大季 矢花
/
MB2019_main_11_17_lhazime
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Diff: System/Process/Process.cpp
- Revision:
- 44:2aff0da5ebdb
- Parent:
- 43:1bb4fbe7d4c6
- Child:
- 45:0cf48a0605cd
diff -r 1bb4fbe7d4c6 -r 2aff0da5ebdb System/Process/Process.cpp
--- a/System/Process/Process.cpp Sat Nov 09 14:50:14 2019 +0000
+++ b/System/Process/Process.cpp Sun Nov 10 05:51:51 2019 +0000
@@ -1922,110 +1922,114 @@
cross=0;
mode=3;
}
- } else if(mode==3) { //横ライントレースから縦ライントレースへ
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
+ }
+ else if(mode==3) { //横ライントレースから縦ライントレースへ
+ 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 = 0;
- motor[TIRE_BL].dir = FREE;
+ motor[TIRE_BL].pwm = 255;
+ motor[TIRE_BL].dir = BRAKE;
if(g[0]==0) {
mode=10;
countss=100000;
}
- } else if(mode==10) { //縦ライントレース
+ }
+ else if(mode==10) { //縦ライントレース
switch(g[0]) {
case 98:
- motor[TIRE_FR].pwm = normal+20;
+ motor[TIRE_FR].pwm = normal+50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal+20;
+ motor[TIRE_FL].pwm = normal+50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal+20;
+ motor[TIRE_BR].pwm = normal+50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal+20;
+ motor[TIRE_BL].pwm = normal+50;
motor[TIRE_BL].dir = FOR;
mtc=true;
if(countss>80000) {
cross++;
countss=0;
}
- /*
if(cross==2){
- fast = 30;
- normal = 20;
- slow = 20;
- }
- */
+ fast = 10;
+ normal = 10;
+ slow = 5;
+ }
+
if(cross==3) {
+ fast=40;
+ normal=30;
+ slow=20;
mode=11;
countss=0;
cross=0;
+
}
break;
- //+15した
case 0:
- motor[TIRE_FR].pwm = fast+20;
+ motor[TIRE_FR].pwm = fast+50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+20;
+ motor[TIRE_FL].pwm = fast+50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast+20;
+ motor[TIRE_BR].pwm = fast+50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+20;
+ motor[TIRE_BL].pwm = fast+50;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = fast+20;
+ motor[TIRE_FR].pwm = fast+50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow+20;
+ motor[TIRE_FL].pwm = slow+50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow+20;
+ motor[TIRE_BR].pwm = slow+50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+20;
+ motor[TIRE_BL].pwm = fast+50;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = slow+20;
+ motor[TIRE_FR].pwm = slow+50;
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+20;
+ motor[TIRE_BL].pwm = slow+50;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = normal+20;
+ motor[TIRE_FR].pwm = normal+50;
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+20;
+ motor[TIRE_BL].pwm = normal+50;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = slow+20;
+ motor[TIRE_FR].pwm = slow+50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+20;
+ motor[TIRE_FL].pwm = fast+50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast+20;
+ motor[TIRE_BR].pwm = fast+50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = slow+20;
+ motor[TIRE_BL].pwm = slow+50;
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+20;
+ motor[TIRE_FL].pwm = slow+50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow+20;
+ motor[TIRE_BR].pwm = slow+50;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2034,9 +2038,9 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal+20;
+ motor[TIRE_FL].pwm = normal+50;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal+20;
+ motor[TIRE_BR].pwm = normal+50;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2049,72 +2053,74 @@
mtc=false;
break;
case 255:
- motor[TIRE_BR].pwm += 5;
+ motor[TIRE_BR].pwm += 3;
mtc=false;
break;
case 253:
- motor[TIRE_BR].pwm += 10;
+ motor[TIRE_BR].pwm += 6;
mtc=false;
break;
case 254:
- motor[TIRE_BR].pwm += 20;
+ motor[TIRE_BR].pwm += 9;
motor[TIRE_BL].pwm = 0;
mtc=false;
break;
case 1:
- motor[TIRE_BL].pwm += 5;
+ motor[TIRE_BL].pwm += 3;
mtc=false;
break;
case 3:
- motor[TIRE_BL].pwm += 10;
+ motor[TIRE_BL].pwm += 6;
mtc=false;
break;
case 2:
- motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BL].pwm += 9;
motor[TIRE_BR].pwm = 0;
mtc=false;
break;
}
}
- } else if(mode==11) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
+ }
+ else if(mode==11) {
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FOR;
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;
- if(g[2]==0) {
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = BACK;
+ if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
countss=0;
cross=0;
mode=20;
}
- } else if(mode==20) {
+ }
+ else if(mode==20) {
solenoid.solenoid4= SOLENOID_ON;
switch(g[2]) {
case 98:
- motor[TIRE_FR].pwm = normal+10;
+ motor[TIRE_FR].pwm = normal+20;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal+10;
+ motor[TIRE_FL].pwm = normal+20;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal+10;
+ motor[TIRE_BR].pwm = normal+20;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal+10;
+ motor[TIRE_BL].pwm = normal+20;
motor[TIRE_BL].dir = BACK;
if(countss>30000) {
cross++;
countss=0;
}
mtc2=true;
- //change
- if(cross==1) {
+
+ if(YELLOW) {
+ if(cross==1) {
fast=30;
normal=20;
slow=20;
- }
- if(YELLOW) {
- if(cross==2) {
+ }
+ else if(cross==2) {
mode=21;
countss=0;
cross=0;
@@ -2128,33 +2134,33 @@
}
break;
case 0:
- motor[TIRE_FR].pwm = fast+15;
+ motor[TIRE_FR].pwm = fast+20;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast+15;
+ motor[TIRE_FL].pwm = fast+20;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast+15;
+ motor[TIRE_BR].pwm = fast+20;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+15;
+ motor[TIRE_BL].pwm = fast+20;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = normal+15;
+ motor[TIRE_FR].pwm = normal+20;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast+15;
+ motor[TIRE_FL].pwm = fast+20;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast+15;
+ motor[TIRE_BR].pwm = fast+20;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal+15;
+ motor[TIRE_BL].pwm = normal+20;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow+15;
+ motor[TIRE_FL].pwm = slow+20;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow+15;
+ motor[TIRE_BR].pwm = slow+20;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -2163,44 +2169,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal+15;
+ motor[TIRE_FL].pwm = normal+20;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal+15;
+ motor[TIRE_BR].pwm = normal+20;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = fast+15;
+ motor[TIRE_FR].pwm = fast+20;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = slow+15;
+ motor[TIRE_FL].pwm = slow+20;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow+15;
+ motor[TIRE_BR].pwm = slow+20;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+15;
+ motor[TIRE_BL].pwm = fast+20;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = slow+15;
+ motor[TIRE_FR].pwm = slow+20;
motor[TIRE_FR].dir = FOR;
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+15;
+ motor[TIRE_BL].pwm = slow+20;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = normal+15;
+ motor[TIRE_FR].pwm = normal+20;
motor[TIRE_FR].dir = FOR;
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+15;
+ motor[TIRE_BL].pwm = normal+20;
motor[TIRE_BL].dir = BACK;
mtc2=true;
break;
@@ -2219,7 +2225,7 @@
mtc2=false;
break;
case 254:
- motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BL].pwm += 15;
motor[TIRE_FL].pwm = 0;
mtc2=false;
break;
@@ -2232,7 +2238,7 @@
mtc2=false;
break;
case 2:
- motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FL].pwm += 15;
motor[TIRE_BL].pwm = 0;
mtc2=false;
break;
@@ -2256,7 +2262,8 @@
normal=40;
slow=20;
}
- } else if(mode==22) {
+ }
+ else if(mode==22) {
if(g[4]==3||g[4]==2) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -2368,7 +2375,8 @@
mode=23;
countss=0;
}
- } else if(mode==23) {
+ }
+ else if(mode==23) {
switch(g[4]) {
case 98:
motor[TIRE_FR].pwm = fast-5;
@@ -2466,7 +2474,6 @@
motor[MOTOR_0].dir = BRAKE;
}
if(g[1]==98) {
- //Change
fast=20;
normal=15;
slow=10;
@@ -2486,11 +2493,13 @@
normal=40;
slow=20;
}
- } else if(mode==24) {
+ }
+ else if(mode==24) {
if(DOLS==true||UPLS==true) {
motor[MOTOR_0].pwm = 200;
motor[MOTOR_0].dir = BRAKE;
- } else {
+ }
+ else {
motor[MOTOR_0].pwm = 100;
motor[MOTOR_0].dir = BACK;
}
@@ -2611,7 +2620,8 @@
motor[MOTOR_0].dir = BACK;
}
}
- } else if(mode==25) {
+ }
+ else if(mode==25) {
switch(g[4]) {
case 98:
motor[TIRE_FR].pwm = 60;
@@ -2705,17 +2715,18 @@
break;
}
if(g[1]==98) {
- mode=31;
+ mode=33;
}
}
- } else {
+ }
+ else {
if(mode==21) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BR].dir = BRAKE;
motor[TIRE_BL].pwm = 30;
motor[TIRE_BL].dir = BACK;
if(g[1]==0) {
@@ -2724,14 +2735,15 @@
normal=40;
slow=20;
}
- } else if(mode==22) {
+ }
+ else if(mode==22) {
if(g[1]==98) {
slow=20;
- normal=20;
- fast=30;
+ normal=30;
+ fast=40;
}
if(g[3]==0){
- slow=30;
+ slow=20;
normal=40;
fast=60;
mode=23;
@@ -2739,8 +2751,8 @@
switch(g[1]) {
case 98:
solenoid.solenoid4 = SOLENOID_OFF;
- fast=30;
- normal=20;
+ fast=40;
+ normal=30;
slow=20;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
@@ -2835,34 +2847,35 @@
mtc=false;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
+ motor[TIRE_FL].pwm += 3;
mtc=false;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
+ motor[TIRE_FL].pwm += 6;
mtc=false;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FL].pwm += 9;
motor[TIRE_FR].pwm = 0;
mtc=false;
break;
case 1:
- motor[TIRE_FR].pwm += 5;
+ motor[TIRE_FR].pwm += 3;
mtc=false;
break;
case 3:
- motor[TIRE_FR].pwm += 10;
+ motor[TIRE_FR].pwm += 6;
mtc=false;
break;
case 2:
- motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FR].pwm += 9;
motor[TIRE_FL].pwm = 0;
mtc=false;
break;
}
}
- }else if(mode==23) {
+ }
+ else if(mode==23) {
if(UPLS==true||DOLS==true) {
motor[MOTOR_0].pwm = 200;
motor[MOTOR_0].dir = BRAKE;
@@ -2871,7 +2884,8 @@
slow=20;
countss=0;
mode=24;
- } else {
+ }
+ else {
motor[MOTOR_0].pwm = 100;
motor[MOTOR_0].dir = BACK;
}
@@ -2883,15 +2897,16 @@
motor[TIRE_BR].dir = BRAKE;
motor[TIRE_BL].pwm = 100;
motor[TIRE_BL].dir = BRAKE;
- } else if(mode==24) {
+ }
+ else if(mode==24) {
if(g[1]==98&&countss>=40000) {
- mode=31;
+ mode=33;
countss=0;
}
switch(g[1]) {
case 98:
- fast=30;
- normal=20;
+ fast=40;
+ normal=30;
slow=20;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
@@ -2986,28 +3001,28 @@
mtc=false;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
+ motor[TIRE_FL].pwm += 3;
mtc=false;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
+ motor[TIRE_FL].pwm += 6;
mtc=false;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FL].pwm += 9;
motor[TIRE_FR].pwm = 0;
mtc=false;
break;
case 1:
- motor[TIRE_FR].pwm += 5;
+ motor[TIRE_FR].pwm += 3;
mtc=false;
break;
case 3:
- motor[TIRE_FR].pwm += 10;
+ motor[TIRE_FR].pwm += 6;
mtc=false;
break;
case 2:
- motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FR].pwm += 9;
motor[TIRE_FL].pwm = 0;
mtc=false;
break;
@@ -3015,6 +3030,8 @@
}
}
}
+
+ /*
if(mode==31) {
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
@@ -3041,65 +3058,68 @@
mode=33;
countss=0;
}
- } else if(mode==33) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 40;
+ }
+ */
+ if(mode==33) {
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 45;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].pwm = 45;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- if(g[3]==0&&g[2]==0) {
+ motor[TIRE_BL].pwm = 255;
+ motor[TIRE_BL].dir = BRAKE;
+ if(g[2]==0) {
cross=0;
countss=0;
mode=40;
}
- } else if(mode==40) {
+ }
+ else if(mode==40) {
switch(g[3]) {
case 98:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+30;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+30;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+30;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].pwm = normal+30;
motor[TIRE_BL].dir = FOR;
- if(countss>10000) {
+ if(countss>30000) {
cross++;
countss=0;
}
mtc2=true;
break;
case 0:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+30;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+30;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+30;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+30;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow+30;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = fast+30;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+30;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].pwm = slow+30;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+30;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+30;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -3108,44 +3128,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].pwm = normal+30;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+30;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = fast+30;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].pwm = slow+30;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+30;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = fast+30;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].pwm = slow+30;
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].pwm = slow+30;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].pwm = normal+30;
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].pwm = normal+30;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
@@ -3156,48 +3176,42 @@
mtc2=false;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
+ motor[TIRE_FR].pwm += 3;
mtc2=false;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
+ motor[TIRE_FR].pwm += 6;
mtc2=false;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
- motor[TIRE_BL].pwm = 0;
+ motor[TIRE_FR].pwm += 9;
+ motor[TIRE_BR].pwm = 0;
mtc2=false;
break;
case 1:
- motor[TIRE_BL].pwm += 5;
+ motor[TIRE_BR].pwm += 3;
mtc2=false;
break;
case 3:
- motor[TIRE_BL].pwm += 10;
+ motor[TIRE_BR].pwm += 6;
mtc2=false;
break;
case 2:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_FL].pwm = 0;
+ motor[TIRE_BR].pwm += 9;
+ motor[TIRE_FR].pwm = 0;
mtc2=false;
break;
}
}
- /*
- if(LIF||LIB) {
- mode=41;
- countss=0;
- cross=0;
- }
- */
if(YELLOW) {
if(cross==1) {
mode=41;
countss=0;
cross=0;
}
- } else {
+ }
+ else {
if(cross==3) {
mode=41;
countss=0;
@@ -3205,18 +3219,19 @@
}
}
- } else if(mode==41) {
+ }
+ else if(mode==41) {
if(LIF||LIB) {
mode=42;
}
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 40;
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 40;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
+ motor[TIRE_BL].pwm = 255;
+ motor[TIRE_BL].dir = BRAKE;
if(g[1]==0) {
countss=0;
mode=70;
@@ -3224,7 +3239,8 @@
fast=100;
slow=60;
}
- } else if(mode==42) {
+ }
+ else if(mode==42) {
motor[TIRE_FR].pwm = 40;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
@@ -3237,7 +3253,8 @@
countss=0;
mode=70;
}
- } else if(mode==70) {
+ }
+ else if(mode==70) {
switch(g[1]) {
case 99:
if(countss>=100000) {
@@ -3338,34 +3355,35 @@
mtc=false;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
+ motor[TIRE_FL].pwm += 3;
mtc=false;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
+ motor[TIRE_FL].pwm += 6;
mtc=false;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FL].pwm += 9;
motor[TIRE_FR].pwm = 0;
mtc=false;
break;
case 1:
- motor[TIRE_FR].pwm += 5;
+ motor[TIRE_FR].pwm += 3;
mtc=false;
break;
case 3:
- motor[TIRE_FR].pwm += 10;
+ motor[TIRE_FR].pwm += 6;
mtc=false;
break;
case 2:
- motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FR].pwm += 9;
motor[TIRE_FL].pwm = 0;
mtc=false;
break;
}
}
- } else if(mode==100) {
+ }
+ else if(mode==100) {
motor[TIRE_FR].pwm = 50;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 50;
@@ -3374,9 +3392,8 @@
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 50;
motor[TIRE_BL].dir = BACK;
- } else {
- }
-
+ }
+
}
#endif