大季 矢花
/
MB2019_main_11_19_1735
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Diff: System/Process/Process.cpp
- Revision:
- 56:61ebd4b759b4
- Parent:
- 55:844ac0974740
diff -r 844ac0974740 -r 61ebd4b759b4 System/Process/Process.cpp
--- a/System/Process/Process.cpp Mon Nov 18 04:18:06 2019 +0000
+++ b/System/Process/Process.cpp Tue Nov 19 08:35:12 2019 +0000
@@ -102,8 +102,8 @@
Ticker bunzin;
*/
-//Timer time;
-//int value;
+Timer aime;
+int value;
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
@@ -220,7 +220,7 @@
int point1;
void SystemProcess()
{
-
+
SystemProcessInitialize();
while(1) {
@@ -277,16 +277,15 @@
if(StertSW && start_flag == true) {
start_flag = false;
lock = false;
- //time.start();
if(ZoneSW) {
countss=0;
mode=1;
- current = 3;//10GATU30変更した
+ current = 5;//1119変更した
} else {
countss = 0;
mode=1;
- current = 2;//11ガツ13ニチヘンコウ
+ current = 2;
}
}
if(DWSW||DOSW) {
@@ -1999,9 +1998,9 @@
if(g[0]==0) {
mode=10;
countss=100000;
- fast = 60;
- normal = 40;
- slow = 30;
+ fast = 80;
+ normal = 60;
+ slow = 40;
}
break;
case 10:
@@ -2039,22 +2038,22 @@
case 0:
motor[TIRE_FR].pwm = fast+50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+50;
+ motor[TIRE_FL].pwm = fast+60;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = fast+50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+50;
+ motor[TIRE_BL].pwm = fast+45;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 255:
motor[TIRE_FR].pwm = fast+50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow+50;
+ motor[TIRE_FL].pwm = slow+60;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = slow+50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+50;
+ motor[TIRE_BL].pwm = fast+45;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
@@ -2065,7 +2064,7 @@
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow+50;
+ motor[TIRE_BL].pwm = slow+45;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
@@ -2076,25 +2075,25 @@
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal+50;
+ motor[TIRE_BL].pwm = normal+45;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
case 1:
motor[TIRE_FR].pwm = slow+50;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+50;
+ motor[TIRE_FL].pwm = fast+60;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = fast+50;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = slow+50;
+ motor[TIRE_BL].pwm = slow+45;
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+50;
+ motor[TIRE_FL].pwm = slow+60;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = slow+50;
motor[TIRE_BR].dir = BACK;
@@ -2105,7 +2104,7 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal+50;
+ motor[TIRE_FL].pwm = normal+60;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = normal+50;
motor[TIRE_BR].dir = BACK;
@@ -2457,8 +2456,8 @@
if(g[3]==0&&g[2]==0) {
mode=23;
countss=0;
- fast = 80;
- normal = 60;
+ fast = 60;
+ normal = 40;
slow = 30;
}
} else {
@@ -2695,14 +2694,16 @@
motor[TIRE_BL].dir = BACK;
break;
}
- if(g[1]==98) {
- fast=20;
- normal=15;
+ if(g[1]==98||g[1]==0||g[1]==1||g[1]==2||g[1]==3||g[1]==254||g[1]==253||g[1]==255) {
+ fast=10;
+ normal=10;
slow=10;
}
if(g[3]==254&&countss>=100000) {
mode=24;
solenoid.solenoid4 = SOLENOID_OFF;
+ aime.start();
+ aime.reset();
countss=0;
fast=80;
normal=60;
@@ -2735,6 +2736,10 @@
break;
case 24:
if(YELLOW) {
+ value=aime.read_ms();
+ if(value>=4000) {
+ mode=25;
+ }
if(g[4]==3||g[4]==2) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -3002,7 +3007,12 @@
}
break;
case 26:
- if (g[1] == 98) {
+ /*
+ if (g[3] == 0&&countss>=30000) {
+ mode = 40;
+ }
+ */
+ if (g[1] != 99) {
mode = 31;
}
switch(g[4]) {
@@ -3107,12 +3117,12 @@
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 255;
motor[TIRE_BL].dir = BRAKE;
- if(g[2]==0) {
+ if(g[3]==0) {
cross=0;
countss=0;
mode=40;
- fast = 60;
- normal = 40;
+ fast = 70;
+ normal = 50;
slow = 30;
}
break;
@@ -3283,9 +3293,9 @@
if(g[1]==0) {
countss=0;
mode=70;
- normal = 60;
- fast = 70;
- slow = 40;
+ normal = 120;
+ fast = 140;
+ slow = 100;
}
break;
case 42:
@@ -4688,6 +4698,524 @@
#if USE_PROCESS_NUM>5
static void Process5()
{
+ countss++;
+ switch(mode) {
+ case 1:
+ mode=2;
+ countss=0;
+ fast = 60;
+ normal = 40;
+ slow = 30;
+ break;
+ case 2:
+ if(YELLOW) {
+ switch(g[4]) {
+ case 98:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 99:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = slow+5;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = slow+5;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = normal+5;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = normal+5;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = slow+5;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = slow+5;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = normal+5;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = normal+5;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ }
+ if(g[1]==98||g[1]==0||g[1]==1||g[1]==2||g[1]==3||g[1]==254||g[1]==253||g[1]==255) {
+ fast=10;
+ normal=10;
+ slow=10;
+ }
+ if(g[3]==254&&countss>=100000) {
+ mode=3;
+ solenoid.solenoid4 = SOLENOID_OFF;
+ aime.start();
+ aime.reset();
+ countss=0;
+ fast=80;
+ normal=60;
+ slow=30;
+ }
+ } else {
+ if(UPLS||DOLS) {
+ if(UPLS||DOLS) {
+ motor[MOTOR_0].pwm = 200;
+ motor[MOTOR_0].dir = BRAKE;
+ fast=60;
+ normal=40;
+ slow=30;
+ 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;
+ }
+ break;
+ case 3:
+ if(YELLOW) {
+ value=aime.read_ms();
+ if(value>=5000) {
+ mode=4;
+ }
+ if(g[4]==3||g[4]==2) {
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ }
+ if(g[4]==253||g[4]==254) {
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ }
+ switch(g[2]) {
+ case 0:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 25;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 25;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 25;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ }
+ switch(g[3]) {
+ case 0:
+ motor[TIRE_FL].pwm = 25;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm = 25;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ case 253:
+ motor[TIRE_FL].pwm = 25;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ }
+ if(g[3]==0&&g[2]==0) {
+ mode=25;
+ }
+ } else {
+ if(g[1]==98&&countss>=40000) {
+ mode=31;
+ fast = 60;
+ normal = 40;
+ slow = 30;
+ countss=0;
+ }
+ switch(g[1]) {
+ case 98:
+ fast=40;
+ normal=30;
+ slow=25;
+ motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = slow;
+ 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;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = normal;
+ 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;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].dir = FOR;
+ 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 = BACK;
+ motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ }
+ if(g[1]!=98&&mtc==true) {
+ switch(g[0]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 3;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 6;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 9;
+ motor[TIRE_FR].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm += 3;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm += 6;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm += 9;
+ motor[TIRE_FL].pwm = 0;
+ mtc=false;
+ break;
+ }
+ }
+ }
+ break;
+ case 4:
+ 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;
+ if(UPLS==true||DOLS==true) {
+ if(UPLS==true||DOLS==true) {
+ motor[MOTOR_0].pwm = 200;
+ motor[MOTOR_0].dir = BRAKE;
+ countss = 0;
+ mode=26;
+ }
+ } else {
+ motor[MOTOR_0].pwm = 100;
+ motor[MOTOR_0].dir = BACK;
+ }
+ break;
+ case 5:
+ /*
+ if (g[3] == 0&&countss>=30000) {
+ mode = 40;
+ }
+ */
+ if (g[1] != 99) {
+ mode = 31;
+ }
+ switch(g[4]) {
+ case 98:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 99:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 25;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 25;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ }
+ break;
+ }
}
#endif