamamoto	0:669ef71cba68	108	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	109
t_yamamoto	0:669ef71cba68	110	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	111	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	112	static void Process0(void);
t_yamamoto	0:669ef71cba68	113	#endif
t_yamamoto	0:669ef71cba68	114	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	115	static void Process1(void);
t_yamamoto	0:669ef71cba68	116	#endif
t_yamamoto	0:669ef71cba68	117	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	118	static void Process2(void);
t_yamamoto	0:669ef71cba68	119	#endif
t_yamamoto	0:669ef71cba68	120	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	121	static void Process3(void);
t_yamamoto	0:669ef71cba68	122	#endif
t_yamamoto	0:669ef71cba68	123	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	124	static void Process4(void);
t_yamamoto	0:669ef71cba68	125	#endif
t_yamamoto	0:669ef71cba68	126	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	127	static void Process5(void);
t_yamamoto	0:669ef71cba68	128	#endif
t_yamamoto	0:669ef71cba68	129	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	130	static void Process6(void);
t_yamamoto	0:669ef71cba68	131	#endif
t_yamamoto	0:669ef71cba68	132	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	133	static void Process7(void);
t_yamamoto	0:669ef71cba68	134	#endif
t_yamamoto	0:669ef71cba68	135	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	136	static void Process8(void);
t_yamamoto	0:669ef71cba68	137	#endif
t_yamamoto	0:669ef71cba68	138	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	139	static void Process9(void);
t_yamamoto	0:669ef71cba68	140	#endif
t_yamamoto	0:669ef71cba68	141	#endif
t_yamamoto	0:669ef71cba68	142
t_yamamoto	0:669ef71cba68	143	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	144	{
Ryosei	27:dd9f27fce7d1	145	#pragma region USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	146	/Replace here with the initialization code of your variables./
yabahiro	55:844ac0974740	147	//bunzin.attach(Count,0.001);
Ryosei	27:dd9f27fce7d1	148
Ryosei	27:dd9f27fce7d1	149	#pragma endregion USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	150
Ryosei	27:dd9f27fce7d1	151	lock = true;
Ryosei	27:dd9f27fce7d1	152	processChangeComp = true;
Ryosei	27:dd9f27fce7d1	153	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	154
Ryosei	27:dd9f27fce7d1	155	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	156	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	157	Process[0] = Process0;
Ryosei	27:dd9f27fce7d1	158	#endif
Ryosei	27:dd9f27fce7d1	159	#if USE_PROCESS_NUM>1
Ryosei	27:dd9f27fce7d1	160	Process[1] = Process1;
Ryosei	27:dd9f27fce7d1	161	#endif
Ryosei	27:dd9f27fce7d1	162	#if USE_PROCESS_NUM>2
Ryosei	27:dd9f27fce7d1	163	Process[2] = Process2;
Ryosei	27:dd9f27fce7d1	164	#endif
Ryosei	27:dd9f27fce7d1	165	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	166	Process[3] = Process3;
Ryosei	27:dd9f27fce7d1	167	#endif
Ryosei	27:dd9f27fce7d1	168	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	169	Process[4] = Process4;
Ryosei	27:dd9f27fce7d1	170	#endif
Ryosei	27:dd9f27fce7d1	171	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	172	Process[5] = Process5;
Ryosei	27:dd9f27fce7d1	173	#endif
Ryosei	27:dd9f27fce7d1	174	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	175	Process[6] = Process6;
Ryosei	27:dd9f27fce7d1	176	#endif
Ryosei	27:dd9f27fce7d1	177	#if USE_PROCESS_NUM>7
Ryosei	27:dd9f27fce7d1	178	Process[7] = Process7;
Ryosei	27:dd9f27fce7d1	179	#endif
Ryosei	27:dd9f27fce7d1	180	#if USE_PROCESS_NUM>8
Ryosei	27:dd9f27fce7d1	181	Process[8] = Process8;
Ryosei	27:dd9f27fce7d1	182	#endif
Ryosei	27:dd9f27fce7d1	183	#if USE_PROCESS_NUM>9
Ryosei	27:dd9f27fce7d1	184	Process[9] = Process9;
Ryosei	27:dd9f27fce7d1	185	#endif
Ryosei	27:dd9f27fce7d1	186	#endif
t_yamamoto	0:669ef71cba68	187	}
t_yamamoto	0:669ef71cba68	188
t_yamamoto	0:669ef71cba68	189	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	190	{
Ryosei	27:dd9f27fce7d1	191	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	192	if(controller->Button.HOME) lock = false;
Ryosei	27:dd9f27fce7d1	193
Ryosei	27:dd9f27fce7d1	194	if(controller->Button.START && processChangeComp) {
Ryosei	27:dd9f27fce7d1	195	current++;
Ryosei	27:dd9f27fce7d1	196	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
Ryosei	27:dd9f27fce7d1	197	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	198	} else if(controller->Button.SELECT && processChangeComp) {
Ryosei	27:dd9f27fce7d1	199	current--;
Ryosei	27:dd9f27fce7d1	200	if (current < 0) current = 0;
Ryosei	27:dd9f27fce7d1	201	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	202	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
Ryosei	27:dd9f27fce7d1	203	#endif
Ryosei	27:dd9f27fce7d1	204
Ryosei	27:dd9f27fce7d1	205	#ifdef USE_MOTOR
Ryosei	27:dd9f27fce7d1	206	ACTUATORHUB::MOTOR::Motor::Update(motor);
Ryosei	27:dd9f27fce7d1	207	#endif
Ryosei	27:dd9f27fce7d1	208
Ryosei	27:dd9f27fce7d1	209	#ifdef USE_SOLENOID
Ryosei	27:dd9f27fce7d1	210	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
Ryosei	27:dd9f27fce7d1	211	#endif
Ryosei	27:dd9f27fce7d1	212
Ryosei	27:dd9f27fce7d1	213	#ifdef USE_RS485
Ryosei	27:dd9f27fce7d1	214	ACTUATORHUB::ActuatorHub::Update();
Ryosei	27:dd9f27fce7d1	215	//LINEHUB::LineHub::Update();
Ryosei	27:dd9f27fce7d1	216	#endif
Ryosei	27:dd9f27fce7d1	217
Ryosei	27:dd9f27fce7d1	218	}
Ryosei	27:dd9f27fce7d1	219
yabahiro	39:784552c26163	220	int point1;
Ryosei	27:dd9f27fce7d1	221	void SystemProcess()
Ryosei	27:dd9f27fce7d1	222	{
yabahiro	55:844ac0974740	223
Ryosei	27:dd9f27fce7d1	224	SystemProcessInitialize();
yabahiro	33:dd598bb23ad1	225
Ryosei	27:dd9f27fce7d1	226	while(1) {
yabahiro	53:694dbd7dfa0e	227	//pc.printf("3:%d\n\r",g[3]);
yabahiro	46:68296caae1af	228
yabahiro	33:dd598bb23ad1	229	if(EMC==0) {
yabahiro	33:dd598bb23ad1	230	fast=40;
yabahiro	33:dd598bb23ad1	231	normal=30;
yabahiro	33:dd598bb23ad1	232	slow=20;
yabahiro	33:dd598bb23ad1	233	cross=0;//十字数える用
yabahiro	33:dd598bb23ad1	234	cros=0;
yabahiro	33:dd598bb23ad1	235	countss=0;//wait代替え
yabahiro	33:dd598bb23ad1	236	UP_flag = false;
yabahiro	33:dd598bb23ad1	237	SW_flag = false;
yabahiro	33:dd598bb23ad1	238	Air_flag = false;
yabahiro	33:dd598bb23ad1	239	zyouge=false;
yabahiro	33:dd598bb23ad1	240	zyougedo=false;
yabahiro	33:dd598bb23ad1	241	dz2=true;
yabahiro	33:dd598bb23ad1	242	dz2i=false;
yabahiro	33:dd598bb23ad1	243	dz3=true;
yabahiro	33:dd598bb23ad1	244	dz3i=false;
yabahiro	33:dd598bb23ad1	245	dz4=true;
yabahiro	33:dd598bb23ad1	246	dz4i=false;
yabahiro	33:dd598bb23ad1	247	through=false;
yabahiro	33:dd598bb23ad1	248	counts=false;
yabahiro	33:dd598bb23ad1	249	mtc=false;
yabahiro	33:dd598bb23ad1	250	mtc2 = false;
yabahiro	33:dd598bb23ad1	251	current = 0;
yabahiro	33:dd598bb23ad1	252	SystemProcessInitialize();
yabahiro	33:dd598bb23ad1	253	if(emcs==false) {
yabahiro	33:dd598bb23ad1	254	AllActuatorReset();
yabahiro	33:dd598bb23ad1	255	emcs=true;
yabahiro	33:dd598bb23ad1	256	}
yabahiro	33:dd598bb23ad1	257	} else {
yabahiro	33:dd598bb23ad1	258	emcs=false;
yabahiro	33:dd598bb23ad1	259	}
Ryosei	27:dd9f27fce7d1	260
yabahiro	33:dd598bb23ad1	261	if(mode==0) {
yabahiro	33:dd598bb23ad1	262	if(ZoneSW) {
kishibekairohan	35:33c6cdba5630	263	LED::LED::TapeledMode(1);
yabahiro	33:dd598bb23ad1	264	} else {
kishibekairohan	35:33c6cdba5630	265	LED::LED::TapeledMode(2);
yabahiro	33:dd598bb23ad1	266	}
yabahiro	33:dd598bb23ad1	267	}
yabahiro	33:dd598bb23ad1	268	for(int i = 0; i < 8; i++) {
yabahiro	33:dd598bb23ad1	269	g[i] = LineHub::GetPara(i);
yabahiro	33:dd598bb23ad1	270	}
yabahiro	33:dd598bb23ad1	271	if(ThSW) {
yabahiro	33:dd598bb23ad1	272	Twsh=1;
yabahiro	33:dd598bb23ad1	273	} else {
yabahiro	33:dd598bb23ad1	274	Twsh=2;
yabahiro	33:dd598bb23ad1	275	}
yabahiro	33:dd598bb23ad1	276
yabahiro	33:dd598bb23ad1	277	if(StertSW && start_flag == true) {
yabahiro	33:dd598bb23ad1	278	start_flag = false;
yabahiro	33:dd598bb23ad1	279	lock = false;
yabahiro	55:844ac0974740	280	//time.start();
yabahiro	33:dd598bb23ad1	281	if(ZoneSW) {
yabahiro	33:dd598bb23ad1	282	countss=0;
yabahiro	33:dd598bb23ad1	283	mode=1;
yabahiro	40:ed2409e0ce6b	284	current = 3;//10GATU30変更した
yabahiro	33:dd598bb23ad1	285
yabahiro	33:dd598bb23ad1	286	} else {
kishibekairohan	34:2fce61e3ebc4	287	countss = 0;
yabahiro	33:dd598bb23ad1	288	mode=1;
yabahiro	49:697b4e9ce884	289	current = 2;//11ガツ13ニチヘンコウ
yabahiro	33:dd598bb23ad1	290	}
yabahiro	33:dd598bb23ad1	291	}
yabahiro	33:dd598bb23ad1	292	if(DWSW\|\|DOSW) {
yabahiro	33:dd598bb23ad1	293	if(DWSW) {
yabahiro	33:dd598bb23ad1	294	zyouge=true;
yabahiro	33:dd598bb23ad1	295	}
yabahiro	33:dd598bb23ad1	296	if(DOSW) {
yabahiro	33:dd598bb23ad1	297	if(DOLS) {
yabahiro	33:dd598bb23ad1	298	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	299	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	300	} else {
yabahiro	38:40e7fdf3c694	301	motor[MOTOR_0].pwm = 200;
yabahiro	33:dd598bb23ad1	302	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	303	}
yabahiro	33:dd598bb23ad1	304	}
yabahiro	33:dd598bb23ad1	305	} else if(zyouge==false) {
yabahiro	33:dd598bb23ad1	306	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	307	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	308	}
yabahiro	33:dd598bb23ad1	309	if(zyouge) {
yabahiro	33:dd598bb23ad1	310	if(Twsh==1) {
yabahiro	38:40e7fdf3c694	311	motor[MOTOR_0].pwm = 255;
yabahiro	33:dd598bb23ad1	312	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	313	if(UPLS) {
yabahiro	33:dd598bb23ad1	314	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	315	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	316	zyouge=false;
yabahiro	33:dd598bb23ad1	317	}
yabahiro	33:dd598bb23ad1	318	}
yabahiro	33:dd598bb23ad1	319	if(Twsh==2) {
yabahiro	33:dd598bb23ad1	320	motor[MOTOR_0].pwm = 245;
yabahiro	33:dd598bb23ad1	321	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	322	if(UPLS2) {
yabahiro	33:dd598bb23ad1	323	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	324	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	325	zyouge=false;
yabahiro	33:dd598bb23ad1	326	}
yabahiro	33:dd598bb23ad1	327	}
yabahiro	33:dd598bb23ad1	328	}
yabahiro	33:dd598bb23ad1	329	if(AIRSW) {
yabahiro	33:dd598bb23ad1	330	if(SW_flag==false) {
yabahiro	33:dd598bb23ad1	331	if(Air_flag==false) {
yabahiro	33:dd598bb23ad1	332	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	333	Air_flag=true;
yabahiro	33:dd598bb23ad1	334	SW_flag=true;
yabahiro	33:dd598bb23ad1	335	} else {
yabahiro	33:dd598bb23ad1	336	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	337	Air_flag=false;
yabahiro	33:dd598bb23ad1	338	SW_flag=true;
yabahiro	33:dd598bb23ad1	339	}
yabahiro	33:dd598bb23ad1	340	}
yabahiro	33:dd598bb23ad1	341	} else {
yabahiro	33:dd598bb23ad1	342	if(SW_flag==true) {
yabahiro	33:dd598bb23ad1	343	countss++;
yabahiro	33:dd598bb23ad1	344	if(countss>=2000) {
yabahiro	33:dd598bb23ad1	345	SW_flag=false;
yabahiro	33:dd598bb23ad1	346	countss=0;
yabahiro	33:dd598bb23ad1	347	}
yabahiro	33:dd598bb23ad1	348	}
yabahiro	33:dd598bb23ad1	349	}
yabahiro	33:dd598bb23ad1	350
yabahiro	33:dd598bb23ad1	351
yabahiro	33:dd598bb23ad1	352	#ifdef USE_MU
Ryosei	27:dd9f27fce7d1	353	controller = CONTROLLER::Controller::GetData();
yabahiro	33:dd598bb23ad1	354	#endif
yabahiro	33:dd598bb23ad1	355
Ryosei	27:dd9f27fce7d1	356
yabahiro	33:dd598bb23ad1	357	#ifdef USE_ERRORCHECK
yabahiro	38:40e7fdf3c694	358	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) {
Ryosei	27:dd9f27fce7d1	359	CONTROLLER::Controller::DataReset();
Ryosei	27:dd9f27fce7d1	360	AllActuatorReset();
Ryosei	27:dd9f27fce7d1	361	lock = true;
Ryosei	27:dd9f27fce7d1	362	} else
yabahiro	38:40e7fdf3c694	363
yabahiro	33:dd598bb23ad1	364	#endif
Ryosei	27:dd9f27fce7d1	365	{
Ryosei	27:dd9f27fce7d1	366
yabahiro	33:dd598bb23ad1	367	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	368	if(!lock) {
Ryosei	27:dd9f27fce7d1	369	Process[current]();
Ryosei	27:dd9f27fce7d1	370	} else
yabahiro	33:dd598bb23ad1	371	#endif
Ryosei	27:dd9f27fce7d1	372	{
Ryosei	27:dd9f27fce7d1	373	//ロック時の処理
Ryosei	27:dd9f27fce7d1	374	}
Ryosei	27:dd9f27fce7d1	375	}
yabahiro	33:dd598bb23ad1	376
Ryosei	27:dd9f27fce7d1	377	SystemProcessUpdate();
Ryosei	27:dd9f27fce7d1	378	}
t_yamamoto	0:669ef71cba68	379	}
t_yamamoto	0:669ef71cba68	380
kishibekairohan	2:c015739085d3	381
kishibekairohan	2:c015739085d3	382
kishibekairohan	2:c015739085d3	383
t_yamamoto	0:669ef71cba68	384	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	385	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	386	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	387	static void Process0()
Ryosei	27:dd9f27fce7d1	388	{
yabahiro	33:dd598bb23ad1	389
yabahiro	33:dd598bb23ad1	390	//AllActuatorReset();
t_yamamoto	0:669ef71cba68	391	}
t_yamamoto	0:669ef71cba68	392	#endif
t_yamamoto	0:669ef71cba68	393
t_yamamoto	0:669ef71cba68	394	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	395	static void Process1()
t_yamamoto	0:669ef71cba68	396	{
kishibekairohan	35:33c6cdba5630	397	LED::LED::TapeledMode(6);
yabahiro	33:dd598bb23ad1	398	start_flag = true;
yabahiro	33:dd598bb23ad1	399	mtc=false;
yabahiro	33:dd598bb23ad1	400	mtc2 = false;
yabahiro	33:dd598bb23ad1	401	mode=1;
yabahiro	33:dd598bb23ad1	402	cross=0;
yabahiro	33:dd598bb23ad1	403	Twsh=1;
yabahiro	33:dd598bb23ad1	404	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	405	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	406	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	407	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
Ryosei	27:dd9f27fce7d1	408
kishibekairohan	42:980af34f6fe3	409	motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	410	motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	411	motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	412	motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	33:dd598bb23ad1	413
yabahiro	33:dd598bb23ad1	414	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	415
yabahiro	33:dd598bb23ad1	416	if(controller->Button.UP) {
yabahiro	33:dd598bb23ad1	417	motor[MOTOR_0].pwm =200;
yabahiro	33:dd598bb23ad1	418	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	419	if(UPLS) {
yabahiro	33:dd598bb23ad1	420	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	421	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	422	}
yabahiro	33:dd598bb23ad1	423	}
yabahiro	33:dd598bb23ad1	424	if(controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	425	motor[MOTOR_0].pwm = 50;
yabahiro	33:dd598bb23ad1	426	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	427	}
yabahiro	33:dd598bb23ad1	428	} else {
yabahiro	33:dd598bb23ad1	429	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	430	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	431	}
yabahiro	33:dd598bb23ad1	432
yabahiro	33:dd598bb23ad1	433	if(controller->Button.Y) {
yabahiro	33:dd598bb23ad1	434	if(dz2==true) {
yabahiro	33:dd598bb23ad1	435	if(dz2i==false) {
yabahiro	33:dd598bb23ad1	436	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	437	dz2i=true;
yabahiro	33:dd598bb23ad1	438	} else {
yabahiro	33:dd598bb23ad1	439	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	440	dz2i=false;
yabahiro	33:dd598bb23ad1	441	}
yabahiro	33:dd598bb23ad1	442	dz2=false;
yabahiro	33:dd598bb23ad1	443	}
yabahiro	33:dd598bb23ad1	444	} else {
yabahiro	33:dd598bb23ad1	445	dz2=true;
yabahiro	33:dd598bb23ad1	446	}
yabahiro	33:dd598bb23ad1	447
yabahiro	33:dd598bb23ad1	448	if(controller->Button.A) {
yabahiro	33:dd598bb23ad1	449	if(dz3==true) {
yabahiro	33:dd598bb23ad1	450	if(dz3i==false) {
kishibekairohan	37:e77816810627	451	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	452	dz3i=true;
yabahiro	33:dd598bb23ad1	453	} else {
yabahiro	33:dd598bb23ad1	454	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	455	dz3i=false;
yabahiro	33:dd598bb23ad1	456	}
yabahiro	33:dd598bb23ad1	457	dz3=false;
yabahiro	33:dd598bb23ad1	458	}
yabahiro	33:dd598bb23ad1	459	} else {
yabahiro	33:dd598bb23ad1	460	dz3=true;
yabahiro	33:dd598bb23ad1	461	}
yabahiro	33:dd598bb23ad1	462
yabahiro	33:dd598bb23ad1	463	if(controller->Button.B) {
yabahiro	33:dd598bb23ad1	464	if(dz4==true) {
yabahiro	33:dd598bb23ad1	465	if(dz4i==false) {
yabahiro	38:40e7fdf3c694	466	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	467	dz4i=true;
yabahiro	33:dd598bb23ad1	468	} else {
yabahiro	38:40e7fdf3c694	469	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	470	dz4i=false;
yabahiro	33:dd598bb23ad1	471	}
yabahiro	33:dd598bb23ad1	472	dz4=false;
yabahiro	33:dd598bb23ad1	473	}
yabahiro	33:dd598bb23ad1	474	} else {
yabahiro	33:dd598bb23ad1	475	dz4=true;
yabahiro	33:dd598bb23ad1	476	}
t_yamamoto	0:669ef71cba68	477	}
t_yamamoto	0:669ef71cba68	478	#endif
t_yamamoto	0:669ef71cba68	479
t_yamamoto	0:669ef71cba68	480	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	481	static void Process2()
Ryosei	27:dd9f27fce7d1	482	{
yabahiro	33:dd598bb23ad1	483	//Oh So 青ゾーン
yabahiro	53:694dbd7dfa0e	484	LED::LED::TapeledMode(4);
yabahiro	33:dd598bb23ad1	485	countss++;
yabahiro	50:87f5fa1bc460	486	switch(mode) {
yabahiro	50:87f5fa1bc460	487	case 1:
yabahiro	51:a0bdbddd08f7	488	fast=40;
yabahiro	51:a0bdbddd08f7	489	normal=30;
yabahiro	51:a0bdbddd08f7	490	slow=20;
yabahiro	51:a0bdbddd08f7	491	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	492	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	493	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	494	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	495	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	496	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	497	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	498	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	499	if(g[2]==0&&countss>=300000) {
yabahiro	51:a0bdbddd08f7	500	countss=100000;
yabahiro	51:a0bdbddd08f7	501	cross=0;
yabahiro	51:a0bdbddd08f7	502	mode=3;
yabahiro	51:a0bdbddd08f7	503	}
yabahiro	50:87f5fa1bc460	504	break;
yabahiro	51:a0bdbddd08f7	505	case 3:
yabahiro	51:a0bdbddd08f7	506	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	507	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	508	motor[TIRE_FL].pwm = 255;
yabahiro	51:a0bdbddd08f7	509	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	510	motor[TIRE_BR].pwm = 255;
yabahiro	51:a0bdbddd08f7	511	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	512	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	513	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	514	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	515	mode=10;
yabahiro	51:a0bdbddd08f7	516	countss=100000;
yabahiro	55:844ac0974740	517	fast=80;
yabahiro	55:844ac0974740	518	normal=60;
yabahiro	55:844ac0974740	519	slow=40;
yabahiro	51:a0bdbddd08f7	520	}
yabahiro	50:87f5fa1bc460	521	break;
yabahiro	50:87f5fa1bc460	522	case 10:
yabahiro	51:a0bdbddd08f7	523	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	524	case 98:
yabahiro	51:a0bdbddd08f7	525	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	526	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	527	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	528	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	529	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	530	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	531	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	532	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	533	mtc=true;
yabahiro	51:a0bdbddd08f7	534	if(countss>80000) {
yabahiro	51:a0bdbddd08f7	535	cross++;
yabahiro	51:a0bdbddd08f7	536	countss=0;
yabahiro	51:a0bdbddd08f7	537	}
yabahiro	46:68296caae1af	538
yabahiro	51:a0bdbddd08f7	539	if(cross==2) {
yabahiro	51:a0bdbddd08f7	540	fast = 10;
yabahiro	51:a0bdbddd08f7	541	normal = 10;
yabahiro	51:a0bdbddd08f7	542	slow = 5;
yabahiro	51:a0bdbddd08f7	543	}
yabahiro	46:68296caae1af	544
kishibekairohan	45:0cf48a0605cd	545	if(cross==3) {
yabahiro	51:a0bdbddd08f7	546	fast=40;
yabahiro	51:a0bdbddd08f7	547	normal=30;
yabahiro	51:a0bdbddd08f7	548	slow=20;
yabahiro	51:a0bdbddd08f7	549	mode=11;
yabahiro	39:784552c26163	550	countss=0;
yabahiro	39:784552c26163	551	cross=0;
yabahiro	39:784552c26163	552	}
yabahiro	39:784552c26163	553	break;
yabahiro	39:784552c26163	554	case 0:
yabahiro	51:a0bdbddd08f7	555	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	556	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	557	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	558	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	559	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	560	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	561	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	562	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	563	mtc=true;
yabahiro	39:784552c26163	564	break;
yabahiro	39:784552c26163	565	case 255:
yabahiro	51:a0bdbddd08f7	566	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	567	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	568	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	569	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	570	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	571	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	572	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	573	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	574	mtc=true;
yabahiro	39:784552c26163	575	break;
yabahiro	39:784552c26163	576	case 253:
yabahiro	51:a0bdbddd08f7	577	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	578	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	579	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	580	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	581	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	582	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	583	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	584	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	585	mtc=true;
yabahiro	39:784552c26163	586	break;
yabahiro	39:784552c26163	587	case 254:
yabahiro	51:a0bdbddd08f7	588	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	589	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	590	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	591	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	592	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	593	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	594	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	595	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	596	mtc=true;
yabahiro	39:784552c26163	597	break;
yabahiro	39:784552c26163	598	case 1:
yabahiro	51:a0bdbddd08f7	599	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	600	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	601	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	602	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	603	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	604	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	605	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	606	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	607	mtc=true;
yabahiro	39:784552c26163	608	break;
yabahiro	39:784552c26163	609	case 3:
yabahiro	39:784552c26163	610	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	611	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	612	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	613	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	614	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	615	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	616	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	617	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	618	mtc=true;
yabahiro	39:784552c26163	619	break;
yabahiro	39:784552c26163	620	case 2:
yabahiro	39:784552c26163	621	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	622	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	623	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	624	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	625	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	626	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	627	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	628	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	629	mtc=true;
yabahiro	39:784552c26163	630	break;
yabahiro	39:784552c26163	631	}
yabahiro	51:a0bdbddd08f7	632	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	633	switch(g[0]) {
yabahiro	39:784552c26163	634	case 0:
yabahiro	39:784552c26163	635	mtc=false;
yabahiro	39:784552c26163	636	break;
yabahiro	39:784552c26163	637	case 255:
yabahiro	51:a0bdbddd08f7	638	motor[TIRE_FL].pwm += 3;
yabahiro	39:784552c26163	639	mtc=false;
yabahiro	39:784552c26163	640	break;
yabahiro	39:784552c26163	641	case 253:
yabahiro	51:a0bdbddd08f7	642	motor[TIRE_FL].pwm += 6;
yabahiro	39:784552c26163	643	mtc=false;
yabahiro	39:784552c26163	644	break;
yabahiro	39:784552c26163	645	case 254:
yabahiro	51:a0bdbddd08f7	646	motor[TIRE_FL].pwm += 9;
yabahiro	51:a0bdbddd08f7	647	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	648	mtc=false;
yabahiro	39:784552c26163	649	break;
yabahiro	39:784552c26163	650	case 1:
yabahiro	51:a0bdbddd08f7	651	motor[TIRE_FR].pwm += 3;
yabahiro	39:784552c26163	652	mtc=false;
yabahiro	39:784552c26163	653	break;
yabahiro	39:784552c26163	654	case 3:
yabahiro	51:a0bdbddd08f7	655	motor[TIRE_FR].pwm += 6;
yabahiro	39:784552c26163	656	mtc=false;
yabahiro	39:784552c26163	657	break;
yabahiro	39:784552c26163	658	case 2:
yabahiro	51:a0bdbddd08f7	659	motor[TIRE_FR].pwm += 9;
yabahiro	51:a0bdbddd08f7	660	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	661	mtc=false;
yabahiro	39:784552c26163	662	break;
yabahiro	39:784552c26163	663	}
yabahiro	39:784552c26163	664	}
yabahiro	51:a0bdbddd08f7	665	break;
yabahiro	51:a0bdbddd08f7	666	case 11:
yabahiro	53:694dbd7dfa0e	667	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	668	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	669	motor[TIRE_FL].pwm = 15;
yabahiro	53:694dbd7dfa0e	670	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	671	motor[TIRE_BR].pwm = 15;
yabahiro	53:694dbd7dfa0e	672	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	673	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	674	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	675	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	51:a0bdbddd08f7	676	countss=0;
yabahiro	51:a0bdbddd08f7	677	cross=0;
yabahiro	51:a0bdbddd08f7	678	mode=20;
yabahiro	51:a0bdbddd08f7	679	}
yabahiro	51:a0bdbddd08f7	680	break;
yabahiro	51:a0bdbddd08f7	681	case 20:
yabahiro	51:a0bdbddd08f7	682	solenoid.solenoid2= SOLENOID_ON;
yabahiro	51:a0bdbddd08f7	683	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	684	case 98:
yabahiro	51:a0bdbddd08f7	685	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	686	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	687	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	688	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	689	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	690	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	691	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	692	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	693	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	694	cross++;
yabahiro	51:a0bdbddd08f7	695	countss=0;
yabahiro	51:a0bdbddd08f7	696	}
yabahiro	51:a0bdbddd08f7	697	mtc2=true;
yabahiro	51:a0bdbddd08f7	698	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	699	if(cross==1) {
yabahiro	51:a0bdbddd08f7	700	fast=20;
yabahiro	51:a0bdbddd08f7	701	normal=15;
yabahiro	51:a0bdbddd08f7	702	slow=15;
yabahiro	51:a0bdbddd08f7	703	}
yabahiro	51:a0bdbddd08f7	704	if(cross==2) {
yabahiro	51:a0bdbddd08f7	705	mode=21;
yabahiro	51:a0bdbddd08f7	706	countss=0;
yabahiro	51:a0bdbddd08f7	707	cross=0;
yabahiro	51:a0bdbddd08f7	708	}
yabahiro	51:a0bdbddd08f7	709	} else {
yabahiro	51:a0bdbddd08f7	710	if(cross==3) {
yabahiro	51:a0bdbddd08f7	711	mode=21;
yabahiro	51:a0bdbddd08f7	712	countss=0;
yabahiro	51:a0bdbddd08f7	713	cross=0;
yabahiro	51:a0bdbddd08f7	714	}
yabahiro	51:a0bdbddd08f7	715	}
yabahiro	51:a0bdbddd08f7	716	break;
yabahiro	51:a0bdbddd08f7	717	case 0:
yabahiro	51:a0bdbddd08f7	718	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	719	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	720	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	721	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	722	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	723	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	724	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	725	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	726	mtc2=true;
yabahiro	51:a0bdbddd08f7	727	break;
yabahiro	51:a0bdbddd08f7	728	case 255:
yabahiro	51:a0bdbddd08f7	729	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	730	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	731	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	732	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	733	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	734	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	735	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	736	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	737	mtc2=true;
yabahiro	51:a0bdbddd08f7	738	break;
yabahiro	51:a0bdbddd08f7	739	case 253:
yabahiro	51:a0bdbddd08f7	740	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	741	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	742	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	743	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	744	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	745	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	746	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	747	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	748	mtc2=true;
yabahiro	51:a0bdbddd08f7	749	break;
yabahiro	51:a0bdbddd08f7	750	case 254:
yabahiro	51:a0bdbddd08f7	751	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	752	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	753	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	754	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	755	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	756	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	757	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	758	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	759	mtc2=true;
yabahiro	51:a0bdbddd08f7	760	break;
yabahiro	51:a0bdbddd08f7	761	case 1:
yabahiro	51:a0bdbddd08f7	762	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	763	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	764	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	765	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	766	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	767	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	768	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	769	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	770	mtc2=true;
yabahiro	51:a0bdbddd08f7	771	break;
yabahiro	51:a0bdbddd08f7	772	case 3:
yabahiro	51:a0bdbddd08f7	773	motor[TIRE_FR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	774	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	775	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	776	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	777	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	778	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	779	motor[TIRE_BL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	780	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	781	mtc2=true;
yabahiro	51:a0bdbddd08f7	782	break;
yabahiro	51:a0bdbddd08f7	783	case 2:
yabahiro	51:a0bdbddd08f7	784	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	785	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	786	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	787	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	788	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	789	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	790	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	791	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	792	mtc2=true;
yabahiro	51:a0bdbddd08f7	793	break;
yabahiro	51:a0bdbddd08f7	794	}
yabahiro	51:a0bdbddd08f7	795	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	796	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	797	case 0:
yabahiro	51:a0bdbddd08f7	798	mtc2=false;
yabahiro	51:a0bdbddd08f7	799	break;
yabahiro	51:a0bdbddd08f7	800	case 255:
yabahiro	51:a0bdbddd08f7	801	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	802	mtc2=false;
yabahiro	51:a0bdbddd08f7	803	break;
yabahiro	51:a0bdbddd08f7	804	case 253:
yabahiro	51:a0bdbddd08f7	805	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	806	mtc2=false;
yabahiro	51:a0bdbddd08f7	807	break;
yabahiro	51:a0bdbddd08f7	808	case 254:
yabahiro	51:a0bdbddd08f7	809	motor[TIRE_BL].pwm += 15;
yabahiro	51:a0bdbddd08f7	810	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	811	mtc2=false;
yabahiro	51:a0bdbddd08f7	812	break;
yabahiro	51:a0bdbddd08f7	813	case 1:
yabahiro	51:a0bdbddd08f7	814	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	815	mtc2=false;
yabahiro	51:a0bdbddd08f7	816	break;
yabahiro	51:a0bdbddd08f7	817	case 3:
yabahiro	51:a0bdbddd08f7	818	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	819	mtc2=false;
yabahiro	51:a0bdbddd08f7	820	break;
yabahiro	51:a0bdbddd08f7	821	case 2:
yabahiro	51:a0bdbddd08f7	822	motor[TIRE_FL].pwm += 15;
yabahiro	51:a0bdbddd08f7	823	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	824	mtc2=false;
yabahiro	51:a0bdbddd08f7	825	break;
yabahiro	51:a0bdbddd08f7	826	}
yabahiro	51:a0bdbddd08f7	827	}
yabahiro	51:a0bdbddd08f7	828	break;
yabahiro	51:a0bdbddd08f7	829	case 21:
yabahiro	51:a0bdbddd08f7	830	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	831	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	832	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	833	motor[TIRE_FL].pwm = 20;
yabahiro	51:a0bdbddd08f7	834	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	835	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	836	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	837	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	838	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	839	if(g[3]==98&&countss>=10000) {
yabahiro	51:a0bdbddd08f7	840	mode=22;
yabahiro	51:a0bdbddd08f7	841	countss=0;
yabahiro	51:a0bdbddd08f7	842	fast=60;
yabahiro	51:a0bdbddd08f7	843	normal=40;
yabahiro	51:a0bdbddd08f7	844	slow=20;
yabahiro	51:a0bdbddd08f7	845	}
yabahiro	51:a0bdbddd08f7	846	} else {
yabahiro	51:a0bdbddd08f7	847	motor[TIRE_FR].pwm = 255;
yabahiro	51:a0bdbddd08f7	848	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	849	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	850	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	851	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	852	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	853	motor[TIRE_BL].pwm = 255;
yabahiro	51:a0bdbddd08f7	854	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	855	if(g[0]==0) {
yabahiro	51:a0bdbddd08f7	856	mode=22;
yabahiro	51:a0bdbddd08f7	857	fast=60;
yabahiro	51:a0bdbddd08f7	858	normal=40;
yabahiro	51:a0bdbddd08f7	859	slow=25;
yabahiro	51:a0bdbddd08f7	860	}
yabahiro	51:a0bdbddd08f7	861	}
yabahiro	51:a0bdbddd08f7	862	break;
yabahiro	51:a0bdbddd08f7	863	case 22:
yabahiro	51:a0bdbddd08f7	864	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	865	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	866	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	867	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	868	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	869	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	870	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	871	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	872	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	873	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	874	}
yabahiro	51:a0bdbddd08f7	875	if(g[4]==253\|\|g[4]==254) {
yabahiro	51:a0bdbddd08f7	876	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	877	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	878	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	879	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	880	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	881	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	882	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	883	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	884	}
yabahiro	51:a0bdbddd08f7	885	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	886	case 0:
yabahiro	51:a0bdbddd08f7	887	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	888	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	889	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	890	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	891	break;
yabahiro	51:a0bdbddd08f7	892	case 255:
yabahiro	51:a0bdbddd08f7	893	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	894	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	895	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	896	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	897	break;
yabahiro	51:a0bdbddd08f7	898	case 253:
yabahiro	51:a0bdbddd08f7	899	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	900	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	901	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	902	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	903	break;
yabahiro	51:a0bdbddd08f7	904	case 254:
yabahiro	51:a0bdbddd08f7	905	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	906	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	907	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	908	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	909	break;
yabahiro	51:a0bdbddd08f7	910	case 1:
yabahiro	51:a0bdbddd08f7	911	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	912	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	913	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	914	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	915	break;
yabahiro	51:a0bdbddd08f7	916	case 3:
yabahiro	51:a0bdbddd08f7	917	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	918	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	919	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	920	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	921	break;
yabahiro	51:a0bdbddd08f7	922	case 2:
yabahiro	51:a0bdbddd08f7	923	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	924	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	925	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	926	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	927	break;
yabahiro	51:a0bdbddd08f7	928	}
yabahiro	51:a0bdbddd08f7	929	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	930	case 0:
yabahiro	53:694dbd7dfa0e	931	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	932	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	933	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	934	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	935	break;
yabahiro	51:a0bdbddd08f7	936	case 255:
yabahiro	53:694dbd7dfa0e	937	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	938	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	939	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	940	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	941	case 253:
yabahiro	53:694dbd7dfa0e	942	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	943	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	944	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	945	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	946	break;
yabahiro	51:a0bdbddd08f7	947	case 254:
yabahiro	53:694dbd7dfa0e	948	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	949	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	950	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	951	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	952	break;
yabahiro	51:a0bdbddd08f7	953	case 1:
yabahiro	53:694dbd7dfa0e	954	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	955	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	956	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	957	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	958	break;
yabahiro	51:a0bdbddd08f7	959	case 3:
yabahiro	53:694dbd7dfa0e	960	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	961	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	962	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	963	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	964	break;
yabahiro	51:a0bdbddd08f7	965	case 2:
yabahiro	53:694dbd7dfa0e	966	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	967	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	968	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	969	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	970	break;
yabahiro	51:a0bdbddd08f7	971	}
yabahiro	51:a0bdbddd08f7	972	if(g[3]==0&&g[2]==0) {
yabahiro	51:a0bdbddd08f7	973	mode=23;
yabahiro	51:a0bdbddd08f7	974	countss=0;
yabahiro	54:4167f10ecad0	975	fast=80;
yabahiro	54:4167f10ecad0	976	normal=60;
yabahiro	54:4167f10ecad0	977	slow=30;
yabahiro	51:a0bdbddd08f7	978	}
yabahiro	51:a0bdbddd08f7	979	} else {
yabahiro	51:a0bdbddd08f7	980	if(g[0]==98) {
yabahiro	51:a0bdbddd08f7	981	slow=25;
yabahiro	51:a0bdbddd08f7	982	normal=30;
yabahiro	53:694dbd7dfa0e	983	fast=30;
yabahiro	51:a0bdbddd08f7	984	}
yabahiro	51:a0bdbddd08f7	985	if(g[3]==0) {
yabahiro	51:a0bdbddd08f7	986	slow=25;
yabahiro	51:a0bdbddd08f7	987	normal=40;
yabahiro	51:a0bdbddd08f7	988	fast=60;
yabahiro	51:a0bdbddd08f7	989	mode=23;
yabahiro	51:a0bdbddd08f7	990	}
yabahiro	51:a0bdbddd08f7	991	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	992	case 98:
yabahiro	51:a0bdbddd08f7	993	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	994	fast=40;
yabahiro	51:a0bdbddd08f7	995	normal=30;
yabahiro	51:a0bdbddd08f7	996	slow=25;
yabahiro	51:a0bdbddd08f7	997	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	998	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	999	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1000	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1001	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1002	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1003	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1004	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1005	break;
yabahiro	51:a0bdbddd08f7	1006	case 0:
yabahiro	51:a0bdbddd08f7	1007	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1008	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1009	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1010	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1011	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1012	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1013	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1014	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1015	mtc=true;
yabahiro	51:a0bdbddd08f7	1016	break;
yabahiro	51:a0bdbddd08f7	1017	case 255:
yabahiro	51:a0bdbddd08f7	1018	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1019	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1020	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1021	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1022	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1023	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1024	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1025	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1026	mtc=true;
yabahiro	51:a0bdbddd08f7	1027	break;
yabahiro	51:a0bdbddd08f7	1028	case 253:
yabahiro	51:a0bdbddd08f7	1029	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1030	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1031	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1032	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1033	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1034	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1035	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1036	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1037	mtc=true;
yabahiro	51:a0bdbddd08f7	1038	break;
yabahiro	51:a0bdbddd08f7	1039	case 254:
yabahiro	51:a0bdbddd08f7	1040	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1041	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1042	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1043	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1044	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1045	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1046	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1047	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1048	mtc=true;
yabahiro	51:a0bdbddd08f7	1049	break;
yabahiro	51:a0bdbddd08f7	1050	case 1:
yabahiro	51:a0bdbddd08f7	1051	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1052	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1053	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1054	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1055	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1056	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1057	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1058	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1059	mtc=true;
yabahiro	51:a0bdbddd08f7	1060	break;
yabahiro	51:a0bdbddd08f7	1061	case 3:
yabahiro	51:a0bdbddd08f7	1062	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1063	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1064	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1065	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1066	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1067	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1068	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1069	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1070	mtc=true;
yabahiro	51:a0bdbddd08f7	1071	break;
yabahiro	51:a0bdbddd08f7	1072	case 2:
yabahiro	51:a0bdbddd08f7	1073	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1074	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1075	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1076	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1077	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1078	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1079	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1080	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1081	mtc=true;
yabahiro	51:a0bdbddd08f7	1082	break;
yabahiro	51:a0bdbddd08f7	1083	}
yabahiro	51:a0bdbddd08f7	1084	if(g[0]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1085	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1086	case 0:
yabahiro	51:a0bdbddd08f7	1087	mtc=false;
yabahiro	51:a0bdbddd08f7	1088	break;
yabahiro	51:a0bdbddd08f7	1089	case 255:
yabahiro	51:a0bdbddd08f7	1090	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1091	mtc=false;
yabahiro	51:a0bdbddd08f7	1092	break;
yabahiro	51:a0bdbddd08f7	1093	case 253:
yabahiro	51:a0bdbddd08f7	1094	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1095	mtc=false;
yabahiro	51:a0bdbddd08f7	1096	break;
yabahiro	51:a0bdbddd08f7	1097	case 254:
yabahiro	51:a0bdbddd08f7	1098	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1099	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1100	mtc=false;
yabahiro	51:a0bdbddd08f7	1101	break;
yabahiro	51:a0bdbddd08f7	1102	case 1:
yabahiro	51:a0bdbddd08f7	1103	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1104	mtc=false;
yabahiro	51:a0bdbddd08f7	1105	break;
yabahiro	51:a0bdbddd08f7	1106	case 3:
yabahiro	51:a0bdbddd08f7	1107	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1108	mtc=false;
yabahiro	51:a0bdbddd08f7	1109	break;
yabahiro	51:a0bdbddd08f7	1110	case 2:
yabahiro	51:a0bdbddd08f7	1111	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1112	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1113	mtc=false;
yabahiro	51:a0bdbddd08f7	1114	break;
yabahiro	51:a0bdbddd08f7	1115	}
yabahiro	51:a0bdbddd08f7	1116	}
yabahiro	51:a0bdbddd08f7	1117	}
yabahiro	51:a0bdbddd08f7	1118	break;
yabahiro	51:a0bdbddd08f7	1119	case 23:
yabahiro	51:a0bdbddd08f7	1120	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1121	switch(g[4]) {
yabahiro	51:a0bdbddd08f7	1122	case 98:
yabahiro	51:a0bdbddd08f7	1123	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1124	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1125	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1126	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1127	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1128	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1129	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1130	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1131	break;
yabahiro	51:a0bdbddd08f7	1132	case 99:
yabahiro	51:a0bdbddd08f7	1133	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1134	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1135	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1136	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1137	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1138	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1139	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1140	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1141	break;
yabahiro	51:a0bdbddd08f7	1142	case 0:
yabahiro	51:a0bdbddd08f7	1143	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1144	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1145	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1146	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1147	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1148	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1149	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1150	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1151	break;
yabahiro	51:a0bdbddd08f7	1152	case 255:
yabahiro	51:a0bdbddd08f7	1153	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1154	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1155	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1156	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1157	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1158	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1159	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1160	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1161	break;
yabahiro	51:a0bdbddd08f7	1162	case 253:
yabahiro	51:a0bdbddd08f7	1163	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1164	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1165	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1166	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1167	motor[TIRE_BR].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1168	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1169	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1170	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1171	break;
yabahiro	51:a0bdbddd08f7	1172	case 254:
yabahiro	51:a0bdbddd08f7	1173	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1174	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1175	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1176	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1177	motor[TIRE_BR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1178	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1179	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1180	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1181	break;
yabahiro	51:a0bdbddd08f7	1182	case 1:
yabahiro	51:a0bdbddd08f7	1183	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1184	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1185	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1186	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1187	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1188	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1189	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1190	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1191	break;
yabahiro	51:a0bdbddd08f7	1192	case 3:
yabahiro	51:a0bdbddd08f7	1193	motor[TIRE_FR].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1194	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1195	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1196	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1197	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1198	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1199	motor[TIRE_BL].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1200	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1201	break;
yabahiro	51:a0bdbddd08f7	1202	case 2:
yabahiro	51:a0bdbddd08f7	1203	motor[TIRE_FR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1204	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1205	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1206	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1207	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1208	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1209	motor[TIRE_BL].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1210	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1211	break;
yabahiro	51:a0bdbddd08f7	1212	}
yabahiro	51:a0bdbddd08f7	1213	if(g[0]==98) {
yabahiro	51:a0bdbddd08f7	1214	fast=20;
yabahiro	51:a0bdbddd08f7	1215	normal=15;
yabahiro	51:a0bdbddd08f7	1216	slow=10;
yabahiro	51:a0bdbddd08f7	1217	}
yabahiro	51:a0bdbddd08f7	1218	if(g[2]==254&&countss>=100000) {
yabahiro	51:a0bdbddd08f7	1219	mode=24;
yabahiro	51:a0bdbddd08f7	1220	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	1221	countss=0;
yabahiro	54:4167f10ecad0	1222	fast=80;
yabahiro	54:4167f10ecad0	1223	normal=60;
yabahiro	54:4167f10ecad0	1224	slow=30;
yabahiro	51:a0bdbddd08f7	1225	}
yabahiro	51:a0bdbddd08f7	1226	} else {
yabahiro	51:a0bdbddd08f7	1227	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1228	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1229	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1230	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1231	fast=60;
yabahiro	51:a0bdbddd08f7	1232	normal=40;
yabahiro	53:694dbd7dfa0e	1233	slow=30;
yabahiro	51:a0bdbddd08f7	1234	countss=0;
yabahiro	51:a0bdbddd08f7	1235	mode=24;
yabahiro	51:a0bdbddd08f7	1236	}
yabahiro	51:a0bdbddd08f7	1237	} else {
yabahiro	51:a0bdbddd08f7	1238	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1239	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1240	}
yabahiro	51:a0bdbddd08f7	1241	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1242	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1243	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1244	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1245	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1246	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1247	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1248	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1249	}
yabahiro	51:a0bdbddd08f7	1250	break;
yabahiro	51:a0bdbddd08f7	1251	case 24:
yabahiro	51:a0bdbddd08f7	1252	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1253	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	1254	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1255	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	1256	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1257	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1258	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1259	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1260	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1261	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1262	}
yabahiro	51:a0bdbddd08f7	1263	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	1264	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1265	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1266	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1267	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1268	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1269	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	1270	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1271	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1272	}
yabahiro	51:a0bdbddd08f7	1273	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1274	case 0:
yabahiro	51:a0bdbddd08f7	1275	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1276	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1277	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1278	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1279	break;
yabahiro	51:a0bdbddd08f7	1280	case 255:
yabahiro	51:a0bdbddd08f7	1281	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1282	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1283	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1284	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1285	break;
yabahiro	51:a0bdbddd08f7	1286	case 253:
yabahiro	51:a0bdbddd08f7	1287	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1288	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1289	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1290	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1291	break;
yabahiro	51:a0bdbddd08f7	1292	case 254:
yabahiro	51:a0bdbddd08f7	1293	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1294	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1295	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1296	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1297	break;
yabahiro	51:a0bdbddd08f7	1298	case 1:
yabahiro	51:a0bdbddd08f7	1299	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1300	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1301	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1302	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1303	break;
yabahiro	51:a0bdbddd08f7	1304	case 3:
yabahiro	51:a0bdbddd08f7	1305	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1306	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1307	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1308	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1309	break;
yabahiro	51:a0bdbddd08f7	1310	case 2:
yabahiro	51:a0bdbddd08f7	1311	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1312	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1313	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1314	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1315	break;
yabahiro	51:a0bdbddd08f7	1316	}
yabahiro	51:a0bdbddd08f7	1317	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1318	case 0:
yabahiro	51:a0bdbddd08f7	1319	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1320	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1321	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1322	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1323	break;
yabahiro	51:a0bdbddd08f7	1324	case 255:
yabahiro	51:a0bdbddd08f7	1325	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1326	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1327	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1328	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1329	case 253:
yabahiro	51:a0bdbddd08f7	1330	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1331	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1332	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1333	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1334	break;
yabahiro	51:a0bdbddd08f7	1335	case 254:
yabahiro	53:694dbd7dfa0e	1336	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1337	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1338	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1339	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1340	break;
yabahiro	51:a0bdbddd08f7	1341	case 1:
yabahiro	53:694dbd7dfa0e	1342	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1343	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1344	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1345	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1346	break;
yabahiro	51:a0bdbddd08f7	1347	case 3:
yabahiro	53:694dbd7dfa0e	1348	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	1349	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1350	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1351	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1352	break;
yabahiro	51:a0bdbddd08f7	1353	case 2:
yabahiro	53:694dbd7dfa0e	1354	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1355	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1356	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1357	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1358	break;
yabahiro	51:a0bdbddd08f7	1359	}
yabahiro	51:a0bdbddd08f7	1360	if(g[3]==0&&g[2]==0) {
yabahiro	51:a0bdbddd08f7	1361	mode=25;
yabahiro	51:a0bdbddd08f7	1362	}
yabahiro	51:a0bdbddd08f7	1363	} else {
yabahiro	53:694dbd7dfa0e	1364	if(g[0]==98&&countss>=40000) {
yabahiro	51:a0bdbddd08f7	1365	mode=31;
yabahiro	53:694dbd7dfa0e	1366	fast=60;
yabahiro	53:694dbd7dfa0e	1367	normal=40;
yabahiro	53:694dbd7dfa0e	1368	slow=30;
yabahiro	51:a0bdbddd08f7	1369	countss=0;
yabahiro	51:a0bdbddd08f7	1370	}
yabahiro	51:a0bdbddd08f7	1371	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1372	case 98:
yabahiro	51:a0bdbddd08f7	1373	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1374	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1375	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1376	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1377	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1378	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1379	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1380	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1381	break;
yabahiro	51:a0bdbddd08f7	1382	case 0:
yabahiro	51:a0bdbddd08f7	1383	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1384	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1385	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1386	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1387	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1388	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1389	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1390	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1391	mtc=true;
yabahiro	51:a0bdbddd08f7	1392	break;
yabahiro	51:a0bdbddd08f7	1393	case 255:
yabahiro	51:a0bdbddd08f7	1394	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1395	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1396	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1397	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1398	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1399	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1400	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1401	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1402	mtc=true;
yabahiro	51:a0bdbddd08f7	1403	break;
yabahiro	51:a0bdbddd08f7	1404	case 253:
yabahiro	51:a0bdbddd08f7	1405	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1406	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1407	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1408	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1409	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1410	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1411	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1412	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1413	mtc=true;
yabahiro	51:a0bdbddd08f7	1414	break;
yabahiro	51:a0bdbddd08f7	1415	case 254:
yabahiro	51:a0bdbddd08f7	1416	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1417	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1418	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1419	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1420	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1421	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1422	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1423	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1424	mtc=true;
yabahiro	51:a0bdbddd08f7	1425	break;
yabahiro	51:a0bdbddd08f7	1426	case 1:
yabahiro	51:a0bdbddd08f7	1427	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1428	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1429	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1430	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1431	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1432	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1433	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1434	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1435	mtc=true;
yabahiro	51:a0bdbddd08f7	1436	break;
yabahiro	51:a0bdbddd08f7	1437	case 3:
yabahiro	51:a0bdbddd08f7	1438	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1439	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1440	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1441	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1442	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1443	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1444	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1445	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1446	mtc=true;
yabahiro	51:a0bdbddd08f7	1447	break;
yabahiro	51:a0bdbddd08f7	1448	case 2:
yabahiro	51:a0bdbddd08f7	1449	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1450	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1451	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1452	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1453	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1454	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1455	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1456	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1457	mtc=true;
yabahiro	51:a0bdbddd08f7	1458	break;
yabahiro	51:a0bdbddd08f7	1459	}
yabahiro	51:a0bdbddd08f7	1460	if(g[1]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1461	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	1462	case 0:
yabahiro	51:a0bdbddd08f7	1463	mtc=false;
yabahiro	51:a0bdbddd08f7	1464	break;
yabahiro	51:a0bdbddd08f7	1465	case 255:
yabahiro	51:a0bdbddd08f7	1466	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1467	mtc=false;
yabahiro	51:a0bdbddd08f7	1468	break;
yabahiro	51:a0bdbddd08f7	1469	case 253:
yabahiro	51:a0bdbddd08f7	1470	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1471	mtc=false;
yabahiro	51:a0bdbddd08f7	1472	break;
yabahiro	51:a0bdbddd08f7	1473	case 254:
yabahiro	51:a0bdbddd08f7	1474	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1475	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1476	mtc=false;
yabahiro	51:a0bdbddd08f7	1477	break;
yabahiro	51:a0bdbddd08f7	1478	case 1:
yabahiro	51:a0bdbddd08f7	1479	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1480	mtc=false;
yabahiro	51:a0bdbddd08f7	1481	break;
yabahiro	51:a0bdbddd08f7	1482	case 3:
yabahiro	51:a0bdbddd08f7	1483	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1484	mtc=false;
yabahiro	51:a0bdbddd08f7	1485	break;
yabahiro	51:a0bdbddd08f7	1486	case 2:
yabahiro	51:a0bdbddd08f7	1487	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1488	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1489	mtc=false;
yabahiro	51:a0bdbddd08f7	1490	break;
yabahiro	51:a0bdbddd08f7	1491	}
yabahiro	51:a0bdbddd08f7	1492	}
yabahiro	51:a0bdbddd08f7	1493	}
yabahiro	51:a0bdbddd08f7	1494	break;
yabahiro	51:a0bdbddd08f7	1495	case 25:
yabahiro	51:a0bdbddd08f7	1496	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1497	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1498	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1499	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1500	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1501	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1502	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1503	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1504	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1505	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1506	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1507	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1508	countss=0;
yabahiro	51:a0bdbddd08f7	1509	mode=26;
yabahiro	51:a0bdbddd08f7	1510	}
yabahiro	51:a0bdbddd08f7	1511	} else {
yabahiro	51:a0bdbddd08f7	1512	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1513	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1514	}
yabahiro	51:a0bdbddd08f7	1515	break;
yabahiro	51:a0bdbddd08f7	1516	case 26:
yabahiro	53:694dbd7dfa0e	1517	if(g[0]==98) {
yabahiro	53:694dbd7dfa0e	1518	mode=31;
yabahiro	53:694dbd7dfa0e	1519	}
yabahiro	50:87f5fa1bc460	1520	switch(g[4]) {
yabahiro	50:87f5fa1bc460	1521	case 98:
yabahiro	51:a0bdbddd08f7	1522	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1523	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1524	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1525	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1526	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1527	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1528	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1529	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1530	break;
yabahiro	50:87f5fa1bc460	1531	case 99:
yabahiro	50:87f5fa1bc460	1532	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1533	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1534	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1535	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1536	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1537	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1538	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1539	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1540	break;
yabahiro	50:87f5fa1bc460	1541	case 0:
yabahiro	51:a0bdbddd08f7	1542	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1543	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1544	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1545	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1546	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1547	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1548	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1549	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1550	break;
yabahiro	50:87f5fa1bc460	1551	case 255:
yabahiro	50:87f5fa1bc460	1552	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1553	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1554	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1555	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1556	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1557	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1558	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1559	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1560	break;
yabahiro	50:87f5fa1bc460	1561	case 253:
yabahiro	51:a0bdbddd08f7	1562	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1563	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1564	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1565	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1566	motor[TIRE_BR].pwm = 25;
yabahiro	50:87f5fa1bc460	1567	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1568	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1569	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1570	break;
yabahiro	50:87f5fa1bc460	1571	case 254:
yabahiro	51:a0bdbddd08f7	1572	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1573	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1574	motor[TIRE_FL].pwm = 45;
yabahiro	50:87f5fa1bc460	1575	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1576	motor[TIRE_BR].pwm = 40;
yabahiro	50:87f5fa1bc460	1577	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1578	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1579	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1580	break;
yabahiro	50:87f5fa1bc460	1581	case 1:
yabahiro	50:87f5fa1bc460	1582	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1583	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1584	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1585	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1586	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1587	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1588	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1589	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1590	break;
yabahiro	50:87f5fa1bc460	1591	case 3:
yabahiro	51:a0bdbddd08f7	1592	motor[TIRE_FR].pwm = 25;
yabahiro	50:87f5fa1bc460	1593	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1594	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1595	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1596	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1597	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1598	motor[TIRE_BL].pwm = 25;
yabahiro	50:87f5fa1bc460	1599	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1600	break;
yabahiro	50:87f5fa1bc460	1601	case 2:
yabahiro	51:a0bdbddd08f7	1602	motor[TIRE_FR].pwm = 40;
yabahiro	50:87f5fa1bc460	1603	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1604	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1605	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1606	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1607	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1608	motor[TIRE_BL].pwm = 40;
yabahiro	50:87f5fa1bc460	1609	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1610	break;
yabahiro	50:87f5fa1bc460	1611	}
yabahiro	51:a0bdbddd08f7	1612	break;
yabahiro	51:a0bdbddd08f7	1613	case 31:
yabahiro	53:694dbd7dfa0e	1614	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1615	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1616	motor[TIRE_FL].pwm = 5;
yabahiro	53:694dbd7dfa0e	1617	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1618	motor[TIRE_BR].pwm = 5;
yabahiro	53:694dbd7dfa0e	1619	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1620	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1621	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1622	if(g[2]==0) {
yabahiro	51:a0bdbddd08f7	1623	cross=0;
yabahiro	51:a0bdbddd08f7	1624	countss=0;
yabahiro	51:a0bdbddd08f7	1625	mode=40;
yabahiro	55:844ac0974740	1626	fast=70;
yabahiro	55:844ac0974740	1627	normal=50;
yabahiro	55:844ac0974740	1628	slow=40;
yabahiro	51:a0bdbddd08f7	1629	}
yabahiro	51:a0bdbddd08f7	1630	break;
yabahiro	51:a0bdbddd08f7	1631	case 40:
yabahiro	51:a0bdbddd08f7	1632	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1633	case 98:
yabahiro	53:694dbd7dfa0e	1634	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1635	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1636	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1637	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1638	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1639	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1640	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1641	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1642	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	1643	cross++;
yabahiro	51:a0bdbddd08f7	1644	countss=0;
yabahiro	51:a0bdbddd08f7	1645	}
yabahiro	51:a0bdbddd08f7	1646	mtc2=true;
yabahiro	51:a0bdbddd08f7	1647	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1648	if(cross==1) {
yabahiro	51:a0bdbddd08f7	1649	mode=41;
yabahiro	51:a0bdbddd08f7	1650	countss=0;
yabahiro	51:a0bdbddd08f7	1651	cross=0;
yabahiro	51:a0bdbddd08f7	1652	}
yabahiro	51:a0bdbddd08f7	1653	} else {
yabahiro	51:a0bdbddd08f7	1654	if(cross==3) {
yabahiro	53:694dbd7dfa0e	1655	fast=60;
yabahiro	53:694dbd7dfa0e	1656	normal=40;
yabahiro	53:694dbd7dfa0e	1657	slow=30;
yabahiro	51:a0bdbddd08f7	1658	mode=41;
yabahiro	51:a0bdbddd08f7	1659	countss=0;
yabahiro	51:a0bdbddd08f7	1660	cross=0;
yabahiro	51:a0bdbddd08f7	1661	}
yabahiro	51:a0bdbddd08f7	1662	}
yabahiro	51:a0bdbddd08f7	1663	break;
yabahiro	50:87f5fa1bc460	1664	case 0:
yabahiro	53:694dbd7dfa0e	1665	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1666	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1667	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1668	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1669	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1670	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1671	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1672	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1673	mtc2=true;
yabahiro	50:87f5fa1bc460	1674	break;
yabahiro	50:87f5fa1bc460	1675	case 255:
yabahiro	53:694dbd7dfa0e	1676	motor[TIRE_FR].pwm = slow;
yabahiro	50:87f5fa1bc460	1677	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1678	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1679	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1680	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1681	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1682	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1683	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1684	mtc2=true;
yabahiro	50:87f5fa1bc460	1685	break;
yabahiro	50:87f5fa1bc460	1686	case 253:
yabahiro	51:a0bdbddd08f7	1687	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1688	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1689	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1690	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1691	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1692	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1693	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1694	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1695	mtc2=true;
yabahiro	50:87f5fa1bc460	1696	break;
yabahiro	50:87f5fa1bc460	1697	case 254:
yabahiro	51:a0bdbddd08f7	1698	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1699	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1700	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1701	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1702	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1703	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1704	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1705	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1706	mtc2=true;
yabahiro	50:87f5fa1bc460	1707	break;
yabahiro	50:87f5fa1bc460	1708	case 1:
yabahiro	53:694dbd7dfa0e	1709	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1710	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1711	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1712	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1713	motor[TIRE_BR].pwm = slow;
yabahiro	50:87f5fa1bc460	1714	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1715	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1716	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1717	mtc2=true;
yabahiro	50:87f5fa1bc460	1718	break;
yabahiro	50:87f5fa1bc460	1719	case 3:
yabahiro	53:694dbd7dfa0e	1720	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1721	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1722	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1723	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1724	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1725	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1726	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1727	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1728	mtc2=true;
yabahiro	50:87f5fa1bc460	1729	break;
yabahiro	50:87f5fa1bc460	1730	case 2:
yabahiro	53:694dbd7dfa0e	1731	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1732	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1733	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1734	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1735	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1736	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1737	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1738	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1739	mtc2=true;
yabahiro	50:87f5fa1bc460	1740	break;
yabahiro	50:87f5fa1bc460	1741	}
yabahiro	51:a0bdbddd08f7	1742	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	1743	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1744	case 0:
yabahiro	51:a0bdbddd08f7	1745	mtc2=false;
yabahiro	51:a0bdbddd08f7	1746	break;
yabahiro	51:a0bdbddd08f7	1747	case 255:
yabahiro	51:a0bdbddd08f7	1748	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1749	mtc2=false;
yabahiro	51:a0bdbddd08f7	1750	break;
yabahiro	51:a0bdbddd08f7	1751	case 253:
yabahiro	51:a0bdbddd08f7	1752	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1753	mtc2=false;
yabahiro	51:a0bdbddd08f7	1754	break;
yabahiro	51:a0bdbddd08f7	1755	case 254:
yabahiro	51:a0bdbddd08f7	1756	motor[TIRE_FL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1757	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1758	mtc2=false;
yabahiro	51:a0bdbddd08f7	1759	break;
yabahiro	51:a0bdbddd08f7	1760	case 1:
yabahiro	51:a0bdbddd08f7	1761	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1762	mtc2=false;
yabahiro	51:a0bdbddd08f7	1763	break;
yabahiro	51:a0bdbddd08f7	1764	case 3:
yabahiro	51:a0bdbddd08f7	1765	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1766	mtc2=false;
yabahiro	51:a0bdbddd08f7	1767	break;
yabahiro	51:a0bdbddd08f7	1768	case 2:
yabahiro	51:a0bdbddd08f7	1769	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1770	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1771	mtc2=false;
yabahiro	51:a0bdbddd08f7	1772	break;
yabahiro	51:a0bdbddd08f7	1773	}
yabahiro	51:a0bdbddd08f7	1774	}
yabahiro	51:a0bdbddd08f7	1775	break;
yabahiro	51:a0bdbddd08f7	1776	case 41:
yabahiro	53:694dbd7dfa0e	1777	/*
yabahiro	53:694dbd7dfa0e	1778	if(LIF\|\|LIB) {
yabahiro	53:694dbd7dfa0e	1779	mode=42;
yabahiro	53:694dbd7dfa0e	1780	}
yabahiro	53:694dbd7dfa0e	1781	*/
yabahiro	53:694dbd7dfa0e	1782	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1783	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1784	motor[TIRE_FL].pwm = 0;
yabahiro	53:694dbd7dfa0e	1785	motor[TIRE_FL].dir = FREE;
yabahiro	53:694dbd7dfa0e	1786	motor[TIRE_BR].pwm = 0;
yabahiro	53:694dbd7dfa0e	1787	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1788	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1789	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1790	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1791	countss=0;
yabahiro	51:a0bdbddd08f7	1792	mode=70;
yabahiro	55:844ac0974740	1793	normal=120;
yabahiro	55:844ac0974740	1794	fast=140;
yabahiro	55:844ac0974740	1795	slow=100;
yabahiro	51:a0bdbddd08f7	1796	}
yabahiro	51:a0bdbddd08f7	1797	break;
yabahiro	51:a0bdbddd08f7	1798	case 42:
yabahiro	51:a0bdbddd08f7	1799	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1800	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1801	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1802	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1803	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1804	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1805	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1806	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1807	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1808	countss=0;
yabahiro	51:a0bdbddd08f7	1809	mode=70;
yabahiro	51:a0bdbddd08f7	1810	}
yabahiro	51:a0bdbddd08f7	1811	break;
yabahiro	51:a0bdbddd08f7	1812	case 70:
yabahiro	51:a0bdbddd08f7	1813	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1814	case 99:
yabahiro	51:a0bdbddd08f7	1815	if(countss>=100000) {
yabahiro	51:a0bdbddd08f7	1816	mode=100;
yabahiro	51:a0bdbddd08f7	1817	}
yabahiro	50:87f5fa1bc460	1818	break;
yabahiro	39:784552c26163	1819	case 98:
yabahiro	39:784552c26163	1820	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1821	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1822	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1823	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1824	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1825	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1826	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1827	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1828	break;
yabahiro	39:784552c26163	1829	case 0:
yabahiro	53:694dbd7dfa0e	1830	motor[TIRE_FR].pwm = 80;
yabahiro	39:784552c26163	1831	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1832	motor[TIRE_FL].pwm = 80;
yabahiro	39:784552c26163	1833	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1834	motor[TIRE_BR].pwm = 80;
yabahiro	39:784552c26163	1835	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1836	motor[TIRE_BL].pwm = 80;
yabahiro	39:784552c26163	1837	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1838	mtc=true;
yabahiro	39:784552c26163	1839	break;
yabahiro	39:784552c26163	1840	case 255:
yabahiro	39:784552c26163	1841	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1842	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1843	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1844	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1845	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1846	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1847	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1848	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1849	mtc=true;
yabahiro	39:784552c26163	1850	break;
yabahiro	39:784552c26163	1851	case 253:
yabahiro	39:784552c26163	1852	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1853	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1854	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1855	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1856	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1857	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1858	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1859	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1860	mtc=true;
yabahiro	39:784552c26163	1861	break;
yabahiro	39:784552c26163	1862	case 254:
yabahiro	39:784552c26163	1863	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1864	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1865	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1866	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1867	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1868	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1869	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1870	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1871	mtc=true;
yabahiro	39:784552c26163	1872	break;
yabahiro	39:784552c26163	1873	case 1:
yabahiro	39:784552c26163	1874	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1875	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1876	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1877	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1878	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1879	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1880	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1881	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1882	mtc=true;
yabahiro	39:784552c26163	1883	break;
yabahiro	39:784552c26163	1884	case 3:
yabahiro	39:784552c26163	1885	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1886	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1887	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1888	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1889	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1890	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1891	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1892	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1893	mtc=true;
yabahiro	39:784552c26163	1894	break;
yabahiro	39:784552c26163	1895	case 2:
yabahiro	39:784552c26163	1896	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1897	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1898	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1899	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1900	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1901	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1902	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1903	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1904	mtc=true;
yabahiro	39:784552c26163	1905	break;
yabahiro	39:784552c26163	1906	}
yabahiro	39:784552c26163	1907	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1908	switch(g[1]) {
yabahiro	39:784552c26163	1909	case 0:
yabahiro	39:784552c26163	1910	mtc=false;
yabahiro	39:784552c26163	1911	break;
yabahiro	39:784552c26163	1912	case 255:
yabahiro	39:784552c26163	1913	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1914	mtc=false;
yabahiro	39:784552c26163	1915	break;
yabahiro	39:784552c26163	1916	case 253:
yabahiro	39:784552c26163	1917	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1918	mtc=false;
yabahiro	39:784552c26163	1919	break;
yabahiro	39:784552c26163	1920	case 254:
yabahiro	39:784552c26163	1921	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1922	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1923	mtc=false;
yabahiro	39:784552c26163	1924	break;
yabahiro	39:784552c26163	1925	case 1:
yabahiro	39:784552c26163	1926	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1927	mtc=false;
yabahiro	39:784552c26163	1928	break;
yabahiro	39:784552c26163	1929	case 3:
yabahiro	39:784552c26163	1930	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1931	mtc=false;
yabahiro	39:784552c26163	1932	break;
yabahiro	39:784552c26163	1933	case 2:
yabahiro	39:784552c26163	1934	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1935	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1936	mtc=false;
yabahiro	39:784552c26163	1937	break;
yabahiro	39:784552c26163	1938	}
yabahiro	33:dd598bb23ad1	1939	}
yabahiro	51:a0bdbddd08f7	1940	break;
yabahiro	51:a0bdbddd08f7	1941	case 100:
yabahiro	54:4167f10ecad0	1942	motor[TIRE_FR].pwm = 47;
yabahiro	51:a0bdbddd08f7	1943	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1944	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1945	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1946	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1947	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1948	motor[TIRE_BL].pwm = 55;
yabahiro	51:a0bdbddd08f7	1949	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1950	break;
yabahiro	51:a0bdbddd08f7	1951	default:
yabahiro	51:a0bdbddd08f7	1952	motor[TIRE_FR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1953	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1954	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1955	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1956	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1957	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1958	motor[TIRE_BL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1959	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1960	break;
yabahiro	33:dd598bb23ad1	1961	}
kishibekairohan	13:b6e02d6261d7	1962	}
kishibekairohan	13:b6e02d6261d7	1963	#endif
kishibekairohan	13:b6e02d6261d7	1964
kishibekairohan	13:b6e02d6261d7	1965	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	1966	static void Process3()
kishibekairohan	13:b6e02d6261d7	1967	{
yabahiro	33:dd598bb23ad1	1968	//Clearly 赤ゾーン
kishibekairohan	35:33c6cdba5630	1969	LED::LED::TapeledMode(3);
yabahiro	33:dd598bb23ad1	1970	countss++;
yabahiro	54:4167f10ecad0	1971	switch(mode) {
yabahiro	54:4167f10ecad0	1972	case 1:
yabahiro	54:4167f10ecad0	1973	fast=40;
yabahiro	54:4167f10ecad0	1974	normal=30;
yabahiro	54:4167f10ecad0	1975	slow=20;
yabahiro	54:4167f10ecad0	1976	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	1977	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	1978	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	1979	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1980	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	1981	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1982	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	1983	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	1984	if(g[2]==0&&countss>=300000) {
yabahiro	54:4167f10ecad0	1985	countss=100000;
yabahiro	54:4167f10ecad0	1986	cross=0;
yabahiro	54:4167f10ecad0	1987	mode=3;
yabahiro	54:4167f10ecad0	1988	}
yabahiro	54:4167f10ecad0	1989	break;
yabahiro	54:4167f10ecad0	1990	case 3:
yabahiro	54:4167f10ecad0	1991	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	1992	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	1993	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	1994	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1995	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	1996	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1997	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	1998	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	1999	if(g[0]==0) {
yabahiro	54:4167f10ecad0	2000	mode=10;
yabahiro	54:4167f10ecad0	2001	countss=100000;
yabahiro	54:4167f10ecad0	2002	fast = 60;
yabahiro	54:4167f10ecad0	2003	normal = 40;
yabahiro	54:4167f10ecad0	2004	slow = 30;
yabahiro	54:4167f10ecad0	2005	}
yabahiro	54:4167f10ecad0	2006	break;
yabahiro	54:4167f10ecad0	2007	case 10:
yabahiro	54:4167f10ecad0	2008	switch(g[0]) {
yabahiro	54:4167f10ecad0	2009	case 98:
yabahiro	54:4167f10ecad0	2010	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2011	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2012	motor[TIRE_FL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2013	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2014	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2015	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2016	motor[TIRE_BL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2017	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2018	mtc=true;
yabahiro	54:4167f10ecad0	2019	if(countss>80000) {
yabahiro	54:4167f10ecad0	2020	cross++;
yabahiro	54:4167f10ecad0	2021	countss=0;
yabahiro	54:4167f10ecad0	2022	}
yabahiro	54:4167f10ecad0	2023	if(cross==2) {
yabahiro	54:4167f10ecad0	2024	fast = 10;
yabahiro	54:4167f10ecad0	2025	normal = 10;
yabahiro	54:4167f10ecad0	2026	slow = 5;
yabahiro	54:4167f10ecad0	2027	}
yabahiro	46:68296caae1af	2028
yabahiro	53:694dbd7dfa0e	2029	if(cross==3) {
yabahiro	54:4167f10ecad0	2030	fast=40;
yabahiro	54:4167f10ecad0	2031	normal=30;
yabahiro	54:4167f10ecad0	2032	slow=20;
yabahiro	54:4167f10ecad0	2033	mode=11;
yabahiro	53:694dbd7dfa0e	2034	countss=0;
yabahiro	53:694dbd7dfa0e	2035	cross=0;
yabahiro	54:4167f10ecad0	2036
yabahiro	53:694dbd7dfa0e	2037	}
yabahiro	54:4167f10ecad0	2038	break;
yabahiro	38:40e7fdf3c694	2039	case 0:
yabahiro	54:4167f10ecad0	2040	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2041	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2042	motor[TIRE_FL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2043	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2044	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2045	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2046	motor[TIRE_BL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2047	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2048	mtc=true;
yabahiro	38:40e7fdf3c694	2049	break;
yabahiro	38:40e7fdf3c694	2050	case 255:
yabahiro	54:4167f10ecad0	2051	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2052	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2053	motor[TIRE_FL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2054	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2055	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2056	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2057	motor[TIRE_BL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2058	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2059	mtc=true;
yabahiro	53:694dbd7dfa0e	2060	break;
yabahiro	53:694dbd7dfa0e	2061	case 253:
yabahiro	54:4167f10ecad0	2062	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2063	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2064	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2065	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2066	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2067	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2068	motor[TIRE_BL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2069	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2070	mtc=true;
yabahiro	53:694dbd7dfa0e	2071	break;
yabahiro	53:694dbd7dfa0e	2072	case 254:
yabahiro	54:4167f10ecad0	2073	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2074	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2075	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2076	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2077	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2078	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2079	motor[TIRE_BL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2080	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2081	mtc=true;
yabahiro	53:694dbd7dfa0e	2082	break;
yabahiro	53:694dbd7dfa0e	2083	case 1:
yabahiro	54:4167f10ecad0	2084	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2085	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2086	motor[TIRE_FL].pwm = fast+50;
yabahiro	54:4167f10ecad0	2087	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2088	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2089	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2090	motor[TIRE_BL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2091	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2092	mtc=true;
yabahiro	53:694dbd7dfa0e	2093	break;
yabahiro	53:694dbd7dfa0e	2094	case 3:
yabahiro	54:4167f10ecad0	2095	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2096	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2097	motor[TIRE_FL].pwm = slow+50;
yabahiro	54:4167f10ecad0	2098	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2099	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2100	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2101	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2102	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2103	mtc=true;
yabahiro	53:694dbd7dfa0e	2104	break;
yabahiro	53:694dbd7dfa0e	2105	case 2:
yabahiro	54:4167f10ecad0	2106	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2107	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2108	motor[TIRE_FL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2109	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2110	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2111	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2112	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2113	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2114	mtc=true;
yabahiro	53:694dbd7dfa0e	2115	break;
yabahiro	53:694dbd7dfa0e	2116	}
yabahiro	54:4167f10ecad0	2117	if(g[0]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2118	switch(g[1]) {
yabahiro	54:4167f10ecad0	2119	case 0:
yabahiro	54:4167f10ecad0	2120	mtc=false;
yabahiro	54:4167f10ecad0	2121	break;
yabahiro	54:4167f10ecad0	2122	case 255:
yabahiro	54:4167f10ecad0	2123	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	2124	mtc=false;
yabahiro	54:4167f10ecad0	2125	break;
yabahiro	54:4167f10ecad0	2126	case 253:
yabahiro	54:4167f10ecad0	2127	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	2128	mtc=false;
yabahiro	54:4167f10ecad0	2129	break;
yabahiro	54:4167f10ecad0	2130	case 254:
yabahiro	54:4167f10ecad0	2131	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	2132	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2133	mtc=false;
yabahiro	54:4167f10ecad0	2134	break;
yabahiro	54:4167f10ecad0	2135	case 1:
yabahiro	54:4167f10ecad0	2136	motor[TIRE_BL].pwm += 3;
yabahiro	54:4167f10ecad0	2137	mtc=false;
yabahiro	54:4167f10ecad0	2138	break;
yabahiro	54:4167f10ecad0	2139	case 3:
yabahiro	54:4167f10ecad0	2140	motor[TIRE_BL].pwm += 6;
yabahiro	54:4167f10ecad0	2141	mtc=false;
yabahiro	54:4167f10ecad0	2142	break;
yabahiro	54:4167f10ecad0	2143	case 2:
yabahiro	54:4167f10ecad0	2144	motor[TIRE_BL].pwm += 9;
yabahiro	54:4167f10ecad0	2145	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2146	mtc=false;
yabahiro	54:4167f10ecad0	2147	break;
yabahiro	54:4167f10ecad0	2148	}
yabahiro	54:4167f10ecad0	2149	}
yabahiro	54:4167f10ecad0	2150	break;
yabahiro	54:4167f10ecad0	2151	case 11:
yabahiro	54:4167f10ecad0	2152	motor[TIRE_FR].pwm = 15;
yabahiro	54:4167f10ecad0	2153	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2154	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2155	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2156	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2157	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2158	motor[TIRE_BL].pwm = 15;
yabahiro	54:4167f10ecad0	2159	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2160	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	53:694dbd7dfa0e	2161	countss=0;
yabahiro	54:4167f10ecad0	2162	cross=0;
yabahiro	54:4167f10ecad0	2163	mode=20;
yabahiro	53:694dbd7dfa0e	2164	}
yabahiro	54:4167f10ecad0	2165	break;
yabahiro	54:4167f10ecad0	2166	case 20:
yabahiro	54:4167f10ecad0	2167	solenoid.solenoid4= SOLENOID_ON;
yabahiro	53:694dbd7dfa0e	2168	switch(g[2]) {
yabahiro	54:4167f10ecad0	2169	case 98:
yabahiro	54:4167f10ecad0	2170	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2171	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2172	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2173	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2174	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2175	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2176	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2177	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2178	if(countss>30000) {
yabahiro	54:4167f10ecad0	2179	cross++;
yabahiro	54:4167f10ecad0	2180	countss=0;
yabahiro	54:4167f10ecad0	2181	}
yabahiro	54:4167f10ecad0	2182	mtc2=true;
yabahiro	54:4167f10ecad0	2183
yabahiro	54:4167f10ecad0	2184	if(YELLOW) {
yabahiro	54:4167f10ecad0	2185	if(cross==1) {
yabahiro	54:4167f10ecad0	2186	fast=20;
yabahiro	54:4167f10ecad0	2187	normal=15;
yabahiro	54:4167f10ecad0	2188	slow=15;
yabahiro	54:4167f10ecad0	2189	} else if(cross==2) {
yabahiro	54:4167f10ecad0	2190	mode=21;
yabahiro	54:4167f10ecad0	2191	countss=0;
yabahiro	54:4167f10ecad0	2192	cross=0;
yabahiro	54:4167f10ecad0	2193	}
yabahiro	54:4167f10ecad0	2194	} else {
yabahiro	54:4167f10ecad0	2195	if(cross==3) {
yabahiro	54:4167f10ecad0	2196	mode=21;
yabahiro	54:4167f10ecad0	2197	countss=0;
yabahiro	54:4167f10ecad0	2198	cross=0;
yabahiro	54:4167f10ecad0	2199	}
yabahiro	54:4167f10ecad0	2200	}
yabahiro	54:4167f10ecad0	2201	break;
yabahiro	53:694dbd7dfa0e	2202	case 0:
yabahiro	54:4167f10ecad0	2203	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2204	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2205	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2206	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2207	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2208	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2209	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2210	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2211	mtc2=true;
yabahiro	53:694dbd7dfa0e	2212	break;
yabahiro	53:694dbd7dfa0e	2213	case 255:
yabahiro	54:4167f10ecad0	2214	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2215	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2216	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2217	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2218	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2219	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2220	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2221	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2222	mtc2=true;
yabahiro	38:40e7fdf3c694	2223	break;
yabahiro	38:40e7fdf3c694	2224	case 253:
yabahiro	54:4167f10ecad0	2225	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2226	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2227	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2228	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2229	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2230	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2231	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2232	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2233	mtc2=true;
yabahiro	38:40e7fdf3c694	2234	break;
yabahiro	38:40e7fdf3c694	2235	case 254:
yabahiro	54:4167f10ecad0	2236	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2237	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2238	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2239	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2240	motor[TIRE_BR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2241	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2242	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2243	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2244	mtc2=true;
yabahiro	53:694dbd7dfa0e	2245	break;
yabahiro	53:694dbd7dfa0e	2246	case 1:
yabahiro	54:4167f10ecad0	2247	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2248	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2249	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2250	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2251	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2252	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2253	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2254	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2255	mtc2=true;
yabahiro	53:694dbd7dfa0e	2256	break;
yabahiro	53:694dbd7dfa0e	2257	case 3:
yabahiro	54:4167f10ecad0	2258	motor[TIRE_FR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2259	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2260	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2261	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2262	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2263	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2264	motor[TIRE_BL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2265	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2266	mtc2=true;
yabahiro	53:694dbd7dfa0e	2267	break;
yabahiro	53:694dbd7dfa0e	2268	case 2:
yabahiro	54:4167f10ecad0	2269	motor[TIRE_FR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2270	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2271	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2272	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2273	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2274	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2275	motor[TIRE_BL].pwm = normal+20;
yabahiro	38:40e7fdf3c694	2276	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2277	mtc2=true;
yabahiro	38:40e7fdf3c694	2278	break;
yabahiro	33:dd598bb23ad1	2279	}
yabahiro	54:4167f10ecad0	2280	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	2281	switch(g[3]) {
yabahiro	54:4167f10ecad0	2282	case 0:
yabahiro	54:4167f10ecad0	2283	mtc2=false;
yabahiro	54:4167f10ecad0	2284	break;
yabahiro	54:4167f10ecad0	2285	case 255:
yabahiro	54:4167f10ecad0	2286	motor[TIRE_BL].pwm += 5;
yabahiro	54:4167f10ecad0	2287	mtc2=false;
yabahiro	54:4167f10ecad0	2288	break;
yabahiro	54:4167f10ecad0	2289	case 253:
yabahiro	54:4167f10ecad0	2290	motor[TIRE_BL].pwm += 10;
yabahiro	54:4167f10ecad0	2291	mtc2=false;
yabahiro	54:4167f10ecad0	2292	break;
yabahiro	54:4167f10ecad0	2293	case 254:
yabahiro	54:4167f10ecad0	2294	motor[TIRE_BL].pwm += 15;
yabahiro	54:4167f10ecad0	2295	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2296	mtc2=false;
yabahiro	54:4167f10ecad0	2297	break;
yabahiro	54:4167f10ecad0	2298	case 1:
yabahiro	54:4167f10ecad0	2299	motor[TIRE_FL].pwm += 5;
yabahiro	54:4167f10ecad0	2300	mtc2=false;
yabahiro	54:4167f10ecad0	2301	break;
yabahiro	54:4167f10ecad0	2302	case 3:
yabahiro	54:4167f10ecad0	2303	motor[TIRE_FL].pwm += 10;
yabahiro	54:4167f10ecad0	2304	mtc2=false;
yabahiro	54:4167f10ecad0	2305	break;
yabahiro	54:4167f10ecad0	2306	case 2:
yabahiro	54:4167f10ecad0	2307	motor[TIRE_FL].pwm += 15;
yabahiro	54:4167f10ecad0	2308	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2309	mtc2=false;
yabahiro	54:4167f10ecad0	2310	break;
yabahiro	54:4167f10ecad0	2311	}
yabahiro	38:40e7fdf3c694	2312	}
yabahiro	54:4167f10ecad0	2313	break;
yabahiro	54:4167f10ecad0	2314	case 21:
yabahiro	54:4167f10ecad0	2315	if(YELLOW) {
yabahiro	54:4167f10ecad0	2316	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2317	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2318	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2319	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2320	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2321	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2322	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2323	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2324	if(g[3]==98&&countss>=10000) {
yabahiro	54:4167f10ecad0	2325	mode=22;
yabahiro	54:4167f10ecad0	2326	countss=0;
yabahiro	54:4167f10ecad0	2327	fast=60;
yabahiro	54:4167f10ecad0	2328	normal=40;
yabahiro	54:4167f10ecad0	2329	slow=20;
yabahiro	54:4167f10ecad0	2330	}
yabahiro	54:4167f10ecad0	2331	} else {
yabahiro	38:40e7fdf3c694	2332	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2333	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2334	motor[TIRE_FL].pwm = 255;
yabahiro	54:4167f10ecad0	2335	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2336	motor[TIRE_BR].pwm = 255;
yabahiro	54:4167f10ecad0	2337	motor[TIRE_BR].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2338	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2339	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2340	if(g[1]==0) {
yabahiro	54:4167f10ecad0	2341	mode=22;
yabahiro	54:4167f10ecad0	2342	fast=60;
yabahiro	54:4167f10ecad0	2343	normal=40;
yabahiro	54:4167f10ecad0	2344	slow=25;
yabahiro	54:4167f10ecad0	2345	}
yabahiro	38:40e7fdf3c694	2346	}
yabahiro	54:4167f10ecad0	2347	break;
yabahiro	54:4167f10ecad0	2348	case 22:
yabahiro	54:4167f10ecad0	2349	if(YELLOW) {
yabahiro	54:4167f10ecad0	2350	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2351	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2352	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2353	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2354	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2355	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2356	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2357	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2358	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2359	}
yabahiro	54:4167f10ecad0	2360	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2361	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2362	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2363	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2364	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2365	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2366	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2367	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2368	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2369	}
yabahiro	54:4167f10ecad0	2370	switch(g[2]) {
yabahiro	54:4167f10ecad0	2371	case 0:
yabahiro	54:4167f10ecad0	2372	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2373	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2374	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2375	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2376	break;
yabahiro	54:4167f10ecad0	2377	case 255:
yabahiro	54:4167f10ecad0	2378	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2379	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2380	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2381	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2382	break;
yabahiro	54:4167f10ecad0	2383	case 253:
yabahiro	54:4167f10ecad0	2384	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2385	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2386	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2387	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2388	break;
yabahiro	54:4167f10ecad0	2389	case 254:
yabahiro	54:4167f10ecad0	2390	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2391	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2392	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2393	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2394	break;
yabahiro	54:4167f10ecad0	2395	case 1:
yabahiro	54:4167f10ecad0	2396	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2397	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2398	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2399	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2400	break;
yabahiro	54:4167f10ecad0	2401	case 3:
yabahiro	54:4167f10ecad0	2402	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2403	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2404	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2405	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2406	break;
yabahiro	54:4167f10ecad0	2407	case 2:
yabahiro	54:4167f10ecad0	2408	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2409	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2410	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2411	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2412	break;
yabahiro	54:4167f10ecad0	2413	}
yabahiro	54:4167f10ecad0	2414	switch(g[3]) {
yabahiro	54:4167f10ecad0	2415	case 0:
yabahiro	54:4167f10ecad0	2416	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2417	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2418	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2419	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2420	break;
yabahiro	54:4167f10ecad0	2421	case 255:
yabahiro	54:4167f10ecad0	2422	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2423	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2424	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2425	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2426	case 253:
yabahiro	54:4167f10ecad0	2427	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2428	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2429	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2430	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2431	break;
yabahiro	54:4167f10ecad0	2432	case 254:
yabahiro	54:4167f10ecad0	2433	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2434	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2435	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2436	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2437	break;
yabahiro	54:4167f10ecad0	2438	case 1:
yabahiro	54:4167f10ecad0	2439	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2440	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2441	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2442	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2443	break;
yabahiro	54:4167f10ecad0	2444	case 3:
yabahiro	54:4167f10ecad0	2445	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2446	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2447	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2448	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2449	break;
yabahiro	54:4167f10ecad0	2450	case 2:
yabahiro	54:4167f10ecad0	2451	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2452	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2453	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2454	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2455	break;
yabahiro	54:4167f10ecad0	2456	}
yabahiro	54:4167f10ecad0	2457	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2458	mode=23;
yabahiro	54:4167f10ecad0	2459	countss=0;
yabahiro	54:4167f10ecad0	2460	fast = 80;
yabahiro	54:4167f10ecad0	2461	normal = 60;
yabahiro	54:4167f10ecad0	2462	slow = 30;
yabahiro	54:4167f10ecad0	2463	}
yabahiro	54:4167f10ecad0	2464	} else {
yabahiro	54:4167f10ecad0	2465	if(g[1]==98) {
yabahiro	54:4167f10ecad0	2466	slow=25;
yabahiro	54:4167f10ecad0	2467	normal=30;
yabahiro	54:4167f10ecad0	2468	fast=40;
yabahiro	54:4167f10ecad0	2469	}
yabahiro	54:4167f10ecad0	2470	if(g[3]==0) {
yabahiro	54:4167f10ecad0	2471	slow=25;
yabahiro	54:4167f10ecad0	2472	normal=40;
yabahiro	54:4167f10ecad0	2473	fast=60;
yabahiro	54:4167f10ecad0	2474	mode=23;
yabahiro	54:4167f10ecad0	2475	}
yabahiro	54:4167f10ecad0	2476	switch(g[1]) {
yabahiro	54:4167f10ecad0	2477	case 98:
yabahiro	54:4167f10ecad0	2478	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	54:4167f10ecad0	2479	fast=40;
yabahiro	54:4167f10ecad0	2480	normal=30;
yabahiro	54:4167f10ecad0	2481	slow=25;
yabahiro	54:4167f10ecad0	2482	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2483	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2484	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2485	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2486	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2487	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2488	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2489	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2490	break;
yabahiro	54:4167f10ecad0	2491	case 0:
yabahiro	54:4167f10ecad0	2492	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2493	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2494	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2495	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2496	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2497	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2498	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2499	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2500	mtc=true;
yabahiro	54:4167f10ecad0	2501	break;
yabahiro	54:4167f10ecad0	2502	case 255:
yabahiro	54:4167f10ecad0	2503	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2504	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2505	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2506	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2507	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2508	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2509	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2510	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2511	mtc=true;
yabahiro	54:4167f10ecad0	2512	break;
yabahiro	54:4167f10ecad0	2513	case 253:
yabahiro	54:4167f10ecad0	2514	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2515	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2516	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2517	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2518	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2519	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2520	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2521	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2522	mtc=true;
yabahiro	54:4167f10ecad0	2523	break;
yabahiro	54:4167f10ecad0	2524	case 254:
yabahiro	54:4167f10ecad0	2525	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2526	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2527	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2528	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2529	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2530	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2531	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2532	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2533	mtc=true;
yabahiro	54:4167f10ecad0	2534	break;
yabahiro	54:4167f10ecad0	2535	case 1:
yabahiro	54:4167f10ecad0	2536	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2537	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2538	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2539	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2540	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2541	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2542	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2543	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2544	mtc=true;
yabahiro	54:4167f10ecad0	2545	break;
yabahiro	54:4167f10ecad0	2546	case 3:
yabahiro	54:4167f10ecad0	2547	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2548	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2549	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2550	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2551	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2552	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2553	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2554	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2555	mtc=true;
yabahiro	54:4167f10ecad0	2556	break;
yabahiro	54:4167f10ecad0	2557	case 2:
yabahiro	54:4167f10ecad0	2558	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2559	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2560	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2561	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2562	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2563	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2564	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2565	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2566	mtc=true;
yabahiro	54:4167f10ecad0	2567	break;
yabahiro	54:4167f10ecad0	2568	}
yabahiro	54:4167f10ecad0	2569	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2570	switch(g[0]) {
yabahiro	54:4167f10ecad0	2571	case 0:
yabahiro	54:4167f10ecad0	2572	mtc=false;
yabahiro	54:4167f10ecad0	2573	break;
yabahiro	54:4167f10ecad0	2574	case 255:
yabahiro	54:4167f10ecad0	2575	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	2576	mtc=false;
yabahiro	54:4167f10ecad0	2577	break;
yabahiro	54:4167f10ecad0	2578	case 253:
yabahiro	54:4167f10ecad0	2579	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	2580	mtc=false;
yabahiro	54:4167f10ecad0	2581	break;
yabahiro	54:4167f10ecad0	2582	case 254:
yabahiro	54:4167f10ecad0	2583	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	2584	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2585	mtc=false;
yabahiro	54:4167f10ecad0	2586	break;
yabahiro	54:4167f10ecad0	2587	case 1:
yabahiro	54:4167f10ecad0	2588	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	2589	mtc=false;
yabahiro	54:4167f10ecad0	2590	break;
yabahiro	54:4167f10ecad0	2591	case 3:
yabahiro	54:4167f10ecad0	2592	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	2593	mtc=false;
yabahiro	54:4167f10ecad0	2594	break;
yabahiro	54:4167f10ecad0	2595	case 2:
yabahiro	54:4167f10ecad0	2596	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	2597	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2598	mtc=false;
yabahiro	54:4167f10ecad0	2599	break;
yabahiro	54:4167f10ecad0	2600	}
yabahiro	54:4167f10ecad0	2601	}
yabahiro	54:4167f10ecad0	2602	}
yabahiro	54:4167f10ecad0	2603	break;
yabahiro	54:4167f10ecad0	2604	case 23:
yabahiro	54:4167f10ecad0	2605	if(YELLOW) {
yabahiro	54:4167f10ecad0	2606	switch(g[4]) {
yabahiro	54:4167f10ecad0	2607	case 98:
yabahiro	54:4167f10ecad0	2608	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2609	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2610	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2611	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2612	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2613	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2614	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2615	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2616	break;
yabahiro	54:4167f10ecad0	2617	case 99:
yabahiro	54:4167f10ecad0	2618	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2619	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2620	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2621	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2622	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2623	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2624	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2625	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2626	break;
yabahiro	54:4167f10ecad0	2627	case 0:
yabahiro	54:4167f10ecad0	2628	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2629	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2630	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2631	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2632	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2633	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2634	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2635	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2636	break;
yabahiro	54:4167f10ecad0	2637	case 255:
yabahiro	54:4167f10ecad0	2638	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2639	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2640	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2641	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2642	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2643	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2644	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2645	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2646	break;
yabahiro	54:4167f10ecad0	2647	case 253:
yabahiro	54:4167f10ecad0	2648	motor[TIRE_FR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2649	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2650	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2651	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2652	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2653	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2654	motor[TIRE_BL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2655	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2656	break;
yabahiro	54:4167f10ecad0	2657	case 254:
yabahiro	54:4167f10ecad0	2658	motor[TIRE_FR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2659	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2660	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2661	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2662	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2663	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2664	motor[TIRE_BL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2665	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2666	break;
yabahiro	54:4167f10ecad0	2667	case 1:
yabahiro	54:4167f10ecad0	2668	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2669	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2670	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2671	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2672	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2673	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2674	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2675	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2676	break;
yabahiro	54:4167f10ecad0	2677	case 3:
yabahiro	54:4167f10ecad0	2678	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2679	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2680	motor[TIRE_FL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2681	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2682	motor[TIRE_BR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2683	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2684	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2685	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2686	break;
yabahiro	54:4167f10ecad0	2687	case 2:
yabahiro	54:4167f10ecad0	2688	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2689	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2690	motor[TIRE_FL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2691	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2692	motor[TIRE_BR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2693	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2694	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2695	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2696	break;
yabahiro	54:4167f10ecad0	2697	}
yabahiro	54:4167f10ecad0	2698	if(g[1]==98) {
yabahiro	54:4167f10ecad0	2699	fast=20;
yabahiro	54:4167f10ecad0	2700	normal=15;
yabahiro	54:4167f10ecad0	2701	slow=10;
yabahiro	54:4167f10ecad0	2702	}
yabahiro	54:4167f10ecad0	2703	if(g[3]==254&&countss>=100000) {
yabahiro	54:4167f10ecad0	2704	mode=24;
yabahiro	54:4167f10ecad0	2705	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	54:4167f10ecad0	2706	countss=0;
yabahiro	54:4167f10ecad0	2707	fast=80;
yabahiro	54:4167f10ecad0	2708	normal=60;
yabahiro	54:4167f10ecad0	2709	slow=30;
yabahiro	54:4167f10ecad0	2710	}
yabahiro	54:4167f10ecad0	2711	} else {
yabahiro	54:4167f10ecad0	2712	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2713	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2714	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	2715	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	2716	fast=60;
yabahiro	54:4167f10ecad0	2717	normal=40;
yabahiro	54:4167f10ecad0	2718	slow=30;
yabahiro	54:4167f10ecad0	2719	countss=0;
yabahiro	54:4167f10ecad0	2720	mode=24;
yabahiro	54:4167f10ecad0	2721	}
yabahiro	54:4167f10ecad0	2722	} else {
yabahiro	54:4167f10ecad0	2723	motor[MOTOR_0].pwm = 100;
yabahiro	54:4167f10ecad0	2724	motor[MOTOR_0].dir = BACK;
yabahiro	54:4167f10ecad0	2725	}
yabahiro	54:4167f10ecad0	2726	motor[TIRE_FR].pwm = 100;
yabahiro	54:4167f10ecad0	2727	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2728	motor[TIRE_FL].pwm = 100;
yabahiro	54:4167f10ecad0	2729	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2730	motor[TIRE_BR].pwm = 100;
yabahiro	54:4167f10ecad0	2731	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2732	motor[TIRE_BL].pwm = 100;
yabahiro	54:4167f10ecad0	2733	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2734	}
yabahiro	54:4167f10ecad0	2735	break;
yabahiro	54:4167f10ecad0	2736	case 24:
yabahiro	54:4167f10ecad0	2737	if(YELLOW) {
yabahiro	54:4167f10ecad0	2738	if(g[4]==3\|\|g[4]==2) {
yabahiro	54:4167f10ecad0	2739	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2740	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2741	motor[TIRE_FL].pwm = 30;
yabahiro	53:694dbd7dfa0e	2742	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2743	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2744	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2745	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2746	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2747	}
yabahiro	54:4167f10ecad0	2748	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2749	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2750	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2751	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2752	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2753	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2754	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2755	motor[TIRE_BL].pwm = 30;
yabahiro	52:4394a1debceb	2756	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2757	}
yabahiro	54:4167f10ecad0	2758	switch(g[2]) {
yabahiro	54:4167f10ecad0	2759	case 0:
yabahiro	54:4167f10ecad0	2760	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2761	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2762	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2763	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2764	break;
yabahiro	54:4167f10ecad0	2765	case 255:
yabahiro	54:4167f10ecad0	2766	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2767	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2768	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2769	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2770	break;
yabahiro	54:4167f10ecad0	2771	case 253:
yabahiro	54:4167f10ecad0	2772	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2773	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2774	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2775	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2776	break;
yabahiro	54:4167f10ecad0	2777	case 254:
yabahiro	54:4167f10ecad0	2778	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2779	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2780	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2781	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2782	break;
yabahiro	54:4167f10ecad0	2783	case 1:
yabahiro	54:4167f10ecad0	2784	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2785	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2786	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2787	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2788	break;
yabahiro	54:4167f10ecad0	2789	case 3:
yabahiro	54:4167f10ecad0	2790	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2791	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2792	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2793	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2794	break;
yabahiro	54:4167f10ecad0	2795	case 2:
yabahiro	54:4167f10ecad0	2796	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2797	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2798	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2799	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2800	break;
yabahiro	54:4167f10ecad0	2801	}
yabahiro	54:4167f10ecad0	2802	switch(g[3]) {
yabahiro	54:4167f10ecad0	2803	case 0:
yabahiro	54:4167f10ecad0	2804	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2805	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2806	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2807	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2808	break;
yabahiro	54:4167f10ecad0	2809	case 255:
yabahiro	54:4167f10ecad0	2810	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2811	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2812	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2813	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2814	case 253:
yabahiro	54:4167f10ecad0	2815	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2816	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2817	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2818	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2819	break;
yabahiro	54:4167f10ecad0	2820	case 254:
yabahiro	54:4167f10ecad0	2821	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2822	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2823	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2824	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2825	break;
yabahiro	54:4167f10ecad0	2826	case 1:
yabahiro	54:4167f10ecad0	2827	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2828	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2829	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2830	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2831	break;
yabahiro	54:4167f10ecad0	2832	case 3:
yabahiro	54:4167f10ecad0	2833	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2834	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2835	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2836	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2837	break;
yabahiro	54:4167f10ecad0	2838	case 2:
yabahiro	54:4167f10ecad0	2839	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2840	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2841	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2842	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2843	break;
yabahiro	54:4167f10ecad0	2844	}
yabahiro	54:4167f10ecad0	2845	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2846	mode=25;
yabahiro	54:4167f10ecad0	2847	}
yabahiro	54:4167f10ecad0	2848	} else {
yabahiro	54:4167f10ecad0	2849	if(g[1]==98&&countss>=40000) {
yabahiro	54:4167f10ecad0	2850	mode=31;
yabahiro	54:4167f10ecad0	2851	fast = 60;
yabahiro	54:4167f10ecad0	2852	normal = 40;
yabahiro	54:4167f10ecad0	2853	slow = 30;
yabahiro	54:4167f10ecad0	2854	countss=0;
yabahiro	54:4167f10ecad0	2855	}
yabahiro	54:4167f10ecad0	2856	switch(g[1]) {
yabahiro	54:4167f10ecad0	2857	case 98:
yabahiro	54:4167f10ecad0	2858	fast=40;
yabahiro	54:4167f10ecad0	2859	normal=30;
yabahiro	54:4167f10ecad0	2860	slow=25;
yabahiro	54:4167f10ecad0	2861	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2862	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2863	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2864	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2865	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2866	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2867	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2868	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2869	break;
yabahiro	54:4167f10ecad0	2870	case 0:
yabahiro	54:4167f10ecad0	2871	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2872	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2873	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2874	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2875	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2876	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2877	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2878	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2879	mtc=true;
yabahiro	54:4167f10ecad0	2880	break;
yabahiro	54:4167f10ecad0	2881	case 255:
yabahiro	54:4167f10ecad0	2882	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2883	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2884	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2885	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2886	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2887	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2888	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2889	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2890	mtc=true;
yabahiro	54:4167f10ecad0	2891	break;
yabahiro	54:4167f10ecad0	2892	case 253:
yabahiro	54:4167f10ecad0	2893	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2894	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2895	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2896	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2897	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2898	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2899	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2900	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2901	mtc=true;
yabahiro	54:4167f10ecad0	2902	break;
yabahiro	54:4167f10ecad0	2903	case 254:
yabahiro	54:4167f10ecad0	2904	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2905	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2906	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2907	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2908	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2909	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2910	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2911	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2912	mtc=true;
yabahiro	54:4167f10ecad0	2913	break;
yabahiro	54:4167f10ecad0	2914	case 1:
yabahiro	54:4167f10ecad0	2915	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2916	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2917	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2918	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2919	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2920	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2921	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2922	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2923	mtc=true;
yabahiro	54:4167f10ecad0	2924	break;
yabahiro	54:4167f10ecad0	2925	case 3:
yabahiro	54:4167f10ecad0	2926	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2927	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2928	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2929	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2930	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2931	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2932	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2933	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2934	mtc=true;
yabahiro	54:4167f10ecad0	2935	break;
yabahiro	54:4167f10ecad0	2936	case 2:
yabahiro	54:4167f10ecad0	2937	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2938	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2939	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2940	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2941	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2942	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2943	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2944	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2945	mtc=true;
yabahiro	54:4167f10ecad0	2946	break;
yabahiro	54:4167f10ecad0	2947	}
yabahiro	54:4167f10ecad0	2948	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2949	switch(g[0]) {
yabahiro	54:4167f10ecad0	2950	case 0:
yabahiro	54:4167f10ecad0	2951	mtc=false;
yabahiro	54:4167f10ecad0	2952	break;
yabahiro	54:4167f10ecad0	2953	case 255:
yabahiro	54:4167f10ecad0	2954	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	2955	mtc=false;
yabahiro	54:4167f10ecad0	2956	break;
yabahiro	54:4167f10ecad0	2957	case 253:
yabahiro	54:4167f10ecad0	2958	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	2959	mtc=false;
yabahiro	54:4167f10ecad0	2960	break;
yabahiro	54:4167f10ecad0	2961	case 254:
yabahiro	54:4167f10ecad0	2962	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	2963	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2964	mtc=false;
yabahiro	54:4167f10ecad0	2965	break;
yabahiro	54:4167f10ecad0	2966	case 1:
yabahiro	54:4167f10ecad0	2967	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	2968	mtc=false;
yabahiro	54:4167f10ecad0	2969	break;
yabahiro	54:4167f10ecad0	2970	case 3:
yabahiro	54:4167f10ecad0	2971	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	2972	mtc=false;
yabahiro	54:4167f10ecad0	2973	break;
yabahiro	54:4167f10ecad0	2974	case 2:
yabahiro	54:4167f10ecad0	2975	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	2976	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2977	mtc=false;
yabahiro	54:4167f10ecad0	2978	break;
yabahiro	54:4167f10ecad0	2979	}
yabahiro	54:4167f10ecad0	2980	}
yabahiro	52:4394a1debceb	2981	}
yabahiro	54:4167f10ecad0	2982	break;
yabahiro	54:4167f10ecad0	2983	case 25:
kishibekairohan	47:a9cad8502999	2984	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	2985	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2986	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	2987	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2988	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	2989	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2990	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	2991	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	2992	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	2993	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	2994	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	2995	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	2996	countss = 0;
yabahiro	54:4167f10ecad0	2997	mode=26;
yabahiro	54:4167f10ecad0	2998	}
yabahiro	46:68296caae1af	2999	} else {
yabahiro	46:68296caae1af	3000	motor[MOTOR_0].pwm = 100;
yabahiro	46:68296caae1af	3001	motor[MOTOR_0].dir = BACK;
yabahiro	46:68296caae1af	3002	}
yabahiro	54:4167f10ecad0	3003	break;
yabahiro	54:4167f10ecad0	3004	case 26:
yabahiro	54:4167f10ecad0	3005	if (g[1] == 98) {
yabahiro	54:4167f10ecad0	3006	mode = 31;
yabahiro	54:4167f10ecad0	3007	}
yabahiro	38:40e7fdf3c694	3008	switch(g[4]) {
yabahiro	38:40e7fdf3c694	3009	case 98:
yabahiro	38:40e7fdf3c694	3010	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3011	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3012	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3013	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3014	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3015	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3016	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3017	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3018	break;
yabahiro	38:40e7fdf3c694	3019	case 99:
yabahiro	38:40e7fdf3c694	3020	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3021	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3022	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3023	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3024	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3025	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3026	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3027	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3028	break;
yabahiro	38:40e7fdf3c694	3029	case 0:
yabahiro	38:40e7fdf3c694	3030	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3031	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3032	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3033	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3034	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3035	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3036	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3037	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3038	break;
yabahiro	38:40e7fdf3c694	3039	case 255:
yabahiro	38:40e7fdf3c694	3040	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3041	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3042	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3043	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3044	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3045	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3046	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3047	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3048	break;
yabahiro	38:40e7fdf3c694	3049	case 253:
yabahiro	46:68296caae1af	3050	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	3051	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3052	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3053	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3054	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3055	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3056	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	3057	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3058	break;
yabahiro	38:40e7fdf3c694	3059	case 254:
yabahiro	38:40e7fdf3c694	3060	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3061	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3062	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3063	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3064	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3065	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3066	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3067	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3068	break;
yabahiro	38:40e7fdf3c694	3069	case 1:
yabahiro	38:40e7fdf3c694	3070	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3071	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3072	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3073	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3074	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3075	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3076	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3077	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3078	break;
yabahiro	38:40e7fdf3c694	3079	case 3:
yabahiro	38:40e7fdf3c694	3080	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3081	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	3082	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	3083	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3084	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	3085	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3086	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3087	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3088	break;
yabahiro	38:40e7fdf3c694	3089	case 2:
yabahiro	38:40e7fdf3c694	3090	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3091	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3092	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	3093	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3094	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	3095	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3096	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3097	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3098	break;
yabahiro	38:40e7fdf3c694	3099	}
yabahiro	54:4167f10ecad0	3100	break;
yabahiro	54:4167f10ecad0	3101	case 31:
yabahiro	54:4167f10ecad0	3102	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3103	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3104	motor[TIRE_FL].pwm = 45;
yabahiro	54:4167f10ecad0	3105	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3106	motor[TIRE_BR].pwm = 45;
yabahiro	54:4167f10ecad0	3107	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3108	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3109	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3110	if(g[2]==0) {
yabahiro	54:4167f10ecad0	3111	cross=0;
yabahiro	54:4167f10ecad0	3112	countss=0;
yabahiro	54:4167f10ecad0	3113	mode=40;
yabahiro	54:4167f10ecad0	3114	fast = 60;
yabahiro	54:4167f10ecad0	3115	normal = 40;
yabahiro	54:4167f10ecad0	3116	slow = 30;
yabahiro	54:4167f10ecad0	3117	}
yabahiro	54:4167f10ecad0	3118	break;
yabahiro	54:4167f10ecad0	3119	case 40:
yabahiro	54:4167f10ecad0	3120	if(YELLOW) {
yabahiro	54:4167f10ecad0	3121	if(cross==1) {
yabahiro	54:4167f10ecad0	3122	mode=41;
yabahiro	54:4167f10ecad0	3123	countss=0;
yabahiro	54:4167f10ecad0	3124	cross=0;
yabahiro	54:4167f10ecad0	3125	}
yabahiro	54:4167f10ecad0	3126	} else {
yabahiro	54:4167f10ecad0	3127	if(cross==3) {
yabahiro	54:4167f10ecad0	3128	fast = 60;
yabahiro	54:4167f10ecad0	3129	normal = 40;
yabahiro	54:4167f10ecad0	3130	slow = 30;
yabahiro	54:4167f10ecad0	3131	mode=41;
yabahiro	54:4167f10ecad0	3132	countss=0;
yabahiro	54:4167f10ecad0	3133	cross=0;
yabahiro	54:4167f10ecad0	3134	}
yabahiro	54:4167f10ecad0	3135	}
yabahiro	54:4167f10ecad0	3136	/*
yabahiro	54:4167f10ecad0	3137	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3138	mode=42;
yabahiro	33:dd598bb23ad1	3139	}
yabahiro	54:4167f10ecad0	3140	*/
yabahiro	54:4167f10ecad0	3141	switch(g[3]) {
yabahiro	54:4167f10ecad0	3142	case 98:
yabahiro	54:4167f10ecad0	3143	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3144	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3145	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3146	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3147	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3148	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3149	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3150	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3151	if(countss>30000) {
yabahiro	54:4167f10ecad0	3152	cross++;
yabahiro	54:4167f10ecad0	3153	countss=0;
yabahiro	54:4167f10ecad0	3154	}
yabahiro	54:4167f10ecad0	3155	mtc2=true;
yabahiro	54:4167f10ecad0	3156	break;
yabahiro	54:4167f10ecad0	3157	case 0:
yabahiro	54:4167f10ecad0	3158	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3159	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3160	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3161	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3162	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3163	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3164	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3165	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3166	mtc2=true;
yabahiro	54:4167f10ecad0	3167	break;
yabahiro	54:4167f10ecad0	3168	case 255:
yabahiro	54:4167f10ecad0	3169	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3170	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3171	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3172	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3173	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3174	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3175	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3176	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3177	mtc2=true;
yabahiro	54:4167f10ecad0	3178	break;
yabahiro	54:4167f10ecad0	3179	case 253:
yabahiro	54:4167f10ecad0	3180	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3181	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3182	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3183	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3184	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3185	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3186	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3187	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3188	mtc2=true;
yabahiro	54:4167f10ecad0	3189	break;
yabahiro	54:4167f10ecad0	3190	case 254:
yabahiro	54:4167f10ecad0	3191	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3192	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3193	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3194	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3195	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3196	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3197	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3198	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3199	mtc2=true;
yabahiro	54:4167f10ecad0	3200	break;
yabahiro	54:4167f10ecad0	3201	case 1:
yabahiro	54:4167f10ecad0	3202	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3203	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3204	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3205	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3206	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3207	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3208	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3209	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3210	mtc2=true;
yabahiro	54:4167f10ecad0	3211	break;
yabahiro	54:4167f10ecad0	3212	case 3:
yabahiro	54:4167f10ecad0	3213	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3214	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3215	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3216	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3217	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3218	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3219	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3220	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3221	mtc2=true;
yabahiro	54:4167f10ecad0	3222	break;
yabahiro	54:4167f10ecad0	3223	case 2:
yabahiro	54:4167f10ecad0	3224	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3225	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3226	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3227	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3228	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3229	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3230	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3231	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3232	mtc2=true;
yabahiro	54:4167f10ecad0	3233	break;
yabahiro	54:4167f10ecad0	3234	}
yabahiro	54:4167f10ecad0	3235	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	3236	switch(g[2]) {
yabahiro	54:4167f10ecad0	3237	case 0:
yabahiro	54:4167f10ecad0	3238	mtc2=false;
yabahiro	54:4167f10ecad0	3239	break;
yabahiro	54:4167f10ecad0	3240	case 255:
yabahiro	54:4167f10ecad0	3241	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	3242	mtc2=false;
yabahiro	54:4167f10ecad0	3243	break;
yabahiro	54:4167f10ecad0	3244	case 253:
yabahiro	54:4167f10ecad0	3245	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	3246	mtc2=false;
yabahiro	54:4167f10ecad0	3247	break;
yabahiro	54:4167f10ecad0	3248	case 254:
yabahiro	54:4167f10ecad0	3249	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	3250	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3251	mtc2=false;
yabahiro	54:4167f10ecad0	3252	break;
yabahiro	54:4167f10ecad0	3253	case 1:
yabahiro	54:4167f10ecad0	3254	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	3255	mtc2=false;
yabahiro	54:4167f10ecad0	3256	break;
yabahiro	54:4167f10ecad0	3257	case 3:
yabahiro	54:4167f10ecad0	3258	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	3259	mtc2=false;
yabahiro	54:4167f10ecad0	3260	break;
yabahiro	54:4167f10ecad0	3261	case 2:
yabahiro	54:4167f10ecad0	3262	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	3263	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3264	mtc2=false;
yabahiro	54:4167f10ecad0	3265	break;
yabahiro	54:4167f10ecad0	3266	}
yabahiro	54:4167f10ecad0	3267	}
yabahiro	54:4167f10ecad0	3268	break;
yabahiro	54:4167f10ecad0	3269	case 41:
yabahiro	54:4167f10ecad0	3270	/*
yabahiro	54:4167f10ecad0	3271	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3272	mode=42;
yabahiro	54:4167f10ecad0	3273	}
yabahiro	54:4167f10ecad0	3274	*/
yabahiro	54:4167f10ecad0	3275	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3276	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3277	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	3278	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3279	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	3280	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3281	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3282	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3283	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3284	countss=0;
yabahiro	54:4167f10ecad0	3285	mode=70;
yabahiro	54:4167f10ecad0	3286	normal = 60;
yabahiro	54:4167f10ecad0	3287	fast = 70;
yabahiro	54:4167f10ecad0	3288	slow = 40;
yabahiro	54:4167f10ecad0	3289	}
yabahiro	54:4167f10ecad0	3290	break;
yabahiro	54:4167f10ecad0	3291	case 42:
yabahiro	54:4167f10ecad0	3292	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3293	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3294	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3295	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3296	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3297	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3298	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3299	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3300	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3301	countss=0;
yabahiro	54:4167f10ecad0	3302	mode=70;
yabahiro	53:694dbd7dfa0e	3303	}
yabahiro	54:4167f10ecad0	3304	break;
yabahiro	54:4167f10ecad0	3305	case 70:
yabahiro	38:40e7fdf3c694	3306	switch(g[1]) {
yabahiro	54:4167f10ecad0	3307	case 99:
yabahiro	54:4167f10ecad0	3308	if(countss>=100000) {
yabahiro	54:4167f10ecad0	3309	mode=100;
yabahiro	54:4167f10ecad0	3310	}
yabahiro	54:4167f10ecad0	3311	break;
yabahiro	38:40e7fdf3c694	3312	case 98:
yabahiro	38:40e7fdf3c694	3313	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3314	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3315	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3316	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3317	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	3318	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3319	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	3320	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3321	break;
yabahiro	38:40e7fdf3c694	3322	case 0:
yabahiro	54:4167f10ecad0	3323	motor[TIRE_FR].pwm = 100;
yabahiro	38:40e7fdf3c694	3324	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3325	motor[TIRE_FL].pwm = 100;
yabahiro	38:40e7fdf3c694	3326	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3327	motor[TIRE_BR].pwm = 105;
yabahiro	38:40e7fdf3c694	3328	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3329	motor[TIRE_BL].pwm = 100;
yabahiro	38:40e7fdf3c694	3330	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3331	mtc=true;
yabahiro	38:40e7fdf3c694	3332	break;
yabahiro	38:40e7fdf3c694	3333	case 255:
yabahiro	38:40e7fdf3c694	3334	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	3335	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3336	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3337	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3338	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3339	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3340	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	3341	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3342	mtc=true;
yabahiro	38:40e7fdf3c694	3343	break;
yabahiro	38:40e7fdf3c694	3344	case 253:
yabahiro	38:40e7fdf3c694	3345	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3346	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3347	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3348	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3349	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3350	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3351	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3352	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3353	mtc=true;
yabahiro	38:40e7fdf3c694	3354	break;
yabahiro	38:40e7fdf3c694	3355	case 254:
yabahiro	38:40e7fdf3c694	3356	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3357	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3358	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3359	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3360	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3361	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3362	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	3363	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3364	mtc=true;
yabahiro	38:40e7fdf3c694	3365	break;
yabahiro	38:40e7fdf3c694	3366	case 1:
yabahiro	38:40e7fdf3c694	3367	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3368	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3369	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	3370	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3371	motor[TIRE_BR].pwm = fast+5;
yabahiro	38:40e7fdf3c694	3372	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3373	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3374	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3375	mtc=true;
yabahiro	38:40e7fdf3c694	3376	break;
yabahiro	38:40e7fdf3c694	3377	case 3:
yabahiro	38:40e7fdf3c694	3378	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3379	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3380	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3381	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3382	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3383	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3384	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3385	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3386	mtc=true;
yabahiro	38:40e7fdf3c694	3387	break;
yabahiro	38:40e7fdf3c694	3388	case 2:
yabahiro	38:40e7fdf3c694	3389	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3390	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3391	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3392	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3393	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	3394	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3395	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3396	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3397	mtc=true;
yabahiro	38:40e7fdf3c694	3398	break;
yabahiro	38:40e7fdf3c694	3399	}
yabahiro	38:40e7fdf3c694	3400	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	3401	switch(g[0]) {
yabahiro	38:40e7fdf3c694	3402	case 0:
yabahiro	38:40e7fdf3c694	3403	mtc=false;
yabahiro	38:40e7fdf3c694	3404	break;
yabahiro	38:40e7fdf3c694	3405	case 255:
kishibekairohan	44:2aff0da5ebdb	3406	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	3407	mtc=false;
yabahiro	38:40e7fdf3c694	3408	break;
yabahiro	38:40e7fdf3c694	3409	case 253:
kishibekairohan	44:2aff0da5ebdb	3410	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	3411	mtc=false;
yabahiro	38:40e7fdf3c694	3412	break;
yabahiro	38:40e7fdf3c694	3413	case 254:
kishibekairohan	44:2aff0da5ebdb	3414	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	3415	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3416	mtc=false;
yabahiro	38:40e7fdf3c694	3417	break;
yabahiro	38:40e7fdf3c694	3418	case 1:
kishibekairohan	44:2aff0da5ebdb	3419	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	3420	mtc=false;
yabahiro	38:40e7fdf3c694	3421	break;
yabahiro	38:40e7fdf3c694	3422	case 3:
kishibekairohan	44:2aff0da5ebdb	3423	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	3424	mtc=false;
yabahiro	38:40e7fdf3c694	3425	break;
yabahiro	38:40e7fdf3c694	3426	case 2:
kishibekairohan	44:2aff0da5ebdb	3427	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	3428	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3429	mtc=false;
yabahiro	38:40e7fdf3c694	3430	break;
yabahiro	38:40e7fdf3c694	3431	}
yabahiro	33:dd598bb23ad1	3432	}
yabahiro	54:4167f10ecad0	3433	break;
yabahiro	54:4167f10ecad0	3434	case 100:
yabahiro	54:4167f10ecad0	3435	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3436	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3437	motor[TIRE_FL].pwm = 55;
yabahiro	54:4167f10ecad0	3438	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3439	motor[TIRE_BR].pwm = 60;
yabahiro	54:4167f10ecad0	3440	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3441	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3442	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	3443	break;
yabahiro	54:4167f10ecad0	3444	default:
yabahiro	54:4167f10ecad0	3445	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3446	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3447	motor[TIRE_FL].pwm = 50;
yabahiro	54:4167f10ecad0	3448	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3449	motor[TIRE_BR].pwm = 50;
yabahiro	54:4167f10ecad0	3450	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3451	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3452	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3453	break;
yabahiro	53:694dbd7dfa0e	3454	}
kishibekairohan	13:b6e02d6261d7	3455	}
kishibekairohan	13:b6e02d6261d7	3456	#endif
kishibekairohan	13:b6e02d6261d7	3457
kishibekairohan	13:b6e02d6261d7	3458	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	3459	static void Process4()
M_souta	22:7d93f79a3686	3460	{
yabahiro	48:5562a99479e5	3461	//Oh So 決勝青ゾーン
yabahiro	48:5562a99479e5	3462	LED::LED::TapeledMode(2);
yabahiro	48:5562a99479e5	3463	countss++;
yabahiro	48:5562a99479e5	3464	if(mode==1) {//スタートゾーンから白線検知
yabahiro	48:5562a99479e5	3465	fast=40;
yabahiro	48:5562a99479e5	3466	normal=30;
yabahiro	48:5562a99479e5	3467	slow=20;
yabahiro	48:5562a99479e5	3468	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3469	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3470	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3471	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3472	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3473	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3474	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3475	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3476	if(g[2]==0&&countss>=100000) {
yabahiro	48:5562a99479e5	3477	countss=100000;
yabahiro	48:5562a99479e5	3478	cross=0;
yabahiro	48:5562a99479e5	3479	mode=3;
yabahiro	48:5562a99479e5	3480	}
yabahiro	48:5562a99479e5	3481	} 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	3482	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3483	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3484	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	3485	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	3486	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	3487	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3488	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3489	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3490	if(g[1]==0) {
yabahiro	48:5562a99479e5	3491	mode=10;
yabahiro	48:5562a99479e5	3492	countss=100000;
yabahiro	48:5562a99479e5	3493	}
yabahiro	48:5562a99479e5	3494	} else if(mode==10) { //縦ライントレース
yabahiro	48:5562a99479e5	3495	switch(g[1]) {
yabahiro	48:5562a99479e5	3496	case 98:
yabahiro	48:5562a99479e5	3497	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3498	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3499	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3500	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3501	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3502	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3503	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3504	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3505	mtc=true;
yabahiro	49:697b4e9ce884	3506	if(YELLOW) {
yabahiro	49:697b4e9ce884	3507	if(countss>80000) {
yabahiro	49:697b4e9ce884	3508	cross++;
yabahiro	49:697b4e9ce884	3509	countss=0;
yabahiro	49:697b4e9ce884	3510	}
yabahiro	48:5562a99479e5	3511
yabahiro	49:697b4e9ce884	3512	if(cross==2) {
yabahiro	49:697b4e9ce884	3513	fast = 10;
yabahiro	49:697b4e9ce884	3514	normal = 10;
yabahiro	49:697b4e9ce884	3515	slow = 5;
yabahiro	49:697b4e9ce884	3516	}
yabahiro	48:5562a99479e5	3517
yabahiro	49:697b4e9ce884	3518	if(cross==3) {
yabahiro	49:697b4e9ce884	3519	fast=40;
yabahiro	49:697b4e9ce884	3520	normal=30;
yabahiro	49:697b4e9ce884	3521	slow=20;
yabahiro	49:697b4e9ce884	3522	mode=11;
yabahiro	49:697b4e9ce884	3523	countss=0;
yabahiro	49:697b4e9ce884	3524	cross=0;
yabahiro	49:697b4e9ce884	3525	}
yabahiro	49:697b4e9ce884	3526	} else {
yabahiro	48:5562a99479e5	3527	mode=11;
yabahiro	48:5562a99479e5	3528	}
yabahiro	48:5562a99479e5	3529	break;
yabahiro	48:5562a99479e5	3530	case 0:
yabahiro	48:5562a99479e5	3531	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3532	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3533	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3534	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3535	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3536	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3537	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3538	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3539	mtc=true;
yabahiro	48:5562a99479e5	3540	break;
yabahiro	48:5562a99479e5	3541	case 255:
yabahiro	48:5562a99479e5	3542	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3543	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3544	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3545	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3546	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3547	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3548	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3549	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3550	mtc=true;
yabahiro	48:5562a99479e5	3551	break;
yabahiro	48:5562a99479e5	3552	case 253:
yabahiro	48:5562a99479e5	3553	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3554	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3555	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3556	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3557	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3558	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3559	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3560	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3561	mtc=true;
yabahiro	48:5562a99479e5	3562	break;
yabahiro	48:5562a99479e5	3563	case 254:
yabahiro	48:5562a99479e5	3564	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3565	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3566	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3567	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3568	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3569	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3570	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3571	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3572	mtc=true;
yabahiro	48:5562a99479e5	3573	break;
yabahiro	48:5562a99479e5	3574	case 1:
yabahiro	48:5562a99479e5	3575	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3576	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3577	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3578	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3579	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3580	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3581	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3582	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3583	mtc=true;
yabahiro	48:5562a99479e5	3584	break;
yabahiro	48:5562a99479e5	3585	case 3:
yabahiro	48:5562a99479e5	3586	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3587	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3588	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3589	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3590	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3591	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3592	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3593	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3594	mtc=true;
yabahiro	48:5562a99479e5	3595	break;
yabahiro	48:5562a99479e5	3596	case 2:
yabahiro	48:5562a99479e5	3597	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3598	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3599	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3600	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3601	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3602	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3603	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3604	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3605	mtc=true;
yabahiro	48:5562a99479e5	3606	break;
yabahiro	48:5562a99479e5	3607	}
yabahiro	48:5562a99479e5	3608	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	3609	switch(g[0]) {
yabahiro	48:5562a99479e5	3610	case 0:
yabahiro	48:5562a99479e5	3611	mtc=false;
yabahiro	48:5562a99479e5	3612	break;
yabahiro	48:5562a99479e5	3613	case 255:
yabahiro	48:5562a99479e5	3614	motor[TIRE_FL].pwm += 3;
yabahiro	48:5562a99479e5	3615	mtc=false;
yabahiro	48:5562a99479e5	3616	break;
yabahiro	48:5562a99479e5	3617	case 253:
yabahiro	48:5562a99479e5	3618	motor[TIRE_FL].pwm += 6;
yabahiro	48:5562a99479e5	3619	mtc=false;
yabahiro	48:5562a99479e5	3620	break;
yabahiro	48:5562a99479e5	3621	case 254:
yabahiro	48:5562a99479e5	3622	motor[TIRE_FL].pwm += 9;
yabahiro	48:5562a99479e5	3623	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3624	mtc=false;
yabahiro	48:5562a99479e5	3625	break;
yabahiro	48:5562a99479e5	3626	case 1:
yabahiro	48:5562a99479e5	3627	motor[TIRE_FR].pwm += 3;
yabahiro	48:5562a99479e5	3628	mtc=false;
yabahiro	48:5562a99479e5	3629	break;
yabahiro	48:5562a99479e5	3630	case 3:
yabahiro	48:5562a99479e5	3631	motor[TIRE_FR].pwm += 6;
yabahiro	48:5562a99479e5	3632	mtc=false;
yabahiro	48:5562a99479e5	3633	break;
yabahiro	48:5562a99479e5	3634	case 2:
yabahiro	48:5562a99479e5	3635	motor[TIRE_FR].pwm += 9;
yabahiro	48:5562a99479e5	3636	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3637	mtc=false;
yabahiro	48:5562a99479e5	3638	break;
yabahiro	48:5562a99479e5	3639	}
yabahiro	48:5562a99479e5	3640	}
yabahiro	48:5562a99479e5	3641	} else if(mode==11) {
yabahiro	48:5562a99479e5	3642	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	3643	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	3644	motor[TIRE_FL].pwm = 50;
yabahiro	49:697b4e9ce884	3645	motor[TIRE_FL].dir = BRAKE;
yabahiro	49:697b4e9ce884	3646	motor[TIRE_BR].pwm = 50;
yabahiro	49:697b4e9ce884	3647	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3648	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	3649	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3650	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	48:5562a99479e5	3651	countss=0;
yabahiro	48:5562a99479e5	3652	cross=0;
yabahiro	48:5562a99479e5	3653	mode=20;
yabahiro	48:5562a99479e5	3654	}
yabahiro	48:5562a99479e5	3655	} else if(mode==20) {
yabahiro	48:5562a99479e5	3656	switch(g[2]) {
yabahiro	48:5562a99479e5	3657	case 98:
yabahiro	48:5562a99479e5	3658	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3659	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3660	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3661	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3662	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3663	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3664	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3665	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3666	if(countss>30000) {
yabahiro	48:5562a99479e5	3667	cross++;
yabahiro	48:5562a99479e5	3668	countss=0;
yabahiro	48:5562a99479e5	3669	}
yabahiro	48:5562a99479e5	3670	mtc2=true;
yabahiro	48:5562a99479e5	3671
yabahiro	48:5562a99479e5	3672	if(YELLOW) {
yabahiro	49:697b4e9ce884	3673	solenoid.solenoid4= SOLENOID_ON;
yabahiro	48:5562a99479e5	3674	if(cross==1) {
yabahiro	48:5562a99479e5	3675	fast=20;
yabahiro	48:5562a99479e5	3676	normal=15;
yabahiro	48:5562a99479e5	3677	slow=15;
yabahiro	48:5562a99479e5	3678	} else if(cross==2) {
yabahiro	48:5562a99479e5	3679	mode=21;
yabahiro	48:5562a99479e5	3680	countss=0;
yabahiro	48:5562a99479e5	3681	cross=0;
yabahiro	48:5562a99479e5	3682	}
yabahiro	48:5562a99479e5	3683	} else {
yabahiro	49:697b4e9ce884	3684	if(cross==2) {
yabahiro	49:697b4e9ce884	3685	fast=20;
yabahiro	49:697b4e9ce884	3686	normal=15;
yabahiro	49:697b4e9ce884	3687	slow=15;
yabahiro	49:697b4e9ce884	3688	}
yabahiro	48:5562a99479e5	3689	if(cross==3) {
yabahiro	48:5562a99479e5	3690	mode=21;
yabahiro	48:5562a99479e5	3691	countss=0;
yabahiro	48:5562a99479e5	3692	cross=0;
yabahiro	48:5562a99479e5	3693	}
yabahiro	48:5562a99479e5	3694	}
yabahiro	48:5562a99479e5	3695	break;
yabahiro	48:5562a99479e5	3696	case 0:
yabahiro	48:5562a99479e5	3697	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3698	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3699	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3700	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3701	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3702	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3703	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3704	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3705	mtc2=true;
yabahiro	48:5562a99479e5	3706	break;
yabahiro	48:5562a99479e5	3707	case 255:
yabahiro	48:5562a99479e5	3708	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3709	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3710	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3711	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3712	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3713	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3714	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3715	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3716	mtc2=true;
yabahiro	48:5562a99479e5	3717	break;
yabahiro	48:5562a99479e5	3718	case 253:
yabahiro	48:5562a99479e5	3719	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3720	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3721	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3722	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3723	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3724	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3725	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3726	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3727	mtc2=true;
yabahiro	48:5562a99479e5	3728	break;
yabahiro	48:5562a99479e5	3729	case 254:
yabahiro	48:5562a99479e5	3730	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3731	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3732	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3733	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3734	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3735	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3736	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3737	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3738	mtc2=true;
yabahiro	48:5562a99479e5	3739	break;
yabahiro	48:5562a99479e5	3740	case 1:
yabahiro	48:5562a99479e5	3741	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3742	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3743	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3744	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3745	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3746	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3747	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3748	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3749	mtc2=true;
yabahiro	48:5562a99479e5	3750	break;
yabahiro	48:5562a99479e5	3751	case 3:
yabahiro	48:5562a99479e5	3752	motor[TIRE_FR].pwm = slow+20;
yabahiro	48:5562a99479e5	3753	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3754	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3755	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3756	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3757	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3758	motor[TIRE_BL].pwm = slow+20;
yabahiro	48:5562a99479e5	3759	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3760	mtc2=true;
yabahiro	48:5562a99479e5	3761	break;
yabahiro	48:5562a99479e5	3762	case 2:
yabahiro	48:5562a99479e5	3763	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3764	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3765	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3766	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3767	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3768	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3769	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3770	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3771	mtc2=true;
yabahiro	48:5562a99479e5	3772	break;
yabahiro	48:5562a99479e5	3773	}
yabahiro	48:5562a99479e5	3774	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	3775	switch(g[3]) {
yabahiro	48:5562a99479e5	3776	case 0:
yabahiro	48:5562a99479e5	3777	mtc2=false;
yabahiro	48:5562a99479e5	3778	break;
yabahiro	48:5562a99479e5	3779	case 255:
yabahiro	48:5562a99479e5	3780	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	3781	mtc2=false;
yabahiro	48:5562a99479e5	3782	break;
yabahiro	48:5562a99479e5	3783	case 253:
yabahiro	48:5562a99479e5	3784	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	3785	mtc2=false;
yabahiro	48:5562a99479e5	3786	break;
yabahiro	48:5562a99479e5	3787	case 254:
yabahiro	48:5562a99479e5	3788	motor[TIRE_BL].pwm += 15;
yabahiro	48:5562a99479e5	3789	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3790	mtc2=false;
yabahiro	48:5562a99479e5	3791	break;
yabahiro	48:5562a99479e5	3792	case 1:
yabahiro	48:5562a99479e5	3793	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	3794	mtc2=false;
yabahiro	48:5562a99479e5	3795	break;
yabahiro	48:5562a99479e5	3796	case 3:
yabahiro	48:5562a99479e5	3797	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	3798	mtc2=false;
yabahiro	48:5562a99479e5	3799	break;
yabahiro	48:5562a99479e5	3800	case 2:
yabahiro	48:5562a99479e5	3801	motor[TIRE_FL].pwm += 15;
yabahiro	48:5562a99479e5	3802	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3803	mtc2=false;
yabahiro	48:5562a99479e5	3804	break;
yabahiro	48:5562a99479e5	3805	}
yabahiro	48:5562a99479e5	3806	}
yabahiro	48:5562a99479e5	3807	}
yabahiro	48:5562a99479e5	3808	if(YELLOW) {
yabahiro	48:5562a99479e5	3809	if(mode==21) {
yabahiro	48:5562a99479e5	3810	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3811	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3812	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3813	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3814	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3815	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3816	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3817	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3818	if(g[3]==98&&countss>=10000) {
yabahiro	48:5562a99479e5	3819	mode=22;
yabahiro	48:5562a99479e5	3820	countss=0;
yabahiro	48:5562a99479e5	3821	fast=60;
yabahiro	48:5562a99479e5	3822	normal=40;
yabahiro	48:5562a99479e5	3823	slow=20;
yabahiro	48:5562a99479e5	3824	}
yabahiro	48:5562a99479e5	3825	} else if(mode==22) {
yabahiro	48:5562a99479e5	3826	if(g[4]==3\|\|g[4]==2) {
yabahiro	48:5562a99479e5	3827	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3828	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3829	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3830	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3831	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3832	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3833	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3834	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3835	}
yabahiro	48:5562a99479e5	3836	if(g[4]==253\|\|g[4]==254) {
yabahiro	48:5562a99479e5	3837	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3838	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3839	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3840	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3841	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3842	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3843	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3844	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3845	}
yabahiro	48:5562a99479e5	3846	switch(g[2]) {
yabahiro	48:5562a99479e5	3847	case 0:
yabahiro	48:5562a99479e5	3848	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3849	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3850	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3851	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3852	break;
yabahiro	48:5562a99479e5	3853	case 255:
yabahiro	48:5562a99479e5	3854	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3855	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3856	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3857	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3858	break;
yabahiro	48:5562a99479e5	3859	case 253:
yabahiro	48:5562a99479e5	3860	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	3861	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3862	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3863	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3864	break;
yabahiro	48:5562a99479e5	3865	case 254:
yabahiro	48:5562a99479e5	3866	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3867	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3868	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3869	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3870	break;
yabahiro	48:5562a99479e5	3871	case 1:
yabahiro	48:5562a99479e5	3872	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3873	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3874	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3875	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3876	break;
yabahiro	48:5562a99479e5	3877	case 3:
yabahiro	48:5562a99479e5	3878	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3879	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3880	motor[TIRE_BR].pwm = 40;
yabahiro	48:5562a99479e5	3881	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3882	break;
yabahiro	48:5562a99479e5	3883	case 2:
yabahiro	48:5562a99479e5	3884	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3885	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3886	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3887	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3888	break;
yabahiro	48:5562a99479e5	3889	}
yabahiro	48:5562a99479e5	3890	switch(g[3]) {
yabahiro	48:5562a99479e5	3891	case 0:
yabahiro	48:5562a99479e5	3892	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3893	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3894	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3895	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3896	break;
yabahiro	48:5562a99479e5	3897	case 255:
yabahiro	48:5562a99479e5	3898	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3899	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3900	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3901	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3902	case 253:
yabahiro	48:5562a99479e5	3903	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3904	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3905	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	3906	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3907	break;
yabahiro	48:5562a99479e5	3908	case 254:
yabahiro	48:5562a99479e5	3909	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3910	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3911	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3912	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3913	break;
yabahiro	48:5562a99479e5	3914	case 1:
yabahiro	48:5562a99479e5	3915	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3916	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3917	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3918	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3919	break;
yabahiro	48:5562a99479e5	3920	case 3:
yabahiro	48:5562a99479e5	3921	motor[TIRE_FL].pwm = 40;
yabahiro	48:5562a99479e5	3922	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3923	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3924	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3925	break;
yabahiro	48:5562a99479e5	3926	case 2:
yabahiro	48:5562a99479e5	3927	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3928	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3929	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3930	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3931	break;
yabahiro	48:5562a99479e5	3932	}
yabahiro	48:5562a99479e5	3933	if(g[3]==0&&g[2]==0) {
yabahiro	48:5562a99479e5	3934	mode=23;
yabahiro	48:5562a99479e5	3935	countss=0;
yabahiro	48:5562a99479e5	3936	}
yabahiro	48:5562a99479e5	3937	} else if(mode==23) {
yabahiro	48:5562a99479e5	3938	switch(g[4]) {
yabahiro	48:5562a99479e5	3939	case 98:
yabahiro	48:5562a99479e5	3940	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3941	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3942	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3943	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3944	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3945	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3946	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3947	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3948	break;
yabahiro	48:5562a99479e5	3949	case 99:
yabahiro	48:5562a99479e5	3950	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3951	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3952	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3953	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3954	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3955	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3956	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3957	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3958	break;
yabahiro	48:5562a99479e5	3959	case 0:
yabahiro	48:5562a99479e5	3960	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3961	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3962	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3963	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3964	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3965	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3966	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3967	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3968	break;
yabahiro	48:5562a99479e5	3969	case 255:
yabahiro	48:5562a99479e5	3970	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3971	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3972	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3973	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3974	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3975	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3976	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3977	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3978	break;
yabahiro	48:5562a99479e5	3979	case 253:
yabahiro	48:5562a99479e5	3980	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3981	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3982	motor[TIRE_FL].pwm = slow-5;
yabahiro	48:5562a99479e5	3983	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3984	motor[TIRE_BR].pwm = slow-5;
yabahiro	48:5562a99479e5	3985	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3986	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3987	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3988	break;
yabahiro	48:5562a99479e5	3989	case 254:
yabahiro	48:5562a99479e5	3990	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3991	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3992	motor[TIRE_FL].pwm = normal-5;
yabahiro	48:5562a99479e5	3993	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3994	motor[TIRE_BR].pwm = normal-5;
yabahiro	48:5562a99479e5	3995	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3996	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3997	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3998	break;
yabahiro	48:5562a99479e5	3999	case 1:
yabahiro	48:5562a99479e5	4000	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4001	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4002	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4003	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4004	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4005	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4006	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4007	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4008	break;
yabahiro	48:5562a99479e5	4009	case 3:
yabahiro	48:5562a99479e5	4010	motor[TIRE_FR].pwm = slow-5;
yabahiro	48:5562a99479e5	4011	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4012	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4013	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4014	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4015	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4016	motor[TIRE_BL].pwm = slow-5;
yabahiro	48:5562a99479e5	4017	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4018	break;
yabahiro	48:5562a99479e5	4019	case 2:
yabahiro	48:5562a99479e5	4020	motor[TIRE_FR].pwm = normal-5;
yabahiro	48:5562a99479e5	4021	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4022	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4023	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4024	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4025	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4026	motor[TIRE_BL].pwm = normal-5;
yabahiro	48:5562a99479e5	4027	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4028	break;
yabahiro	48:5562a99479e5	4029	}
yabahiro	48:5562a99479e5	4030	if(g[2]==254&&countss>=100000) {
yabahiro	48:5562a99479e5	4031	mode=24;
yabahiro	48:5562a99479e5	4032	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	48:5562a99479e5	4033	countss=0;
yabahiro	48:5562a99479e5	4034	fast=60;
yabahiro	48:5562a99479e5	4035	normal=40;
yabahiro	48:5562a99479e5	4036	slow=20;
yabahiro	48:5562a99479e5	4037	}
yabahiro	48:5562a99479e5	4038	} else if(mode==24) {
yabahiro	48:5562a99479e5	4039	motor[TIRE_FR].pwm = 60;
yabahiro	48:5562a99479e5	4040	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4041	motor[TIRE_FL].pwm = 60;
yabahiro	48:5562a99479e5	4042	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4043	motor[TIRE_BR].pwm = 60;
yabahiro	48:5562a99479e5	4044	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4045	motor[TIRE_BL].pwm = 60;
yabahiro	48:5562a99479e5	4046	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4047	if(g[0]==0) {
yabahiro	48:5562a99479e5	4048	mode=25;
yabahiro	48:5562a99479e5	4049	}
yabahiro	48:5562a99479e5	4050	} else if(mode==25) {
yabahiro	48:5562a99479e5	4051	motor[TIRE_FR].pwm = 100;
yabahiro	48:5562a99479e5	4052	motor[TIRE_FR].dir = BRAKE;
yabahiro	48:5562a99479e5	4053	motor[TIRE_FL].pwm = 100;
yabahiro	48:5562a99479e5	4054	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4055	motor[TIRE_BR].pwm = 100;
yabahiro	48:5562a99479e5	4056	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4057	motor[TIRE_BL].pwm = 100;
yabahiro	48:5562a99479e5	4058	motor[TIRE_BL].dir = BRAKE;
yabahiro	48:5562a99479e5	4059	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	4060	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	4061	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	4062	mode=26;
yabahiro	48:5562a99479e5	4063	countss=0;
yabahiro	48:5562a99479e5	4064	} else {
yabahiro	48:5562a99479e5	4065	motor[MOTOR_0].pwm = 100;
yabahiro	48:5562a99479e5	4066	motor[MOTOR_0].dir = BACK;
yabahiro	48:5562a99479e5	4067	}
yabahiro	48:5562a99479e5	4068	} else if(mode==26) {
yabahiro	48:5562a99479e5	4069	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4070	mode=31;
yabahiro	48:5562a99479e5	4071	countss=0;
yabahiro	48:5562a99479e5	4072	}
yabahiro	48:5562a99479e5	4073	switch(g[0]) {
yabahiro	48:5562a99479e5	4074	case 98:
yabahiro	48:5562a99479e5	4075	fast=40;
yabahiro	48:5562a99479e5	4076	normal=30;
yabahiro	48:5562a99479e5	4077	slow=25;
yabahiro	48:5562a99479e5	4078	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4079	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4080	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4081	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4082	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4083	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4084	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4085	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4086	break;
yabahiro	48:5562a99479e5	4087	case 0:
yabahiro	48:5562a99479e5	4088	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4089	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4090	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4091	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4092	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4093	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4094	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4095	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4096	mtc=true;
yabahiro	48:5562a99479e5	4097	break;
yabahiro	48:5562a99479e5	4098	case 255:
yabahiro	48:5562a99479e5	4099	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4100	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4101	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4102	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4103	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4104	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4105	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4106	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4107	mtc=true;
yabahiro	48:5562a99479e5	4108	break;
yabahiro	48:5562a99479e5	4109	case 253:
yabahiro	48:5562a99479e5	4110	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4111	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4112	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4113	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4114	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4115	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4116	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4117	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4118	mtc=true;
yabahiro	48:5562a99479e5	4119	break;
yabahiro	48:5562a99479e5	4120	case 254:
yabahiro	48:5562a99479e5	4121	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4122	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4123	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4124	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4125	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4126	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4127	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4128	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4129	mtc=true;
yabahiro	48:5562a99479e5	4130	break;
yabahiro	48:5562a99479e5	4131	case 1:
yabahiro	48:5562a99479e5	4132	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4133	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4134	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4135	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4136	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4137	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4138	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4139	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4140	mtc=true;
yabahiro	48:5562a99479e5	4141	break;
yabahiro	48:5562a99479e5	4142	case 3:
yabahiro	48:5562a99479e5	4143	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4144	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4145	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4146	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4147	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4148	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4149	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4150	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4151	mtc=true;
yabahiro	48:5562a99479e5	4152	break;
yabahiro	48:5562a99479e5	4153	case 2:
yabahiro	48:5562a99479e5	4154	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4155	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4156	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4157	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4158	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4159	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4160	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4161	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4162	mtc=true;
yabahiro	48:5562a99479e5	4163	break;
yabahiro	48:5562a99479e5	4164	}
yabahiro	48:5562a99479e5	4165	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4166	switch(g[1]) {
yabahiro	48:5562a99479e5	4167	case 0:
yabahiro	48:5562a99479e5	4168	mtc=false;
yabahiro	48:5562a99479e5	4169	break;
yabahiro	48:5562a99479e5	4170	case 255:
yabahiro	48:5562a99479e5	4171	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4172	mtc=false;
yabahiro	48:5562a99479e5	4173	break;
yabahiro	48:5562a99479e5	4174	case 253:
yabahiro	48:5562a99479e5	4175	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4176	mtc=false;
yabahiro	48:5562a99479e5	4177	break;
yabahiro	48:5562a99479e5	4178	case 254:
yabahiro	48:5562a99479e5	4179	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4180	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4181	mtc=false;
yabahiro	48:5562a99479e5	4182	break;
yabahiro	48:5562a99479e5	4183	case 1:
yabahiro	48:5562a99479e5	4184	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4185	mtc=false;
yabahiro	48:5562a99479e5	4186	break;
yabahiro	48:5562a99479e5	4187	case 3:
yabahiro	48:5562a99479e5	4188	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4189	mtc=false;
yabahiro	48:5562a99479e5	4190	break;
yabahiro	48:5562a99479e5	4191	case 2:
yabahiro	48:5562a99479e5	4192	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4193	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4194	mtc=false;
yabahiro	48:5562a99479e5	4195	break;
yabahiro	48:5562a99479e5	4196	}
yabahiro	48:5562a99479e5	4197	}
yabahiro	48:5562a99479e5	4198	}
yabahiro	48:5562a99479e5	4199	} else {
yabahiro	48:5562a99479e5	4200	if(mode==21) {
yabahiro	49:697b4e9ce884	4201	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4202	fast=60;
yabahiro	48:5562a99479e5	4203	normal=30;
yabahiro	48:5562a99479e5	4204	slow=25;
yabahiro	48:5562a99479e5	4205	mode=31;
yabahiro	48:5562a99479e5	4206	countss=0;
yabahiro	48:5562a99479e5	4207	}
yabahiro	48:5562a99479e5	4208	switch(g[0]) {
yabahiro	48:5562a99479e5	4209	case 98:
yabahiro	48:5562a99479e5	4210	fast=40;
yabahiro	48:5562a99479e5	4211	normal=30;
yabahiro	48:5562a99479e5	4212	slow=25;
yabahiro	48:5562a99479e5	4213	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4214	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4215	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4216	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4217	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4218	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4219	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4220	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4221	break;
yabahiro	48:5562a99479e5	4222	case 0:
yabahiro	48:5562a99479e5	4223	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4224	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4225	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4226	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4227	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4228	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4229	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4230	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4231	mtc=true;
yabahiro	48:5562a99479e5	4232	break;
yabahiro	48:5562a99479e5	4233	case 255:
yabahiro	48:5562a99479e5	4234	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4235	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4236	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4237	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4238	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4239	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4240	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4241	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4242	mtc=true;
yabahiro	48:5562a99479e5	4243	break;
yabahiro	48:5562a99479e5	4244	case 253:
yabahiro	48:5562a99479e5	4245	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4246	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4247	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4248	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4249	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4250	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4251	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4252	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4253	mtc=true;
yabahiro	48:5562a99479e5	4254	break;
yabahiro	48:5562a99479e5	4255	case 254:
yabahiro	48:5562a99479e5	4256	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4257	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4258	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4259	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4260	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4261	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4262	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4263	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4264	mtc=true;
yabahiro	48:5562a99479e5	4265	break;
yabahiro	48:5562a99479e5	4266	case 1:
yabahiro	48:5562a99479e5	4267	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4268	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4269	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4270	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4271	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4272	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4273	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4274	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4275	mtc=true;
yabahiro	48:5562a99479e5	4276	break;
yabahiro	48:5562a99479e5	4277	case 3:
yabahiro	48:5562a99479e5	4278	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4279	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4280	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4281	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4282	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4283	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4284	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4285	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4286	mtc=true;
yabahiro	48:5562a99479e5	4287	break;
yabahiro	48:5562a99479e5	4288	case 2:
yabahiro	48:5562a99479e5	4289	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4290	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4291	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4292	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4293	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4294	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4295	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4296	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4297	mtc=true;
yabahiro	48:5562a99479e5	4298	break;
yabahiro	48:5562a99479e5	4299	}
yabahiro	48:5562a99479e5	4300	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4301	switch(g[1]) {
yabahiro	48:5562a99479e5	4302	case 0:
yabahiro	48:5562a99479e5	4303	mtc=false;
yabahiro	48:5562a99479e5	4304	break;
yabahiro	48:5562a99479e5	4305	case 255:
yabahiro	48:5562a99479e5	4306	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4307	mtc=false;
yabahiro	48:5562a99479e5	4308	break;
yabahiro	48:5562a99479e5	4309	case 253:
yabahiro	48:5562a99479e5	4310	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4311	mtc=false;
yabahiro	48:5562a99479e5	4312	break;
yabahiro	48:5562a99479e5	4313	case 254:
yabahiro	48:5562a99479e5	4314	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4315	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4316	mtc=false;
yabahiro	48:5562a99479e5	4317	break;
yabahiro	48:5562a99479e5	4318	case 1:
yabahiro	48:5562a99479e5	4319	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4320	mtc=false;
yabahiro	48:5562a99479e5	4321	break;
yabahiro	48:5562a99479e5	4322	case 3:
yabahiro	48:5562a99479e5	4323	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4324	mtc=false;
yabahiro	48:5562a99479e5	4325	break;
yabahiro	48:5562a99479e5	4326	case 2:
yabahiro	48:5562a99479e5	4327	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4328	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4329	mtc=false;
yabahiro	48:5562a99479e5	4330	break;
yabahiro	48:5562a99479e5	4331	}
yabahiro	48:5562a99479e5	4332	}
yabahiro	48:5562a99479e5	4333	}
yabahiro	48:5562a99479e5	4334	}
yabahiro	48:5562a99479e5	4335
yabahiro	48:5562a99479e5	4336	/*
yabahiro	48:5562a99479e5	4337	if(mode==31) {
yabahiro	48:5562a99479e5	4338	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4339	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4340	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4341	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4342	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4343	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4344	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4345	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4346	if(countss>=5000) {
yabahiro	48:5562a99479e5	4347	countss=0;
yabahiro	48:5562a99479e5	4348	mode=33;
yabahiro	48:5562a99479e5	4349	}
yabahiro	48:5562a99479e5	4350	} else if(mode==33) {
yabahiro	48:5562a99479e5	4351	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4352	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4353	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4354	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4355	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4356	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4357	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4358	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4359	if(g[3]==0) {
yabahiro	48:5562a99479e5	4360	cross=0;
yabahiro	48:5562a99479e5	4361	countss=0;
yabahiro	48:5562a99479e5	4362	mode=40;
yabahiro	48:5562a99479e5	4363	}
yabahiro	48:5562a99479e5	4364	} else
yabahiro	48:5562a99479e5	4365	*/
yabahiro	48:5562a99479e5	4366	if(mode==31) {
yabahiro	48:5562a99479e5	4367	motor[TIRE_FR].pwm = 45;
yabahiro	48:5562a99479e5	4368	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4369	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	4370	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4371	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	4372	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4373	motor[TIRE_BL].pwm = 45;
yabahiro	48:5562a99479e5	4374	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4375	if(g[3]==0) {
yabahiro	48:5562a99479e5	4376	cross=0;
yabahiro	48:5562a99479e5	4377	countss=0;
yabahiro	48:5562a99479e5	4378	mode=40;
yabahiro	48:5562a99479e5	4379	}
yabahiro	48:5562a99479e5	4380	} else if(mode==40) {
yabahiro	48:5562a99479e5	4381	switch(g[3]) {
yabahiro	48:5562a99479e5	4382	case 98:
yabahiro	48:5562a99479e5	4383	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4384	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4385	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4386	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4387	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4388	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4389	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4390	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4391	if(countss>10000) {
yabahiro	48:5562a99479e5	4392	cross++;
yabahiro	48:5562a99479e5	4393	countss=0;
yabahiro	48:5562a99479e5	4394	}
yabahiro	48:5562a99479e5	4395	mtc2=true;
yabahiro	48:5562a99479e5	4396	if(cross==1) {
yabahiro	48:5562a99479e5	4397	mode=41;
yabahiro	48:5562a99479e5	4398	countss=0;
yabahiro	48:5562a99479e5	4399	cross=0;
yabahiro	48:5562a99479e5	4400	}
yabahiro	48:5562a99479e5	4401	break;
yabahiro	48:5562a99479e5	4402	case 0:
yabahiro	48:5562a99479e5	4403	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4404	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4405	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4406	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4407	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4408	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4409	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4410	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4411	mtc2=true;
yabahiro	48:5562a99479e5	4412	break;
yabahiro	48:5562a99479e5	4413	case 255:
yabahiro	48:5562a99479e5	4414	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4415	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4416	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4417	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4418	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4419	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4420	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4421	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4422	mtc2=true;
yabahiro	48:5562a99479e5	4423	break;
yabahiro	48:5562a99479e5	4424	case 253:
yabahiro	48:5562a99479e5	4425	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4426	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4427	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4428	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4429	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4430	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4431	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4432	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4433	mtc2=true;
yabahiro	48:5562a99479e5	4434	break;
yabahiro	48:5562a99479e5	4435	case 254:
yabahiro	48:5562a99479e5	4436	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4437	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4438	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4439	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4440	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4441	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4442	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4443	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4444	mtc2=true;
yabahiro	48:5562a99479e5	4445	break;
yabahiro	48:5562a99479e5	4446	case 1:
yabahiro	48:5562a99479e5	4447	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4448	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4449	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4450	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4451	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4452	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4453	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4454	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4455	mtc2=true;
yabahiro	48:5562a99479e5	4456	break;
yabahiro	48:5562a99479e5	4457	case 3:
yabahiro	48:5562a99479e5	4458	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4459	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4460	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4461	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4462	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4463	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4464	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4465	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4466	mtc2=true;
yabahiro	48:5562a99479e5	4467	break;
yabahiro	48:5562a99479e5	4468	case 2:
yabahiro	48:5562a99479e5	4469	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4470	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4471	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4472	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4473	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4474	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4475	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4476	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4477	mtc2=true;
yabahiro	48:5562a99479e5	4478	break;
yabahiro	48:5562a99479e5	4479	}
yabahiro	48:5562a99479e5	4480	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	4481	switch(g[2]) {
yabahiro	48:5562a99479e5	4482	case 0:
yabahiro	48:5562a99479e5	4483	mtc2=false;
yabahiro	48:5562a99479e5	4484	break;
yabahiro	48:5562a99479e5	4485	case 255:
yabahiro	48:5562a99479e5	4486	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	4487	mtc2=false;
yabahiro	48:5562a99479e5	4488	break;
yabahiro	48:5562a99479e5	4489	case 253:
yabahiro	48:5562a99479e5	4490	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	4491	mtc2=false;
yabahiro	48:5562a99479e5	4492	break;
yabahiro	48:5562a99479e5	4493	case 254:
yabahiro	48:5562a99479e5	4494	motor[TIRE_FL].pwm += 20;
yabahiro	48:5562a99479e5	4495	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4496	mtc2=false;
yabahiro	48:5562a99479e5	4497	break;
yabahiro	48:5562a99479e5	4498	case 1:
yabahiro	48:5562a99479e5	4499	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4500	mtc2=false;
yabahiro	48:5562a99479e5	4501	break;
yabahiro	48:5562a99479e5	4502	case 3:
yabahiro	48:5562a99479e5	4503	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4504	mtc2=false;
yabahiro	48:5562a99479e5	4505	break;
yabahiro	48:5562a99479e5	4506	case 2:
yabahiro	48:5562a99479e5	4507	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4508	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4509	mtc2=false;
yabahiro	48:5562a99479e5	4510	break;
yabahiro	48:5562a99479e5	4511	}
yabahiro	48:5562a99479e5	4512	}
yabahiro	48:5562a99479e5	4513	} else if(mode==41) {
yabahiro	48:5562a99479e5	4514	if(LIF\|\|LIB) {
yabahiro	48:5562a99479e5	4515	mode=42;
yabahiro	48:5562a99479e5	4516	}
yabahiro	48:5562a99479e5	4517	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4518	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4519	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4520	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4521	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4522	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4523	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4524	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4525	if(g[1]==0) {
yabahiro	48:5562a99479e5	4526	countss=0;
yabahiro	48:5562a99479e5	4527	mode=70;
yabahiro	48:5562a99479e5	4528	normal=60;
yabahiro	48:5562a99479e5	4529	fast=70;
yabahiro	48:5562a99479e5	4530	slow=40;
yabahiro	48:5562a99479e5	4531	}
yabahiro	48:5562a99479e5	4532	} else if(mode==42) {
yabahiro	48:5562a99479e5	4533	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	4534	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	4535	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4536	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4537	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4538	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4539	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	4540	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	4541	if(g[1]==0) {
yabahiro	48:5562a99479e5	4542	countss=0;
yabahiro	48:5562a99479e5	4543	mode=70;
yabahiro	48:5562a99479e5	4544	}
yabahiro	48:5562a99479e5	4545	} else if(mode==70) {
yabahiro	48:5562a99479e5	4546	switch(g[0]) {
yabahiro	48:5562a99479e5	4547	case 99:
yabahiro	48:5562a99479e5	4548	if(countss>=100000) {
yabahiro	48:5562a99479e5	4549	mode=100;
yabahiro	48:5562a99479e5	4550	}
yabahiro	48:5562a99479e5	4551	break;
yabahiro	48:5562a99479e5	4552	case 98:
yabahiro	48:5562a99479e5	4553	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4554	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4555	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4556	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4557	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4558	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4559	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4560	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4561	break;
yabahiro	48:5562a99479e5	4562	case 0:
yabahiro	48:5562a99479e5	4563	motor[TIRE_FR].pwm = 80;
yabahiro	48:5562a99479e5	4564	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4565	motor[TIRE_FL].pwm = 80;
yabahiro	48:5562a99479e5	4566	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4567	motor[TIRE_BR].pwm = 80;
yabahiro	48:5562a99479e5	4568	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4569	motor[TIRE_BL].pwm = 80;
yabahiro	48:5562a99479e5	4570	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4571	mtc=true;
yabahiro	48:5562a99479e5	4572	break;
yabahiro	48:5562a99479e5	4573	case 255:
yabahiro	48:5562a99479e5	4574	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4575	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4576	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4577	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4578	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4579	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4580	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4581	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4582	mtc=true;
yabahiro	48:5562a99479e5	4583	break;
yabahiro	48:5562a99479e5	4584	case 253:
yabahiro	48:5562a99479e5	4585	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4586	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4587	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4588	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4589	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4590	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4591	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4592	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4593	mtc=true;
yabahiro	48:5562a99479e5	4594	break;
yabahiro	48:5562a99479e5	4595	case 254:
yabahiro	48:5562a99479e5	4596	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4597	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4598	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4599	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4600	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4601	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4602	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4603	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4604	mtc=true;
yabahiro	48:5562a99479e5	4605	break;
yabahiro	48:5562a99479e5	4606	case 1:
yabahiro	48:5562a99479e5	4607	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4608	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4609	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4610	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4611	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4612	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4613	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4614	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4615	mtc=true;
yabahiro	48:5562a99479e5	4616	break;
yabahiro	48:5562a99479e5	4617	case 3:
yabahiro	48:5562a99479e5	4618	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4619	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4620	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4621	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4622	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4623	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4624	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4625	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4626	mtc=true;
yabahiro	48:5562a99479e5	4627	break;
yabahiro	48:5562a99479e5	4628	case 2:
yabahiro	48:5562a99479e5	4629	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4630	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4631	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4632	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4633	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4634	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4635	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4636	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4637	mtc=true;
yabahiro	48:5562a99479e5	4638	break;
yabahiro	48:5562a99479e5	4639	}
yabahiro	48:5562a99479e5	4640	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4641	switch(g[1]) {
yabahiro	48:5562a99479e5	4642	case 0:
yabahiro	48:5562a99479e5	4643	mtc=false;
yabahiro	48:5562a99479e5	4644	break;
yabahiro	48:5562a99479e5	4645	case 255:
yabahiro	48:5562a99479e5	4646	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4647	mtc=false;
yabahiro	48:5562a99479e5	4648	break;
yabahiro	48:5562a99479e5	4649	case 253:
yabahiro	48:5562a99479e5	4650	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4651	mtc=false;
yabahiro	48:5562a99479e5	4652	break;
yabahiro	48:5562a99479e5	4653	case 254:
yabahiro	48:5562a99479e5	4654	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4655	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4656	mtc=false;
yabahiro	48:5562a99479e5	4657	break;
yabahiro	48:5562a99479e5	4658	case 1:
yabahiro	48:5562a99479e5	4659	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4660	mtc=false;
yabahiro	48:5562a99479e5	4661	break;
yabahiro	48:5562a99479e5	4662	case 3:
yabahiro	48:5562a99479e5	4663	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4664	mtc=false;
yabahiro	48:5562a99479e5	4665	break;
yabahiro	48:5562a99479e5	4666	case 2:
yabahiro	48:5562a99479e5	4667	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4668	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4669	mtc=false;
yabahiro	48:5562a99479e5	4670	break;
yabahiro	48:5562a99479e5	4671	}
yabahiro	48:5562a99479e5	4672	}
yabahiro	48:5562a99479e5	4673	} else if(mode==100) {
yabahiro	48:5562a99479e5	4674	motor[TIRE_FR].pwm = 50;
yabahiro	48:5562a99479e5	4675	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4676	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	4677	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4678	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	4679	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4680	motor[TIRE_BL].pwm = 50;
yabahiro	48:5562a99479e5	4681	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4682	} else {
yabahiro	48:5562a99479e5	4683	}
yabahiro	33:dd598bb23ad1	4684
kishibekairohan	13:b6e02d6261d7	4685	}
kishibekairohan	13:b6e02d6261d7	4686	#endif
kishibekairohan	13:b6e02d6261d7	4687
kishibekairohan	13:b6e02d6261d7	4688	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	4689	static void Process5()
Ryosei	27:dd9f27fce7d1	4690	{
yabahiro	46:68296caae1af	4691
kishibekairohan	13:b6e02d6261d7	4692	}
kishibekairohan	13:b6e02d6261d7	4693	#endif
kishibekairohan	13:b6e02d6261d7	4694
kishibekairohan	13:b6e02d6261d7	4695	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	4696	static void Process6()
kishibekairohan	13:b6e02d6261d7	4697	{
Ryosei	27:dd9f27fce7d1	4698
kishibekairohan	13:b6e02d6261d7	4699	}
kishibekairohan	13:b6e02d6261d7	4700	#endif
kishibekairohan	13:b6e02d6261d7	4701
kishibekairohan	13:b6e02d6261d7	4702	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	4703	static void Process7()
kishibekairohan	13:b6e02d6261d7	4704	{
yabahiro	33:dd598bb23ad1	4705
kishibekairohan	12:c09b3e08a316	4706	}
kishibekairohan	12:c09b3e08a316	4707	#endif
kishibekairohan	12:c09b3e08a316	4708
Ryosei	27:dd9f27fce7d1	4709	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	4710	static void Process8()
kishibekairohan	12:c09b3e08a316	4711	{
yabahiro	33:dd598bb23ad1	4712
kishibekairohan	12:c09b3e08a316	4713	}
kishibekairohan	12:c09b3e08a316	4714	#endif
kishibekairohan	12:c09b3e08a316	4715
kishibekairohan	13:b6e02d6261d7	4716	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	4717	static void Process9()
kishibekairohan	12:c09b3e08a316	4718	{
Ryosei	27:dd9f27fce7d1	4719
t_yamamoto	0:669ef71cba68	4720	}
t_yamamoto	0:669ef71cba68	4721	#endif
t_yamamoto	0:669ef71cba68	4722	#endif
t_yamamoto	0:669ef71cba68	4723	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	4724
t_yamamoto	0:669ef71cba68	4725	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	4726	{
yabahiro	33:dd598bb23ad1	4727	#ifdef USE_SOLENOID
yabahiro	33:dd598bb23ad1	4728	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	4729	#endif
yabahiro	33:dd598bb23ad1	4730
yabahiro	33:dd598bb23ad1	4731	#ifdef USE_MOTOR
yabahiro	33:dd598bb23ad1	4732	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	33:dd598bb23ad1	4733	motor[i].dir = FREE;
yabahiro	33:dd598bb23ad1	4734	motor[i].pwm = 0;
yabahiro	33:dd598bb23ad1	4735	}
yabahiro	33:dd598bb23ad1	4736	#endif
t_yamamoto	0:669ef71cba68	4737	}
t_yamamoto	0:669ef71cba68	4738
kishibekairohan	16:3f2c2d89372b	4739	#pragma region USER-DEFINED-FUNCTIONS
M_souta	29:44d5454ce8fa	4740
M_souta	29:44d5454ce8fa	4741	uint8_t SetStatus(int pwmVal)
Ryosei	27:dd9f27fce7d1	4742	{
M_souta	29:44d5454ce8fa	4743	if (pwmVal < 0) return BACK;
M_souta	29:44d5454ce8fa	4744	else if (pwmVal > 0) return FOR;
M_souta	29:44d5454ce8fa	4745	else if (pwmVal == 0) return BRAKE;
M_souta	29:44d5454ce8fa	4746	else return BRAKE;
M_souta	22:7d93f79a3686	4747	}
kishibekairohan	16:3f2c2d89372b	4748
M_souta	29:44d5454ce8fa	4749	uint8_t SetPWM(int pwmVal)
Ryosei	27:dd9f27fce7d1	4750	{
M_souta	29:44d5454ce8fa	4751	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
M_souta	29:44d5454ce8fa	4752	else return abs(pwmVal);
M_souta	22:7d93f79a3686	4753	}
yabahiro	55:844ac0974740	4754	/*
yabahiro	55:844ac0974740	4755	void Count(){
yabahiro	55:844ac0974740	4756	num++;
yabahiro	55:844ac0974740	4757	}
yabahiro	55:844ac0974740	4758	*/
t_yamamoto	0:669ef71cba68	4759	#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@55:844ac0974740, 2019-11-18 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning