大季 矢花
/
MB2019_main_11_17_lhazime
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Diff: System/Process/Process.cpp
- Revision:
- 54:9dc1bfb53391
- Parent:
- 53:694dbd7dfa0e
--- a/System/Process/Process.cpp Fri Nov 15 11:49:03 2019 +0000
+++ b/System/Process/Process.cpp Sun Nov 17 02:51:05 2019 +0000
@@ -824,6 +824,7 @@
if(g[3]==98&&countss>=10000) {
mode=22;
countss=0;
+ cross=0;
fast=60;
normal=40;
slow=20;
@@ -839,9 +840,10 @@
motor[TIRE_BL].dir = BRAKE;
if(g[0]==0) {
mode=22;
- fast=60;
- normal=40;
- slow=25;
+ cross=0;
+ fast=80;
+ normal=60;
+ slow=40;
}
}
break;
@@ -959,23 +961,20 @@
countss=0;
}
} else {
- if(g[0]==98) {
+ if(cross==2) {
slow=25;
normal=30;
fast=30;
- }
- if(g[3]==0) {
- slow=25;
- normal=40;
- fast=60;
- mode=23;
+ if(g[3]==0) {
+ solenoid.solenoid2 = SOLENOID_OFF;
+ slow=40;
+ normal=60;
+ fast=80;
+ mode=23;
+ }
}
switch(g[0]) {
case 98:
- solenoid.solenoid2 = SOLENOID_OFF;
- fast=40;
- normal=30;
- slow=25;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = normal+5;
@@ -984,6 +983,10 @@
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = FOR;
+ if(countss>30000) {
+ cross++;
+ countss=0;
+ }
break;
case 0:
motor[TIRE_FR].pwm = fast;
@@ -1756,11 +1759,9 @@
}
break;
case 41:
- /*
- if(LIF||LIB) {
- mode=42;
- }
- */
+ if(LIF||LIB) {
+ mode=42;
+ }
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;