大季 矢花
/
MB2019_main_11_17_lhazime
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Diff: System/Process/Process.cpp
- Revision:
- 49:697b4e9ce884
- Parent:
- 48:5562a99479e5
- Child:
- 50:87f5fa1bc460
--- a/System/Process/Process.cpp Tue Nov 12 11:49:18 2019 +0000
+++ b/System/Process/Process.cpp Wed Nov 13 09:20:49 2019 +0000
@@ -274,7 +274,7 @@
} else {
countss = 0;
mode=1;
- current = 2;
+ current = 2;//11ガツ13ニチヘンコウ
}
}
if(DWSW||DOSW) {
@@ -504,7 +504,7 @@
} else if(mode==10) { //縦ライントレース
switch(g[1]) {
case 98:
- motor[TIRE_FR].pwm = normal+50;
+ motor[TIRE_FR].pwm = normal+55;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = normal+50;
motor[TIRE_FL].dir = BACK;
@@ -534,7 +534,7 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = fast+50;
+ motor[TIRE_FR].pwm = fast+55;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = fast+50;
motor[TIRE_FL].dir = BACK;
@@ -545,7 +545,7 @@
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = fast+50;
+ motor[TIRE_FR].pwm = fast+55;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = slow+50;
motor[TIRE_FL].dir = BACK;
@@ -556,7 +556,7 @@
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = slow+50;
+ motor[TIRE_FR].pwm = slow+55;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
@@ -567,7 +567,7 @@
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = normal+50;
+ motor[TIRE_FR].pwm = normal+55;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
@@ -578,7 +578,7 @@
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = slow+50;
+ motor[TIRE_FR].pwm = slow+55;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = fast+50;
motor[TIRE_FL].dir = BACK;
@@ -662,15 +662,15 @@
solenoid.solenoid2= SOLENOID_ON;
switch(g[2]) {
case 98:
- motor[TIRE_FR].pwm = normal-20;
+ motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal-20;
+ motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal-20;
+ motor[TIRE_BR].pwm = normal;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal-20;
+ motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
- if(countss>10000) {
+ if(countss>20000) {
cross++;
countss=0;
}
@@ -681,7 +681,8 @@
fast=20;
normal=15;
slow=15;
- } else if(cross==2) {
+ }
+ if(cross==2) {
mode=21;
countss=0;
cross=0;
@@ -1028,6 +1029,11 @@
motor[TIRE_BL].dir = FOR;
break;
}
+ if(g[0]==98) {
+ fast=30;
+ normal=25;
+ slow=20;
+ }
if(g[2]==254&&countss>=100000) {
mode=24;
solenoid.solenoid2 = SOLENOID_OFF;
@@ -1274,7 +1280,7 @@
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 255;
motor[TIRE_BL].dir = BRAKE;
- if(g[1]==0) {
+ if(g[0]==0) {
mode=22;
fast=60;
normal=40;
@@ -1619,6 +1625,9 @@
mode=40;
}
} else if(mode==40) {
+ if(LIF||LIB) {
+ mode=42;
+ }
switch(g[3]) {
case 98:
motor[TIRE_FR].pwm = normal+15;
@@ -1634,10 +1643,18 @@
countss=0;
}
mtc2=true;
- if(cross==1) {
- mode=41;
- countss=0;
- cross=0;
+ if(YELLOW) {
+ if(cross==1) {
+ mode=41;
+ countss=0;
+ cross=0;
+ }
+ } else {
+ if(cross==3) {
+ mode=41;
+ countss=0;
+ cross=0;
+ }
}
break;
case 0:
@@ -3448,24 +3465,28 @@
motor[TIRE_BL].pwm = normal+50;
motor[TIRE_BL].dir = BACK;
mtc=true;
- if(countss>80000) {
- cross++;
- countss=0;
- }
+ if(YELLOW) {
+ if(countss>80000) {
+ cross++;
+ countss=0;
+ }
- if(cross==2) {
- fast = 10;
- normal = 10;
- slow = 5;
- }
+ if(cross==2) {
+ fast = 10;
+ normal = 10;
+ slow = 5;
+ }
- if(cross==3) {
- fast=40;
- normal=30;
- slow=20;
+ if(cross==3) {
+ fast=40;
+ normal=30;
+ slow=20;
+ mode=11;
+ countss=0;
+ cross=0;
+ }
+ } else {
mode=11;
- countss=0;
- cross=0;
}
break;
case 0:
@@ -3582,10 +3603,10 @@
} else if(mode==11) {
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 25;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 25;
- motor[TIRE_BR].dir = FOR;
+ motor[TIRE_FL].pwm = 50;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 50;
+ motor[TIRE_BR].dir = BRAKE;
motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
@@ -3594,7 +3615,6 @@
mode=20;
}
} else if(mode==20) {
- solenoid.solenoid4= SOLENOID_ON;
switch(g[2]) {
case 98:
motor[TIRE_FR].pwm = normal+20;
@@ -3612,6 +3632,7 @@
mtc2=true;
if(YELLOW) {
+ solenoid.solenoid4= SOLENOID_ON;
if(cross==1) {
fast=20;
normal=15;
@@ -3622,6 +3643,11 @@
cross=0;
}
} else {
+ if(cross==2) {
+ fast=20;
+ normal=15;
+ slow=15;
+ }
if(cross==3) {
mode=21;
countss=0;
@@ -4134,181 +4160,10 @@
}
} else {
if(mode==21) {
- motor[TIRE_FR].pwm = 255;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 255;
- motor[TIRE_BL].dir = BRAKE;
- if(g[1]==0) {
- mode=22;
+ if(g[0]==98&&countss>=40000) {
fast=60;
- normal=40;
- slow=25;
- }
- } else if(mode==22) {
- if(g[0]==98) {
- slow=25;
normal=30;
- fast=40;
- }
- if(g[3]==0) {
slow=25;
- normal=40;
- fast=40;
- mode=23;
- }
- switch(g[0]) {
- case 98:
- solenoid.solenoid4 = SOLENOID_OFF;
- fast=40;
- normal=30;
- slow=25;
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = FOR;
- break;
- case 0:
- motor[TIRE_FR].pwm = fast;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = fast;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = slow;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = slow;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = slow;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- }
- if(g[0]!=98&&mtc==true) {
- switch(g[0]) {
- case 0:
- mtc=false;
- break;
- case 255:
- motor[TIRE_BR].pwm += 5;
- mtc=false;
- break;
- case 253:
- motor[TIRE_BR].pwm += 10;
- mtc=false;
- break;
- case 254:
- motor[TIRE_BR].pwm += 20;
- motor[TIRE_BL].pwm = 0;
- mtc=false;
- break;
- case 1:
- motor[TIRE_BL].pwm += 5;
- mtc=false;
- break;
- case 3:
- motor[TIRE_BL].pwm += 10;
- mtc=false;
- break;
- case 2:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_BR].pwm = 0;
- mtc=false;
- break;
- }
- }
- } else if(mode==23) {
- if(UPLS==true||DOLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- fast=60;
- normal=40;
- slow=20;
- countss=0;
- mode=24;
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
- motor[TIRE_FR].pwm = 100;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 100;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 100;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 100;
- motor[TIRE_BL].dir = BRAKE;
- } else if(mode==24) {
- if(g[0]==98&&countss>=40000) {
mode=31;
countss=0;
}