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大季矢花 / Mbed 2 deprecated MB2019_main_alltimes_1123

System/Process/Process.cpp@45:0cf48a0605cd, 2019-11-11 (annotated)

Committer:: kishibekairohan
Date:: Mon Nov 11 08:11:29 2019 +0000
Revision:: 45:0cf48a0605cd
Parent:: 44:2aff0da5ebdb
Child:: 46:68296caae1af

akaka

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	33:dd598bb23ad1	92
yabahiro	33:dd598bb23ad1	93	///*******PWM調整用*******///
kishibekairohan	41:99a1158f3eca	94
kishibekairohan	42:980af34f6fe3	95	int fast = 60;
yabahiro	33:dd598bb23ad1	96	int normal = 40;
yabahiro	33:dd598bb23ad1	97	int slow = 20;
yabahiro	33:dd598bb23ad1	98
t_yamamoto	0:669ef71cba68	99	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	100
t_yamamoto	0:669ef71cba68	101	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	102	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	103	static void Process0(void);
t_yamamoto	0:669ef71cba68	104	#endif
t_yamamoto	0:669ef71cba68	105	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	106	static void Process1(void);
t_yamamoto	0:669ef71cba68	107	#endif
t_yamamoto	0:669ef71cba68	108	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	109	static void Process2(void);
t_yamamoto	0:669ef71cba68	110	#endif
t_yamamoto	0:669ef71cba68	111	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	112	static void Process3(void);
t_yamamoto	0:669ef71cba68	113	#endif
t_yamamoto	0:669ef71cba68	114	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	115	static void Process4(void);
t_yamamoto	0:669ef71cba68	116	#endif
t_yamamoto	0:669ef71cba68	117	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	118	static void Process5(void);
t_yamamoto	0:669ef71cba68	119	#endif
t_yamamoto	0:669ef71cba68	120	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	121	static void Process6(void);
t_yamamoto	0:669ef71cba68	122	#endif
t_yamamoto	0:669ef71cba68	123	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	124	static void Process7(void);
t_yamamoto	0:669ef71cba68	125	#endif
t_yamamoto	0:669ef71cba68	126	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	127	static void Process8(void);
t_yamamoto	0:669ef71cba68	128	#endif
t_yamamoto	0:669ef71cba68	129	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	130	static void Process9(void);
t_yamamoto	0:669ef71cba68	131	#endif
t_yamamoto	0:669ef71cba68	132	#endif
t_yamamoto	0:669ef71cba68	133
t_yamamoto	0:669ef71cba68	134	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	135	{
Ryosei	27:dd9f27fce7d1	136	#pragma region USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	137	/Replace here with the initialization code of your variables./
Ryosei	27:dd9f27fce7d1	138
Ryosei	27:dd9f27fce7d1	139	#pragma endregion USER-DEFINED_VARIABLE_INIT
Ryosei	27:dd9f27fce7d1	140
Ryosei	27:dd9f27fce7d1	141	lock = true;
Ryosei	27:dd9f27fce7d1	142	processChangeComp = true;
Ryosei	27:dd9f27fce7d1	143	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	144
Ryosei	27:dd9f27fce7d1	145	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	146	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	147	Process[0] = Process0;
Ryosei	27:dd9f27fce7d1	148	#endif
Ryosei	27:dd9f27fce7d1	149	#if USE_PROCESS_NUM>1
Ryosei	27:dd9f27fce7d1	150	Process[1] = Process1;
Ryosei	27:dd9f27fce7d1	151	#endif
Ryosei	27:dd9f27fce7d1	152	#if USE_PROCESS_NUM>2
Ryosei	27:dd9f27fce7d1	153	Process[2] = Process2;
Ryosei	27:dd9f27fce7d1	154	#endif
Ryosei	27:dd9f27fce7d1	155	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	156	Process[3] = Process3;
Ryosei	27:dd9f27fce7d1	157	#endif
Ryosei	27:dd9f27fce7d1	158	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	159	Process[4] = Process4;
Ryosei	27:dd9f27fce7d1	160	#endif
Ryosei	27:dd9f27fce7d1	161	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	162	Process[5] = Process5;
Ryosei	27:dd9f27fce7d1	163	#endif
Ryosei	27:dd9f27fce7d1	164	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	165	Process[6] = Process6;
Ryosei	27:dd9f27fce7d1	166	#endif
Ryosei	27:dd9f27fce7d1	167	#if USE_PROCESS_NUM>7
Ryosei	27:dd9f27fce7d1	168	Process[7] = Process7;
Ryosei	27:dd9f27fce7d1	169	#endif
Ryosei	27:dd9f27fce7d1	170	#if USE_PROCESS_NUM>8
Ryosei	27:dd9f27fce7d1	171	Process[8] = Process8;
Ryosei	27:dd9f27fce7d1	172	#endif
Ryosei	27:dd9f27fce7d1	173	#if USE_PROCESS_NUM>9
Ryosei	27:dd9f27fce7d1	174	Process[9] = Process9;
Ryosei	27:dd9f27fce7d1	175	#endif
Ryosei	27:dd9f27fce7d1	176	#endif
t_yamamoto	0:669ef71cba68	177	}
t_yamamoto	0:669ef71cba68	178
t_yamamoto	0:669ef71cba68	179	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	180	{
Ryosei	27:dd9f27fce7d1	181	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	182	if(controller->Button.HOME) lock = false;
Ryosei	27:dd9f27fce7d1	183
Ryosei	27:dd9f27fce7d1	184	if(controller->Button.START && processChangeComp) {
Ryosei	27:dd9f27fce7d1	185	current++;
Ryosei	27:dd9f27fce7d1	186	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
Ryosei	27:dd9f27fce7d1	187	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	188	} else if(controller->Button.SELECT && processChangeComp) {
Ryosei	27:dd9f27fce7d1	189	current--;
Ryosei	27:dd9f27fce7d1	190	if (current < 0) current = 0;
Ryosei	27:dd9f27fce7d1	191	processChangeComp = false;
Ryosei	27:dd9f27fce7d1	192	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
Ryosei	27:dd9f27fce7d1	193	#endif
Ryosei	27:dd9f27fce7d1	194
Ryosei	27:dd9f27fce7d1	195	#ifdef USE_MOTOR
Ryosei	27:dd9f27fce7d1	196	ACTUATORHUB::MOTOR::Motor::Update(motor);
Ryosei	27:dd9f27fce7d1	197	#endif
Ryosei	27:dd9f27fce7d1	198
Ryosei	27:dd9f27fce7d1	199	#ifdef USE_SOLENOID
Ryosei	27:dd9f27fce7d1	200	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
Ryosei	27:dd9f27fce7d1	201	#endif
Ryosei	27:dd9f27fce7d1	202
Ryosei	27:dd9f27fce7d1	203	#ifdef USE_RS485
Ryosei	27:dd9f27fce7d1	204	ACTUATORHUB::ActuatorHub::Update();
Ryosei	27:dd9f27fce7d1	205	//LINEHUB::LineHub::Update();
Ryosei	27:dd9f27fce7d1	206	#endif
Ryosei	27:dd9f27fce7d1	207
Ryosei	27:dd9f27fce7d1	208	}
Ryosei	27:dd9f27fce7d1	209
yabahiro	39:784552c26163	210	int point1;
Ryosei	27:dd9f27fce7d1	211	void SystemProcess()
Ryosei	27:dd9f27fce7d1	212	{
Ryosei	27:dd9f27fce7d1	213	SystemProcessInitialize();
yabahiro	33:dd598bb23ad1	214
Ryosei	27:dd9f27fce7d1	215	while(1) {
yabahiro	39:784552c26163	216	//pc.printf("4:%d\n\r",g[4]);
kishibekairohan	41:99a1158f3eca	217
yabahiro	33:dd598bb23ad1	218	if(EMC==0) {
yabahiro	33:dd598bb23ad1	219	fast=40;
yabahiro	33:dd598bb23ad1	220	normal=30;
yabahiro	33:dd598bb23ad1	221	slow=20;
yabahiro	33:dd598bb23ad1	222	cross=0;//十字数える用
yabahiro	33:dd598bb23ad1	223	cros=0;
yabahiro	33:dd598bb23ad1	224	countss=0;//wait代替え
yabahiro	33:dd598bb23ad1	225	UP_flag = false;
yabahiro	33:dd598bb23ad1	226	SW_flag = false;
yabahiro	33:dd598bb23ad1	227	Air_flag = false;
yabahiro	33:dd598bb23ad1	228	zyouge=false;
yabahiro	33:dd598bb23ad1	229	zyougedo=false;
yabahiro	33:dd598bb23ad1	230	dz2=true;
yabahiro	33:dd598bb23ad1	231	dz2i=false;
yabahiro	33:dd598bb23ad1	232	dz3=true;
yabahiro	33:dd598bb23ad1	233	dz3i=false;
yabahiro	33:dd598bb23ad1	234	dz4=true;
yabahiro	33:dd598bb23ad1	235	dz4i=false;
yabahiro	33:dd598bb23ad1	236	through=false;
yabahiro	33:dd598bb23ad1	237	counts=false;
yabahiro	33:dd598bb23ad1	238	mtc=false;
yabahiro	33:dd598bb23ad1	239	mtc2 = false;
yabahiro	33:dd598bb23ad1	240	current = 0;
yabahiro	33:dd598bb23ad1	241	SystemProcessInitialize();
yabahiro	33:dd598bb23ad1	242	if(emcs==false) {
yabahiro	33:dd598bb23ad1	243	AllActuatorReset();
yabahiro	33:dd598bb23ad1	244	emcs=true;
yabahiro	33:dd598bb23ad1	245	}
yabahiro	33:dd598bb23ad1	246	} else {
yabahiro	33:dd598bb23ad1	247	emcs=false;
yabahiro	33:dd598bb23ad1	248	}
Ryosei	27:dd9f27fce7d1	249
yabahiro	33:dd598bb23ad1	250	if(mode==0) {
yabahiro	33:dd598bb23ad1	251	if(ZoneSW) {
kishibekairohan	35:33c6cdba5630	252	LED::LED::TapeledMode(1);
yabahiro	33:dd598bb23ad1	253	} else {
kishibekairohan	35:33c6cdba5630	254	LED::LED::TapeledMode(2);
yabahiro	33:dd598bb23ad1	255	}
yabahiro	33:dd598bb23ad1	256	}
yabahiro	33:dd598bb23ad1	257	for(int i = 0; i < 8; i++) {
yabahiro	33:dd598bb23ad1	258	g[i] = LineHub::GetPara(i);
yabahiro	33:dd598bb23ad1	259	}
yabahiro	33:dd598bb23ad1	260	if(ThSW) {
yabahiro	33:dd598bb23ad1	261	Twsh=1;
yabahiro	33:dd598bb23ad1	262	} else {
yabahiro	33:dd598bb23ad1	263	Twsh=2;
yabahiro	33:dd598bb23ad1	264	}
yabahiro	33:dd598bb23ad1	265
yabahiro	33:dd598bb23ad1	266	if(StertSW && start_flag == true) {
yabahiro	33:dd598bb23ad1	267	start_flag = false;
yabahiro	33:dd598bb23ad1	268	lock = false;
yabahiro	33:dd598bb23ad1	269	if(ZoneSW) {
yabahiro	33:dd598bb23ad1	270	countss=0;
yabahiro	33:dd598bb23ad1	271	mode=1;
yabahiro	40:ed2409e0ce6b	272	current = 3;//10GATU30変更した
yabahiro	33:dd598bb23ad1	273
yabahiro	33:dd598bb23ad1	274	} else {
kishibekairohan	34:2fce61e3ebc4	275	countss = 0;
yabahiro	33:dd598bb23ad1	276	mode=1;
kishibekairohan	34:2fce61e3ebc4	277	current = 2;
yabahiro	33:dd598bb23ad1	278	}
yabahiro	33:dd598bb23ad1	279	}
yabahiro	33:dd598bb23ad1	280	if(DWSW\|\|DOSW) {
yabahiro	33:dd598bb23ad1	281	if(DWSW) {
yabahiro	33:dd598bb23ad1	282	zyouge=true;
yabahiro	33:dd598bb23ad1	283	}
yabahiro	33:dd598bb23ad1	284	if(DOSW) {
yabahiro	33:dd598bb23ad1	285	if(DOLS) {
yabahiro	33:dd598bb23ad1	286	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	287	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	288	} else {
yabahiro	38:40e7fdf3c694	289	motor[MOTOR_0].pwm = 200;
yabahiro	33:dd598bb23ad1	290	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	291	}
yabahiro	33:dd598bb23ad1	292	}
yabahiro	33:dd598bb23ad1	293	} else if(zyouge==false) {
yabahiro	33:dd598bb23ad1	294	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	295	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	296	}
yabahiro	33:dd598bb23ad1	297	if(zyouge) {
yabahiro	33:dd598bb23ad1	298	if(Twsh==1) {
yabahiro	38:40e7fdf3c694	299	motor[MOTOR_0].pwm = 255;
yabahiro	33:dd598bb23ad1	300	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	301	if(UPLS) {
yabahiro	33:dd598bb23ad1	302	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	303	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	304	zyouge=false;
yabahiro	33:dd598bb23ad1	305	}
yabahiro	33:dd598bb23ad1	306	}
yabahiro	33:dd598bb23ad1	307	if(Twsh==2) {
yabahiro	33:dd598bb23ad1	308	motor[MOTOR_0].pwm = 245;
yabahiro	33:dd598bb23ad1	309	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	310	if(UPLS2) {
yabahiro	33:dd598bb23ad1	311	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	312	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	313	zyouge=false;
yabahiro	33:dd598bb23ad1	314	}
yabahiro	33:dd598bb23ad1	315	}
yabahiro	33:dd598bb23ad1	316	}
yabahiro	33:dd598bb23ad1	317	if(AIRSW) {
yabahiro	33:dd598bb23ad1	318	if(SW_flag==false) {
yabahiro	33:dd598bb23ad1	319	if(Air_flag==false) {
yabahiro	33:dd598bb23ad1	320	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	321	Air_flag=true;
yabahiro	33:dd598bb23ad1	322	SW_flag=true;
yabahiro	33:dd598bb23ad1	323	} else {
yabahiro	33:dd598bb23ad1	324	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	325	Air_flag=false;
yabahiro	33:dd598bb23ad1	326	SW_flag=true;
yabahiro	33:dd598bb23ad1	327	}
yabahiro	33:dd598bb23ad1	328	}
yabahiro	33:dd598bb23ad1	329	} else {
yabahiro	33:dd598bb23ad1	330	if(SW_flag==true) {
yabahiro	33:dd598bb23ad1	331	countss++;
yabahiro	33:dd598bb23ad1	332	if(countss>=2000) {
yabahiro	33:dd598bb23ad1	333	SW_flag=false;
yabahiro	33:dd598bb23ad1	334	countss=0;
yabahiro	33:dd598bb23ad1	335	}
yabahiro	33:dd598bb23ad1	336	}
yabahiro	33:dd598bb23ad1	337	}
yabahiro	33:dd598bb23ad1	338
yabahiro	33:dd598bb23ad1	339
yabahiro	33:dd598bb23ad1	340	#ifdef USE_MU
Ryosei	27:dd9f27fce7d1	341	controller = CONTROLLER::Controller::GetData();
yabahiro	33:dd598bb23ad1	342	#endif
yabahiro	33:dd598bb23ad1	343
Ryosei	27:dd9f27fce7d1	344
yabahiro	33:dd598bb23ad1	345	#ifdef USE_ERRORCHECK
yabahiro	38:40e7fdf3c694	346	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) {
Ryosei	27:dd9f27fce7d1	347	CONTROLLER::Controller::DataReset();
Ryosei	27:dd9f27fce7d1	348	AllActuatorReset();
Ryosei	27:dd9f27fce7d1	349	lock = true;
Ryosei	27:dd9f27fce7d1	350	} else
yabahiro	38:40e7fdf3c694	351
yabahiro	33:dd598bb23ad1	352	#endif
Ryosei	27:dd9f27fce7d1	353	{
Ryosei	27:dd9f27fce7d1	354
yabahiro	33:dd598bb23ad1	355	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	356	if(!lock) {
Ryosei	27:dd9f27fce7d1	357	Process[current]();
Ryosei	27:dd9f27fce7d1	358	} else
yabahiro	33:dd598bb23ad1	359	#endif
Ryosei	27:dd9f27fce7d1	360	{
Ryosei	27:dd9f27fce7d1	361	//ロック時の処理
Ryosei	27:dd9f27fce7d1	362	}
Ryosei	27:dd9f27fce7d1	363	}
yabahiro	33:dd598bb23ad1	364
Ryosei	27:dd9f27fce7d1	365	SystemProcessUpdate();
Ryosei	27:dd9f27fce7d1	366	}
t_yamamoto	0:669ef71cba68	367	}
t_yamamoto	0:669ef71cba68	368
kishibekairohan	2:c015739085d3	369
kishibekairohan	2:c015739085d3	370
kishibekairohan	2:c015739085d3	371
t_yamamoto	0:669ef71cba68	372	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	373	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	374	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	375	static void Process0()
Ryosei	27:dd9f27fce7d1	376	{
yabahiro	33:dd598bb23ad1	377
yabahiro	33:dd598bb23ad1	378	//AllActuatorReset();
t_yamamoto	0:669ef71cba68	379	}
t_yamamoto	0:669ef71cba68	380	#endif
t_yamamoto	0:669ef71cba68	381
t_yamamoto	0:669ef71cba68	382	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	383	static void Process1()
t_yamamoto	0:669ef71cba68	384	{
kishibekairohan	35:33c6cdba5630	385	LED::LED::TapeledMode(6);
yabahiro	33:dd598bb23ad1	386	start_flag = true;
yabahiro	33:dd598bb23ad1	387	mtc=false;
yabahiro	33:dd598bb23ad1	388	mtc2 = false;
yabahiro	33:dd598bb23ad1	389	mode=1;
yabahiro	33:dd598bb23ad1	390	cross=0;
yabahiro	33:dd598bb23ad1	391	Twsh=1;
yabahiro	33:dd598bb23ad1	392	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	393	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	394	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	395	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
Ryosei	27:dd9f27fce7d1	396
kishibekairohan	42:980af34f6fe3	397	motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	398	motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	399	motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	400	motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	33:dd598bb23ad1	401
yabahiro	33:dd598bb23ad1	402	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	403
yabahiro	33:dd598bb23ad1	404	if(controller->Button.UP) {
yabahiro	33:dd598bb23ad1	405	motor[MOTOR_0].pwm =200;
yabahiro	33:dd598bb23ad1	406	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	407	if(UPLS) {
yabahiro	33:dd598bb23ad1	408	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	409	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	410	}
yabahiro	33:dd598bb23ad1	411	}
yabahiro	33:dd598bb23ad1	412	if(controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	413	motor[MOTOR_0].pwm = 50;
yabahiro	33:dd598bb23ad1	414	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	415	}
yabahiro	33:dd598bb23ad1	416	} else {
yabahiro	33:dd598bb23ad1	417	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	418	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	419	}
yabahiro	33:dd598bb23ad1	420
yabahiro	33:dd598bb23ad1	421	if(controller->Button.Y) {
yabahiro	33:dd598bb23ad1	422	if(dz2==true) {
yabahiro	33:dd598bb23ad1	423	if(dz2i==false) {
yabahiro	33:dd598bb23ad1	424	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	425	dz2i=true;
yabahiro	33:dd598bb23ad1	426	} else {
yabahiro	33:dd598bb23ad1	427	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	428	dz2i=false;
yabahiro	33:dd598bb23ad1	429	}
yabahiro	33:dd598bb23ad1	430	dz2=false;
yabahiro	33:dd598bb23ad1	431	}
yabahiro	33:dd598bb23ad1	432	} else {
yabahiro	33:dd598bb23ad1	433	dz2=true;
yabahiro	33:dd598bb23ad1	434	}
yabahiro	33:dd598bb23ad1	435
yabahiro	33:dd598bb23ad1	436	if(controller->Button.A) {
yabahiro	33:dd598bb23ad1	437	if(dz3==true) {
yabahiro	33:dd598bb23ad1	438	if(dz3i==false) {
kishibekairohan	37:e77816810627	439	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	440	dz3i=true;
yabahiro	33:dd598bb23ad1	441	} else {
yabahiro	33:dd598bb23ad1	442	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	443	dz3i=false;
yabahiro	33:dd598bb23ad1	444	}
yabahiro	33:dd598bb23ad1	445	dz3=false;
yabahiro	33:dd598bb23ad1	446	}
yabahiro	33:dd598bb23ad1	447	} else {
yabahiro	33:dd598bb23ad1	448	dz3=true;
yabahiro	33:dd598bb23ad1	449	}
yabahiro	33:dd598bb23ad1	450
yabahiro	33:dd598bb23ad1	451	if(controller->Button.B) {
yabahiro	33:dd598bb23ad1	452	if(dz4==true) {
yabahiro	33:dd598bb23ad1	453	if(dz4i==false) {
yabahiro	38:40e7fdf3c694	454	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	455	dz4i=true;
yabahiro	33:dd598bb23ad1	456	} else {
yabahiro	38:40e7fdf3c694	457	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	458	dz4i=false;
yabahiro	33:dd598bb23ad1	459	}
yabahiro	33:dd598bb23ad1	460	dz4=false;
yabahiro	33:dd598bb23ad1	461	}
yabahiro	33:dd598bb23ad1	462	} else {
yabahiro	33:dd598bb23ad1	463	dz4=true;
yabahiro	33:dd598bb23ad1	464	}
t_yamamoto	0:669ef71cba68	465	}
t_yamamoto	0:669ef71cba68	466	#endif
t_yamamoto	0:669ef71cba68	467
t_yamamoto	0:669ef71cba68	468	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	469	static void Process2()
Ryosei	27:dd9f27fce7d1	470	{
yabahiro	33:dd598bb23ad1	471	//Oh So 青ゾーン
yabahiro	39:784552c26163	472	LED::LED::TapeledMode(2);
yabahiro	33:dd598bb23ad1	473	countss++;
yabahiro	33:dd598bb23ad1	474	if(mode==1) {//スタートゾーンから白線検知
yabahiro	33:dd598bb23ad1	475	fast=40;
yabahiro	33:dd598bb23ad1	476	normal=30;
yabahiro	33:dd598bb23ad1	477	slow=20;
kishibekairohan	45:0cf48a0605cd	478	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	479	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	480	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	481	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	482	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	483	motor[TIRE_BR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	484	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	485	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	486	if(g[2]==0&&countss>=100000) {
yabahiro	33:dd598bb23ad1	487	countss=100000;
yabahiro	33:dd598bb23ad1	488	cross=0;
yabahiro	33:dd598bb23ad1	489	mode=3;
yabahiro	33:dd598bb23ad1	490	}
kishibekairohan	45:0cf48a0605cd	491	}
kishibekairohan	45:0cf48a0605cd	492	else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	33:dd598bb23ad1	493	motor[TIRE_FR].pwm = 30;
yabahiro	33:dd598bb23ad1	494	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	495	motor[TIRE_FL].pwm = 255;
kishibekairohan	45:0cf48a0605cd	496	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	45:0cf48a0605cd	497	motor[TIRE_BR].pwm = 255;
kishibekairohan	45:0cf48a0605cd	498	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	499	motor[TIRE_BL].pwm = 30;
yabahiro	33:dd598bb23ad1	500	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	501	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	502	mode=10;
yabahiro	33:dd598bb23ad1	503	countss=100000;
yabahiro	33:dd598bb23ad1	504	}
kishibekairohan	45:0cf48a0605cd	505	}
kishibekairohan	45:0cf48a0605cd	506	else if(mode==10) { //縦ライントレース
yabahiro	33:dd598bb23ad1	507	switch(g[1]) {
yabahiro	33:dd598bb23ad1	508	case 98:
kishibekairohan	45:0cf48a0605cd	509	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	510	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	511	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	512	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	513	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	514	motor[TIRE_BR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	515	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	516	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	517	mtc=true;
yabahiro	39:784552c26163	518	if(countss>80000) {
yabahiro	33:dd598bb23ad1	519	cross++;
yabahiro	33:dd598bb23ad1	520	countss=0;
yabahiro	33:dd598bb23ad1	521	}
kishibekairohan	45:0cf48a0605cd	522
kishibekairohan	45:0cf48a0605cd	523	if(cross==2){
kishibekairohan	45:0cf48a0605cd	524	fast = 10;
kishibekairohan	45:0cf48a0605cd	525	normal = 10;
kishibekairohan	45:0cf48a0605cd	526	slow = 5;
kishibekairohan	45:0cf48a0605cd	527	}
kishibekairohan	45:0cf48a0605cd	528
yabahiro	39:784552c26163	529	if(cross==3) {
kishibekairohan	45:0cf48a0605cd	530	fast=40;
kishibekairohan	45:0cf48a0605cd	531	normal=30;
kishibekairohan	45:0cf48a0605cd	532	slow=20;
yabahiro	33:dd598bb23ad1	533	mode=11;
yabahiro	33:dd598bb23ad1	534	countss=0;
yabahiro	33:dd598bb23ad1	535	cross=0;
yabahiro	33:dd598bb23ad1	536	}
yabahiro	33:dd598bb23ad1	537	break;
yabahiro	33:dd598bb23ad1	538	case 0:
kishibekairohan	45:0cf48a0605cd	539	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	540	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	541	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	542	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	543	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	544	motor[TIRE_BR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	545	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	546	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	547	mtc=true;
yabahiro	33:dd598bb23ad1	548	break;
yabahiro	33:dd598bb23ad1	549	case 255:
kishibekairohan	45:0cf48a0605cd	550	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	551	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	552	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	553	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	554	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	555	motor[TIRE_BR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	556	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	557	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	558	mtc=true;
yabahiro	33:dd598bb23ad1	559	break;
yabahiro	33:dd598bb23ad1	560	case 253:
kishibekairohan	45:0cf48a0605cd	561	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	562	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	563	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	564	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	565	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	566	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	567	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	568	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	569	mtc=true;
yabahiro	33:dd598bb23ad1	570	break;
yabahiro	33:dd598bb23ad1	571	case 254:
kishibekairohan	45:0cf48a0605cd	572	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	573	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	574	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	575	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	576	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	577	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	578	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	579	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	580	mtc=true;
yabahiro	33:dd598bb23ad1	581	break;
yabahiro	33:dd598bb23ad1	582	case 1:
kishibekairohan	45:0cf48a0605cd	583	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	584	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	585	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	586	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	587	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	588	motor[TIRE_BR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	589	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	590	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	591	mtc=true;
yabahiro	33:dd598bb23ad1	592	break;
yabahiro	33:dd598bb23ad1	593	case 3:
yabahiro	33:dd598bb23ad1	594	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	595	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	596	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	597	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	598	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	599	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	600	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	601	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	602	mtc=true;
yabahiro	33:dd598bb23ad1	603	break;
yabahiro	33:dd598bb23ad1	604	case 2:
yabahiro	33:dd598bb23ad1	605	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	606	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	607	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	608	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	609	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	610	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	611	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	612	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	613	mtc=true;
yabahiro	33:dd598bb23ad1	614	break;
yabahiro	33:dd598bb23ad1	615	}
kishibekairohan	45:0cf48a0605cd	616	if(g[1]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	617	switch(g[0]) {
yabahiro	33:dd598bb23ad1	618	case 0:
yabahiro	33:dd598bb23ad1	619	mtc=false;
yabahiro	33:dd598bb23ad1	620	break;
yabahiro	33:dd598bb23ad1	621	case 255:
kishibekairohan	45:0cf48a0605cd	622	motor[TIRE_FL].pwm += 3;
yabahiro	33:dd598bb23ad1	623	mtc=false;
yabahiro	33:dd598bb23ad1	624	break;
yabahiro	33:dd598bb23ad1	625	case 253:
kishibekairohan	45:0cf48a0605cd	626	motor[TIRE_FL].pwm += 6;
yabahiro	33:dd598bb23ad1	627	mtc=false;
yabahiro	33:dd598bb23ad1	628	break;
yabahiro	33:dd598bb23ad1	629	case 254:
kishibekairohan	45:0cf48a0605cd	630	motor[TIRE_FL].pwm += 9;
yabahiro	33:dd598bb23ad1	631	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	632	mtc=false;
yabahiro	33:dd598bb23ad1	633	break;
yabahiro	33:dd598bb23ad1	634	case 1:
kishibekairohan	45:0cf48a0605cd	635	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	636	mtc=false;
yabahiro	33:dd598bb23ad1	637	break;
yabahiro	33:dd598bb23ad1	638	case 3:
kishibekairohan	45:0cf48a0605cd	639	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	640	mtc=false;
yabahiro	33:dd598bb23ad1	641	break;
yabahiro	33:dd598bb23ad1	642	case 2:
kishibekairohan	45:0cf48a0605cd	643	motor[TIRE_FR].pwm += 9;
yabahiro	33:dd598bb23ad1	644	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	645	mtc=false;
yabahiro	33:dd598bb23ad1	646	break;
yabahiro	33:dd598bb23ad1	647	}
yabahiro	33:dd598bb23ad1	648	}
yabahiro	33:dd598bb23ad1	649	} else if(mode==11) {
yabahiro	33:dd598bb23ad1	650	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	651	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	652	motor[TIRE_FL].pwm = 25;
kishibekairohan	45:0cf48a0605cd	653	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	654	motor[TIRE_BR].pwm = 25;
kishibekairohan	45:0cf48a0605cd	655	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	656	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	657	motor[TIRE_BL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	658	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	33:dd598bb23ad1	659	countss=0;
yabahiro	33:dd598bb23ad1	660	cross=0;
yabahiro	33:dd598bb23ad1	661	mode=20;
yabahiro	33:dd598bb23ad1	662	}
kishibekairohan	45:0cf48a0605cd	663	}
kishibekairohan	45:0cf48a0605cd	664	else if(mode==20) {
yabahiro	39:784552c26163	665	solenoid.solenoid4= SOLENOID_ON;
yabahiro	33:dd598bb23ad1	666	switch(g[2]) {
yabahiro	33:dd598bb23ad1	667	case 98:
kishibekairohan	45:0cf48a0605cd	668	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	669	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	670	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	671	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	672	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	673	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	674	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	675	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	676	if(countss>30000) {
yabahiro	33:dd598bb23ad1	677	cross++;
yabahiro	33:dd598bb23ad1	678	countss=0;
yabahiro	33:dd598bb23ad1	679	}
yabahiro	33:dd598bb23ad1	680	mtc2=true;
kishibekairohan	45:0cf48a0605cd	681
kishibekairohan	45:0cf48a0605cd	682	if(YELLOW) {
kishibekairohan	45:0cf48a0605cd	683	if(cross==1) {
yabahiro	39:784552c26163	684	fast=30;
yabahiro	39:784552c26163	685	normal=20;
yabahiro	33:dd598bb23ad1	686	slow=20;
kishibekairohan	45:0cf48a0605cd	687	}
kishibekairohan	45:0cf48a0605cd	688	else if(cross==2) {
yabahiro	39:784552c26163	689	mode=21;
yabahiro	39:784552c26163	690	countss=0;
yabahiro	39:784552c26163	691	cross=0;
yabahiro	39:784552c26163	692	}
yabahiro	39:784552c26163	693	} else {
kishibekairohan	45:0cf48a0605cd	694	if(cross==3) {
yabahiro	39:784552c26163	695	mode=21;
yabahiro	39:784552c26163	696	countss=0;
yabahiro	39:784552c26163	697	cross=0;
yabahiro	39:784552c26163	698	}
yabahiro	39:784552c26163	699	}
yabahiro	33:dd598bb23ad1	700	break;
yabahiro	33:dd598bb23ad1	701	case 0:
kishibekairohan	45:0cf48a0605cd	702	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	703	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	704	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	705	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	706	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	707	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	708	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	709	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	710	mtc2=true;
yabahiro	33:dd598bb23ad1	711	break;
yabahiro	33:dd598bb23ad1	712	case 255:
kishibekairohan	45:0cf48a0605cd	713	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	714	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	715	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	716	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	717	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	718	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	719	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	720	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	721	mtc2=true;
yabahiro	33:dd598bb23ad1	722	break;
yabahiro	33:dd598bb23ad1	723	case 253:
yabahiro	33:dd598bb23ad1	724	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	725	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	726	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	727	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	728	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	729	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	730	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	731	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	732	mtc2=true;
yabahiro	33:dd598bb23ad1	733	break;
yabahiro	33:dd598bb23ad1	734	case 254:
yabahiro	33:dd598bb23ad1	735	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	736	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	737	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	738	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	739	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	740	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	741	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	742	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	743	mtc2=true;
yabahiro	33:dd598bb23ad1	744	break;
yabahiro	33:dd598bb23ad1	745	case 1:
kishibekairohan	45:0cf48a0605cd	746	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	747	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	748	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	749	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	750	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	751	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	752	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	753	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	754	mtc2=true;
yabahiro	33:dd598bb23ad1	755	break;
yabahiro	33:dd598bb23ad1	756	case 3:
kishibekairohan	45:0cf48a0605cd	757	motor[TIRE_FR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	758	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	759	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	760	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	761	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	762	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	763	motor[TIRE_BL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	764	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	765	mtc2=true;
yabahiro	33:dd598bb23ad1	766	break;
yabahiro	33:dd598bb23ad1	767	case 2:
kishibekairohan	45:0cf48a0605cd	768	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	769	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	770	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	771	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	772	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	773	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	774	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	775	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	776	mtc2=true;
yabahiro	33:dd598bb23ad1	777	break;
yabahiro	33:dd598bb23ad1	778	}
yabahiro	33:dd598bb23ad1	779	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	780	switch(g[3]) {
yabahiro	33:dd598bb23ad1	781	case 0:
yabahiro	33:dd598bb23ad1	782	mtc2=false;
yabahiro	33:dd598bb23ad1	783	break;
yabahiro	33:dd598bb23ad1	784	case 255:
yabahiro	33:dd598bb23ad1	785	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	786	mtc2=false;
yabahiro	33:dd598bb23ad1	787	break;
yabahiro	33:dd598bb23ad1	788	case 253:
yabahiro	33:dd598bb23ad1	789	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	790	mtc2=false;
yabahiro	33:dd598bb23ad1	791	break;
yabahiro	33:dd598bb23ad1	792	case 254:
kishibekairohan	45:0cf48a0605cd	793	motor[TIRE_BL].pwm += 15;
yabahiro	33:dd598bb23ad1	794	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	795	mtc2=false;
yabahiro	33:dd598bb23ad1	796	break;
yabahiro	33:dd598bb23ad1	797	case 1:
yabahiro	33:dd598bb23ad1	798	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	799	mtc2=false;
yabahiro	33:dd598bb23ad1	800	break;
yabahiro	33:dd598bb23ad1	801	case 3:
yabahiro	33:dd598bb23ad1	802	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	803	mtc2=false;
yabahiro	33:dd598bb23ad1	804	break;
yabahiro	33:dd598bb23ad1	805	case 2:
kishibekairohan	45:0cf48a0605cd	806	motor[TIRE_FL].pwm += 15;
yabahiro	33:dd598bb23ad1	807	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	808	mtc2=false;
yabahiro	33:dd598bb23ad1	809	break;
yabahiro	33:dd598bb23ad1	810	}
yabahiro	33:dd598bb23ad1	811	}
yabahiro	33:dd598bb23ad1	812	}
yabahiro	39:784552c26163	813	if(YELLOW) {
yabahiro	39:784552c26163	814	if(mode==21) {
yabahiro	33:dd598bb23ad1	815	motor[TIRE_FR].pwm = 20;
yabahiro	33:dd598bb23ad1	816	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	817	motor[TIRE_FL].pwm = 20;
yabahiro	33:dd598bb23ad1	818	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	819	motor[TIRE_BR].pwm = 20;
yabahiro	33:dd598bb23ad1	820	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	821	motor[TIRE_BL].pwm = 20;
yabahiro	33:dd598bb23ad1	822	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	823	if(g[3]==98&&countss>=10000) {
yabahiro	39:784552c26163	824	mode=22;
yabahiro	33:dd598bb23ad1	825	countss=0;
yabahiro	39:784552c26163	826	fast=60;
yabahiro	39:784552c26163	827	normal=40;
yabahiro	39:784552c26163	828	slow=20;
yabahiro	39:784552c26163	829	}
kishibekairohan	45:0cf48a0605cd	830	}
kishibekairohan	45:0cf48a0605cd	831	else if(mode==22) {
yabahiro	39:784552c26163	832	if(g[4]==3\|\|g[4]==2) {
yabahiro	39:784552c26163	833	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	834	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	835	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	836	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	837	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	838	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	839	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	840	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	841	}
yabahiro	39:784552c26163	842	if(g[4]==253\|\|g[4]==254) {
yabahiro	39:784552c26163	843	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	844	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	845	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	846	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	847	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	848	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	849	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	850	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	851	}
yabahiro	39:784552c26163	852	switch(g[2]) {
yabahiro	39:784552c26163	853	case 0:
yabahiro	39:784552c26163	854	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	855	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	856	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	857	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	858	break;
yabahiro	39:784552c26163	859	case 255:
yabahiro	39:784552c26163	860	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	861	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	862	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	863	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	864	break;
yabahiro	39:784552c26163	865	case 253:
yabahiro	39:784552c26163	866	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	867	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	868	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	869	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	870	break;
yabahiro	39:784552c26163	871	case 254:
yabahiro	39:784552c26163	872	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	873	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	874	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	875	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	876	break;
yabahiro	39:784552c26163	877	case 1:
yabahiro	39:784552c26163	878	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	879	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	880	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	881	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	882	break;
yabahiro	39:784552c26163	883	case 3:
yabahiro	39:784552c26163	884	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	885	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	886	motor[TIRE_BR].pwm = 40;
yabahiro	39:784552c26163	887	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	888	break;
yabahiro	39:784552c26163	889	case 2:
yabahiro	39:784552c26163	890	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	891	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	892	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	893	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	894	break;
yabahiro	39:784552c26163	895	}
yabahiro	39:784552c26163	896	switch(g[3]) {
yabahiro	39:784552c26163	897	case 0:
yabahiro	39:784552c26163	898	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	899	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	900	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	901	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	902	break;
yabahiro	39:784552c26163	903	case 255:
yabahiro	39:784552c26163	904	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	905	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	906	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	907	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	908	case 253:
yabahiro	39:784552c26163	909	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	910	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	911	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	912	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	913	break;
yabahiro	39:784552c26163	914	case 254:
yabahiro	39:784552c26163	915	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	916	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	917	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	918	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	919	break;
yabahiro	39:784552c26163	920	case 1:
yabahiro	39:784552c26163	921	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	922	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	923	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	924	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	925	break;
yabahiro	39:784552c26163	926	case 3:
yabahiro	39:784552c26163	927	motor[TIRE_FL].pwm = 40;
yabahiro	39:784552c26163	928	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	929	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	930	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	931	break;
yabahiro	39:784552c26163	932	case 2:
yabahiro	39:784552c26163	933	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	934	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	935	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	936	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	937	break;
yabahiro	39:784552c26163	938	}
yabahiro	39:784552c26163	939	if(g[3]==0&&g[2]==0) {
yabahiro	39:784552c26163	940	mode=23;
yabahiro	33:dd598bb23ad1	941	countss=0;
yabahiro	33:dd598bb23ad1	942	}
kishibekairohan	45:0cf48a0605cd	943	}
kishibekairohan	45:0cf48a0605cd	944	else if(mode==23) {
yabahiro	39:784552c26163	945	switch(g[4]) {
yabahiro	39:784552c26163	946	case 98:
kishibekairohan	45:0cf48a0605cd	947	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	948	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	949	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	950	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	951	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	952	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	953	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	954	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	955	break;
yabahiro	39:784552c26163	956	case 99:
yabahiro	39:784552c26163	957	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	958	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	959	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	960	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	961	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	962	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	963	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	964	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	965	break;
yabahiro	39:784552c26163	966	case 0:
kishibekairohan	45:0cf48a0605cd	967	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	968	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	969	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	970	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	971	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	972	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	973	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	974	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	975	break;
yabahiro	39:784552c26163	976	case 255:
yabahiro	39:784552c26163	977	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	978	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	979	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	980	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	981	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	982	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	983	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	984	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	985	break;
yabahiro	39:784552c26163	986	case 253:
kishibekairohan	45:0cf48a0605cd	987	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	988	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	989	motor[TIRE_FL].pwm = slow-5;
yabahiro	39:784552c26163	990	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	991	motor[TIRE_BR].pwm = slow-5;
yabahiro	39:784552c26163	992	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	993	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	994	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	995	break;
yabahiro	39:784552c26163	996	case 254:
kishibekairohan	45:0cf48a0605cd	997	motor[TIRE_FR].pwm = fast-5;
yabahiro	39:784552c26163	998	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	999	motor[TIRE_FL].pwm = normal-5;
yabahiro	39:784552c26163	1000	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1001	motor[TIRE_BR].pwm = normal-5;
yabahiro	39:784552c26163	1002	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1003	motor[TIRE_BL].pwm = fast-5;
yabahiro	39:784552c26163	1004	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1005	break;
yabahiro	39:784552c26163	1006	case 1:
yabahiro	39:784552c26163	1007	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1008	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1009	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1010	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1011	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1012	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1013	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1014	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1015	break;
yabahiro	39:784552c26163	1016	case 3:
kishibekairohan	45:0cf48a0605cd	1017	motor[TIRE_FR].pwm = slow-5;
yabahiro	39:784552c26163	1018	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1019	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	1020	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1021	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	1022	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1023	motor[TIRE_BL].pwm = slow-5;
yabahiro	39:784552c26163	1024	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1025	break;
yabahiro	39:784552c26163	1026	case 2:
kishibekairohan	45:0cf48a0605cd	1027	motor[TIRE_FR].pwm = normal-5;
yabahiro	39:784552c26163	1028	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1029	motor[TIRE_FL].pwm = fast-5;
yabahiro	39:784552c26163	1030	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1031	motor[TIRE_BR].pwm = fast-5;
yabahiro	39:784552c26163	1032	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1033	motor[TIRE_BL].pwm = normal-5;
yabahiro	39:784552c26163	1034	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1035	break;
yabahiro	39:784552c26163	1036	}
yabahiro	39:784552c26163	1037	if(DOLS==true\|\|UPLS==true) {
yabahiro	39:784552c26163	1038	motor[MOTOR_0].pwm = 200;
yabahiro	39:784552c26163	1039	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:784552c26163	1040	}
yabahiro	39:784552c26163	1041	if(g[0]==98) {
kishibekairohan	45:0cf48a0605cd	1042	fast=20;
kishibekairohan	45:0cf48a0605cd	1043	normal=15;
kishibekairohan	45:0cf48a0605cd	1044	slow=10;
yabahiro	39:784552c26163	1045	if(DOLS==true\|\|UPLS==true) {
yabahiro	39:784552c26163	1046	motor[MOTOR_0].pwm = 200;
yabahiro	39:784552c26163	1047	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:784552c26163	1048	} else {
yabahiro	39:784552c26163	1049	motor[MOTOR_0].pwm = 100;
yabahiro	39:784552c26163	1050	motor[MOTOR_0].dir = BACK;
yabahiro	39:784552c26163	1051	}
yabahiro	39:784552c26163	1052	}
yabahiro	39:784552c26163	1053	if(g[2]==254&&countss>=100000) {
yabahiro	39:784552c26163	1054	mode=24;
yabahiro	39:784552c26163	1055	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	1056	countss=0;
yabahiro	39:784552c26163	1057	fast=60;
yabahiro	39:784552c26163	1058	normal=40;
kishibekairohan	45:0cf48a0605cd	1059	slow=20;
yabahiro	39:784552c26163	1060	}
kishibekairohan	45:0cf48a0605cd	1061	}
kishibekairohan	45:0cf48a0605cd	1062	else if(mode==24) {
yabahiro	39:784552c26163	1063	if(DOLS==true\|\|UPLS==true) {
yabahiro	39:784552c26163	1064	motor[MOTOR_0].pwm = 200;
yabahiro	39:784552c26163	1065	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:784552c26163	1066	} else {
yabahiro	39:784552c26163	1067	motor[MOTOR_0].pwm = 100;
yabahiro	39:784552c26163	1068	motor[MOTOR_0].dir = BACK;
yabahiro	39:784552c26163	1069	}
yabahiro	39:784552c26163	1070	if(g[4]==3\|\|g[4]==2) {
yabahiro	39:784552c26163	1071	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1072	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	1073	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1074	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1075	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1076	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1077	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1078	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1079	}
yabahiro	39:784552c26163	1080	if(g[4]==253\|\|g[4]==254) {
yabahiro	39:784552c26163	1081	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1082	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1083	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1084	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	1085	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1086	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1087	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1088	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1089	}
yabahiro	39:784552c26163	1090	switch(g[2]) {
yabahiro	39:784552c26163	1091	case 0:
yabahiro	39:784552c26163	1092	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	1093	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1094	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1095	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1096	break;
yabahiro	39:784552c26163	1097	case 255:
yabahiro	39:784552c26163	1098	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1099	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1100	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1101	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1102	break;
yabahiro	39:784552c26163	1103	case 253:
yabahiro	39:784552c26163	1104	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1105	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1106	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1107	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1108	break;
yabahiro	39:784552c26163	1109	case 254:
yabahiro	39:784552c26163	1110	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1111	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1112	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1113	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1114	break;
yabahiro	39:784552c26163	1115	case 1:
yabahiro	39:784552c26163	1116	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	1117	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1118	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1119	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1120	break;
yabahiro	39:784552c26163	1121	case 3:
yabahiro	39:784552c26163	1122	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	1123	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1124	motor[TIRE_BR].pwm = 40;
yabahiro	39:784552c26163	1125	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1126	break;
yabahiro	39:784552c26163	1127	case 2:
yabahiro	39:784552c26163	1128	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1129	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	1130	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	1131	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	1132	break;
yabahiro	39:784552c26163	1133	}
yabahiro	39:784552c26163	1134	switch(g[3]) {
yabahiro	39:784552c26163	1135	case 0:
yabahiro	39:784552c26163	1136	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1137	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1138	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	1139	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1140	break;
yabahiro	39:784552c26163	1141	case 255:
yabahiro	39:784552c26163	1142	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1143	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1144	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1145	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1146	case 253:
yabahiro	39:784552c26163	1147	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1148	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1149	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1150	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1151	break;
yabahiro	39:784552c26163	1152	case 254:
yabahiro	39:784552c26163	1153	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1154	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	1155	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1156	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1157	break;
yabahiro	39:784552c26163	1158	case 1:
yabahiro	39:784552c26163	1159	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1160	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1161	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	1162	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1163	break;
yabahiro	39:784552c26163	1164	case 3:
yabahiro	39:784552c26163	1165	motor[TIRE_FL].pwm = 40;
yabahiro	39:784552c26163	1166	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1167	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	1168	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1169	break;
yabahiro	39:784552c26163	1170	case 2:
yabahiro	39:784552c26163	1171	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	1172	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1173	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1174	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1175	break;
yabahiro	33:dd598bb23ad1	1176	}
yabahiro	39:784552c26163	1177	if(g[3]==0&&g[2]==0) {
yabahiro	39:784552c26163	1178	if(UPLS==true\|\|DOLS==true) {
yabahiro	39:784552c26163	1179	motor[MOTOR_0].pwm = 200;
yabahiro	39:784552c26163	1180	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:784552c26163	1181	mode=25;
yabahiro	39:784552c26163	1182	} else {
yabahiro	39:784552c26163	1183	motor[MOTOR_0].pwm = 100;
yabahiro	39:784552c26163	1184	motor[MOTOR_0].dir = BACK;
yabahiro	39:784552c26163	1185	}
yabahiro	39:784552c26163	1186	}
kishibekairohan	45:0cf48a0605cd	1187	}
kishibekairohan	45:0cf48a0605cd	1188	else if(mode==25) {
yabahiro	39:784552c26163	1189	switch(g[4]) {
yabahiro	39:784552c26163	1190	case 98:
kishibekairohan	45:0cf48a0605cd	1191	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1192	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1193	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1194	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1195	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1196	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1197	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1198	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1199	break;
yabahiro	39:784552c26163	1200	case 99:
yabahiro	39:784552c26163	1201	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1202	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1203	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1204	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1205	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1206	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1207	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1208	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1209	break;
yabahiro	39:784552c26163	1210	case 0:
kishibekairohan	45:0cf48a0605cd	1211	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1212	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1213	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1214	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1215	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1216	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1217	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1218	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1219	break;
yabahiro	39:784552c26163	1220	case 255:
yabahiro	39:784552c26163	1221	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1222	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1223	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1224	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1225	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1226	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1227	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1228	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1229	break;
yabahiro	39:784552c26163	1230	case 253:
kishibekairohan	45:0cf48a0605cd	1231	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1232	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1233	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	1234	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1235	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	1236	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1237	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1238	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1239	break;
yabahiro	39:784552c26163	1240	case 254:
kishibekairohan	45:0cf48a0605cd	1241	motor[TIRE_FR].pwm = 60;
yabahiro	39:784552c26163	1242	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1243	motor[TIRE_FL].pwm = 40;
yabahiro	39:784552c26163	1244	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1245	motor[TIRE_BR].pwm = 40;
yabahiro	39:784552c26163	1246	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1247	motor[TIRE_BL].pwm = 60;
yabahiro	39:784552c26163	1248	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1249	break;
yabahiro	39:784552c26163	1250	case 1:
yabahiro	39:784552c26163	1251	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1252	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1253	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1254	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1255	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1256	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1257	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1258	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1259	break;
yabahiro	39:784552c26163	1260	case 3:
kishibekairohan	45:0cf48a0605cd	1261	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1262	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1263	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1264	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1265	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1266	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1267	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1268	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1269	break;
yabahiro	39:784552c26163	1270	case 2:
kishibekairohan	45:0cf48a0605cd	1271	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1272	motor[TIRE_FR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1273	motor[TIRE_FL].pwm = 60;
yabahiro	39:784552c26163	1274	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	1275	motor[TIRE_BR].pwm = 60;
yabahiro	39:784552c26163	1276	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	1277	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1278	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1279	break;
yabahiro	39:784552c26163	1280	}
kishibekairohan	45:0cf48a0605cd	1281	if(g[0]==98) {
yabahiro	39:784552c26163	1282	mode=31;
yabahiro	33:dd598bb23ad1	1283	}
yabahiro	33:dd598bb23ad1	1284	}
kishibekairohan	45:0cf48a0605cd	1285	}
kishibekairohan	45:0cf48a0605cd	1286	else {
yabahiro	39:784552c26163	1287	if(mode==21) {
yabahiro	33:dd598bb23ad1	1288	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1289	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1290	motor[TIRE_FL].pwm = 30;
yabahiro	33:dd598bb23ad1	1291	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1292	motor[TIRE_BR].pwm = 30;
yabahiro	33:dd598bb23ad1	1293	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1294	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1295	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1296	if(g[1]==0) {
yabahiro	39:784552c26163	1297	mode=22;
yabahiro	39:784552c26163	1298	fast=60;
yabahiro	39:784552c26163	1299	normal=40;
yabahiro	39:784552c26163	1300	slow=20;
yabahiro	39:784552c26163	1301	}
yabahiro	39:784552c26163	1302	} else if(mode==22) {
yabahiro	39:784552c26163	1303	if(g[3]==0) {
yabahiro	39:784552c26163	1304	mode=23;
yabahiro	39:784552c26163	1305	}
yabahiro	39:784552c26163	1306	switch(g[0]) {
yabahiro	39:784552c26163	1307	case 98:
yabahiro	39:784552c26163	1308	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	39:784552c26163	1309	fast=30;
yabahiro	39:784552c26163	1310	normal=20;
yabahiro	39:784552c26163	1311	slow=20;
yabahiro	39:784552c26163	1312	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1313	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1314	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1315	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1316	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1317	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1318	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1319	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1320	break;
yabahiro	39:784552c26163	1321	case 0:
yabahiro	39:784552c26163	1322	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1323	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1324	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1325	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1326	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1327	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1328	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1329	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1330	mtc=true;
yabahiro	39:784552c26163	1331	break;
yabahiro	39:784552c26163	1332	case 255:
yabahiro	39:784552c26163	1333	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1334	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1335	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1336	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1337	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1338	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1339	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1340	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1341	mtc=true;
yabahiro	39:784552c26163	1342	break;
yabahiro	39:784552c26163	1343	case 253:
yabahiro	39:784552c26163	1344	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1345	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1346	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1347	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1348	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1349	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1350	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1351	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1352	mtc=true;
yabahiro	39:784552c26163	1353	break;
yabahiro	39:784552c26163	1354	case 254:
yabahiro	39:784552c26163	1355	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1356	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1357	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1358	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1359	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1360	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1361	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1362	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1363	mtc=true;
yabahiro	39:784552c26163	1364	break;
yabahiro	39:784552c26163	1365	case 1:
yabahiro	39:784552c26163	1366	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1367	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1368	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1369	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1370	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1371	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1372	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1373	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1374	mtc=true;
yabahiro	39:784552c26163	1375	break;
yabahiro	39:784552c26163	1376	case 3:
yabahiro	39:784552c26163	1377	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1378	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1379	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1380	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1381	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1382	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1383	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1384	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1385	mtc=true;
yabahiro	39:784552c26163	1386	break;
yabahiro	39:784552c26163	1387	case 2:
yabahiro	39:784552c26163	1388	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1389	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1390	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1391	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1392	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1393	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1394	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1395	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1396	mtc=true;
yabahiro	39:784552c26163	1397	break;
yabahiro	39:784552c26163	1398	}
yabahiro	39:784552c26163	1399	if(g[0]!=98&&mtc==true) {
yabahiro	39:784552c26163	1400	switch(g[0]) {
yabahiro	39:784552c26163	1401	case 0:
yabahiro	39:784552c26163	1402	mtc=false;
yabahiro	39:784552c26163	1403	break;
yabahiro	39:784552c26163	1404	case 255:
yabahiro	39:784552c26163	1405	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1406	mtc=false;
yabahiro	39:784552c26163	1407	break;
yabahiro	39:784552c26163	1408	case 253:
yabahiro	39:784552c26163	1409	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1410	mtc=false;
yabahiro	39:784552c26163	1411	break;
yabahiro	39:784552c26163	1412	case 254:
yabahiro	39:784552c26163	1413	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1414	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1415	mtc=false;
yabahiro	39:784552c26163	1416	break;
yabahiro	39:784552c26163	1417	case 1:
yabahiro	39:784552c26163	1418	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1419	mtc=false;
yabahiro	39:784552c26163	1420	break;
yabahiro	39:784552c26163	1421	case 3:
yabahiro	39:784552c26163	1422	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1423	mtc=false;
yabahiro	39:784552c26163	1424	break;
yabahiro	39:784552c26163	1425	case 2:
yabahiro	39:784552c26163	1426	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1427	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1428	mtc=false;
yabahiro	39:784552c26163	1429	break;
yabahiro	39:784552c26163	1430	}
yabahiro	39:784552c26163	1431	}
yabahiro	39:784552c26163	1432	} else if(mode==23) {
yabahiro	39:784552c26163	1433	if(UPLS==true\|\|DOLS==true) {
yabahiro	39:784552c26163	1434	motor[MOTOR_0].pwm = 200;
yabahiro	39:784552c26163	1435	motor[MOTOR_0].dir = BRAKE;
yabahiro	39:784552c26163	1436	fast=60;
yabahiro	39:784552c26163	1437	normal=40;
yabahiro	39:784552c26163	1438	slow=20;
yabahiro	33:dd598bb23ad1	1439	countss=0;
yabahiro	39:784552c26163	1440	mode=24;
yabahiro	39:784552c26163	1441	} else {
yabahiro	39:784552c26163	1442	motor[MOTOR_0].pwm = 100;
yabahiro	39:784552c26163	1443	motor[MOTOR_0].dir = BACK;
yabahiro	39:784552c26163	1444	motor[TIRE_FR].pwm = 100;
yabahiro	39:784552c26163	1445	motor[TIRE_FR].dir = BRAKE;
yabahiro	39:784552c26163	1446	motor[TIRE_FL].pwm = 100;
yabahiro	39:784552c26163	1447	motor[TIRE_FL].dir = BRAKE;
yabahiro	39:784552c26163	1448	motor[TIRE_BR].pwm = 100;
yabahiro	39:784552c26163	1449	motor[TIRE_BR].dir = BRAKE;
yabahiro	39:784552c26163	1450	motor[TIRE_BL].pwm = 100;
yabahiro	39:784552c26163	1451	motor[TIRE_BL].dir = BRAKE;
yabahiro	39:784552c26163	1452	}
yabahiro	39:784552c26163	1453
yabahiro	39:784552c26163	1454	} else if(mode==24) {
yabahiro	39:784552c26163	1455	if(g[0]==98&&countss>=40000) {
yabahiro	39:784552c26163	1456	mode=31;
yabahiro	39:784552c26163	1457	countss=0;
yabahiro	39:784552c26163	1458	}
yabahiro	39:784552c26163	1459	switch(g[0]) {
yabahiro	39:784552c26163	1460	case 98:
yabahiro	39:784552c26163	1461	fast=30;
yabahiro	39:784552c26163	1462	normal=20;
yabahiro	39:784552c26163	1463	slow=20;
yabahiro	39:784552c26163	1464	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1465	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1466	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1467	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1468	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1469	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1470	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1471	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1472	break;
yabahiro	39:784552c26163	1473	case 0:
yabahiro	39:784552c26163	1474	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1475	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1476	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1477	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1478	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1479	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1480	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1481	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1482	mtc=true;
yabahiro	39:784552c26163	1483	break;
yabahiro	39:784552c26163	1484	case 255:
yabahiro	39:784552c26163	1485	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1486	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1487	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1488	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1489	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1490	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1491	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1492	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1493	mtc=true;
yabahiro	39:784552c26163	1494	break;
yabahiro	39:784552c26163	1495	case 253:
yabahiro	39:784552c26163	1496	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1497	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1498	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1499	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1500	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1501	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1502	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1503	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1504	mtc=true;
yabahiro	39:784552c26163	1505	break;
yabahiro	39:784552c26163	1506	case 254:
yabahiro	39:784552c26163	1507	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1508	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1509	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1510	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1511	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1512	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1513	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1514	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1515	mtc=true;
yabahiro	39:784552c26163	1516	break;
yabahiro	39:784552c26163	1517	case 1:
yabahiro	39:784552c26163	1518	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1519	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1520	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1521	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1522	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1523	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1524	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1525	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1526	mtc=true;
yabahiro	39:784552c26163	1527	break;
yabahiro	39:784552c26163	1528	case 3:
yabahiro	39:784552c26163	1529	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1530	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1531	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1532	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1533	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1534	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1535	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1536	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1537	mtc=true;
yabahiro	39:784552c26163	1538	break;
yabahiro	39:784552c26163	1539	case 2:
yabahiro	39:784552c26163	1540	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1541	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1542	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1543	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1544	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1545	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1546	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1547	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1548	mtc=true;
yabahiro	39:784552c26163	1549	break;
yabahiro	39:784552c26163	1550	}
yabahiro	39:784552c26163	1551	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1552	switch(g[1]) {
yabahiro	39:784552c26163	1553	case 0:
yabahiro	39:784552c26163	1554	mtc=false;
yabahiro	39:784552c26163	1555	break;
yabahiro	39:784552c26163	1556	case 255:
yabahiro	39:784552c26163	1557	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1558	mtc=false;
yabahiro	39:784552c26163	1559	break;
yabahiro	39:784552c26163	1560	case 253:
yabahiro	39:784552c26163	1561	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1562	mtc=false;
yabahiro	39:784552c26163	1563	break;
yabahiro	39:784552c26163	1564	case 254:
yabahiro	39:784552c26163	1565	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1566	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1567	mtc=false;
yabahiro	39:784552c26163	1568	break;
yabahiro	39:784552c26163	1569	case 1:
yabahiro	39:784552c26163	1570	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1571	mtc=false;
yabahiro	39:784552c26163	1572	break;
yabahiro	39:784552c26163	1573	case 3:
yabahiro	39:784552c26163	1574	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1575	mtc=false;
yabahiro	39:784552c26163	1576	break;
yabahiro	39:784552c26163	1577	case 2:
yabahiro	39:784552c26163	1578	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1579	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1580	mtc=false;
yabahiro	39:784552c26163	1581	break;
yabahiro	39:784552c26163	1582	}
yabahiro	33:dd598bb23ad1	1583	}
yabahiro	33:dd598bb23ad1	1584	}
yabahiro	33:dd598bb23ad1	1585	}
yabahiro	39:784552c26163	1586	if(mode==31) {
yabahiro	33:dd598bb23ad1	1587	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1588	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1589	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1590	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1591	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1592	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1593	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1594	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1595	if(countss>=5000) {
yabahiro	33:dd598bb23ad1	1596	countss=0;
yabahiro	33:dd598bb23ad1	1597	mode=33;
yabahiro	33:dd598bb23ad1	1598	}
yabahiro	33:dd598bb23ad1	1599	} else if(mode==33) {
yabahiro	33:dd598bb23ad1	1600	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	1601	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1602	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1603	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1604	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1605	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1606	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	1607	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1608	if(g[3]==0) {
yabahiro	39:784552c26163	1609	cross=0;
yabahiro	33:dd598bb23ad1	1610	countss=0;
yabahiro	33:dd598bb23ad1	1611	mode=40;
yabahiro	33:dd598bb23ad1	1612	}
yabahiro	33:dd598bb23ad1	1613	} else if(mode==40) {
yabahiro	33:dd598bb23ad1	1614	switch(g[3]) {
yabahiro	33:dd598bb23ad1	1615	case 98:
yabahiro	33:dd598bb23ad1	1616	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1617	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1618	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1619	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	1620	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1621	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1622	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1623	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1624	if(countss>10000) {
yabahiro	33:dd598bb23ad1	1625	cross++;
yabahiro	33:dd598bb23ad1	1626	countss=0;
yabahiro	33:dd598bb23ad1	1627	}
yabahiro	33:dd598bb23ad1	1628	mtc2=true;
yabahiro	39:784552c26163	1629	if(cross==1) {
yabahiro	33:dd598bb23ad1	1630	mode=41;
yabahiro	33:dd598bb23ad1	1631	countss=0;
yabahiro	33:dd598bb23ad1	1632	cross=0;
yabahiro	33:dd598bb23ad1	1633	}
yabahiro	33:dd598bb23ad1	1634	break;
yabahiro	33:dd598bb23ad1	1635	case 0:
yabahiro	33:dd598bb23ad1	1636	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	1637	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1638	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	1639	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	1640	motor[TIRE_BR].pwm = fast;
yabahiro	33:dd598bb23ad1	1641	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1642	motor[TIRE_BL].pwm = fast;
yabahiro	33:dd598bb23ad1	1643	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1644	mtc2=true;
yabahiro	33:dd598bb23ad1	1645	break;
yabahiro	33:dd598bb23ad1	1646	case 255:
yabahiro	33:dd598bb23ad1	1647	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1648	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1649	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	1650	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	1651	motor[TIRE_BR].pwm = fast;
yabahiro	33:dd598bb23ad1	1652	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1653	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1654	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1655	mtc2=true;
yabahiro	33:dd598bb23ad1	1656	break;
yabahiro	33:dd598bb23ad1	1657	case 253:
yabahiro	33:dd598bb23ad1	1658	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1659	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1660	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1661	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	1662	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1663	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1664	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1665	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1666	mtc2=true;
yabahiro	33:dd598bb23ad1	1667	break;
yabahiro	33:dd598bb23ad1	1668	case 254:
yabahiro	33:dd598bb23ad1	1669	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1670	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1671	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1672	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	1673	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1674	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1675	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1676	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1677	mtc2=true;
yabahiro	33:dd598bb23ad1	1678	break;
yabahiro	33:dd598bb23ad1	1679	case 1:
yabahiro	33:dd598bb23ad1	1680	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	1681	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1682	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1683	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	1684	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1685	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1686	motor[TIRE_BL].pwm = fast;
yabahiro	33:dd598bb23ad1	1687	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1688	mtc2=true;
yabahiro	33:dd598bb23ad1	1689	break;
yabahiro	33:dd598bb23ad1	1690	case 3:
yabahiro	33:dd598bb23ad1	1691	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1692	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1693	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1694	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1695	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1696	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1697	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1698	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1699	mtc2=true;
yabahiro	33:dd598bb23ad1	1700	break;
yabahiro	33:dd598bb23ad1	1701	case 2:
yabahiro	33:dd598bb23ad1	1702	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1703	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1704	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1705	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1706	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1707	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1708	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1709	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1710	mtc2=true;
yabahiro	33:dd598bb23ad1	1711	break;
yabahiro	33:dd598bb23ad1	1712	}
yabahiro	33:dd598bb23ad1	1713	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	1714	switch(g[2]) {
yabahiro	33:dd598bb23ad1	1715	case 0:
yabahiro	33:dd598bb23ad1	1716	mtc2=false;
yabahiro	33:dd598bb23ad1	1717	break;
yabahiro	33:dd598bb23ad1	1718	case 255:
yabahiro	39:784552c26163	1719	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	1720	mtc2=false;
yabahiro	33:dd598bb23ad1	1721	break;
yabahiro	33:dd598bb23ad1	1722	case 253:
yabahiro	39:784552c26163	1723	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	1724	mtc2=false;
yabahiro	33:dd598bb23ad1	1725	break;
yabahiro	33:dd598bb23ad1	1726	case 254:
yabahiro	39:784552c26163	1727	motor[TIRE_FL].pwm += 20;
yabahiro	39:784552c26163	1728	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1729	mtc2=false;
yabahiro	33:dd598bb23ad1	1730	break;
yabahiro	33:dd598bb23ad1	1731	case 1:
yabahiro	39:784552c26163	1732	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	1733	mtc2=false;
yabahiro	33:dd598bb23ad1	1734	break;
yabahiro	33:dd598bb23ad1	1735	case 3:
yabahiro	39:784552c26163	1736	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	1737	mtc2=false;
yabahiro	33:dd598bb23ad1	1738	break;
yabahiro	33:dd598bb23ad1	1739	case 2:
yabahiro	39:784552c26163	1740	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1741	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1742	mtc2=false;
yabahiro	33:dd598bb23ad1	1743	break;
yabahiro	33:dd598bb23ad1	1744	}
yabahiro	33:dd598bb23ad1	1745	}
yabahiro	33:dd598bb23ad1	1746	} else if(mode==41) {
yabahiro	33:dd598bb23ad1	1747	if(LIF\|\|LIB) {
yabahiro	33:dd598bb23ad1	1748	mode=42;
yabahiro	33:dd598bb23ad1	1749	}
yabahiro	33:dd598bb23ad1	1750	motor[TIRE_FR].pwm = 30;
yabahiro	33:dd598bb23ad1	1751	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1752	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1753	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1754	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1755	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1756	motor[TIRE_BL].pwm = 30;
yabahiro	33:dd598bb23ad1	1757	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1758	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	1759	countss=0;
yabahiro	33:dd598bb23ad1	1760	mode=70;
yabahiro	33:dd598bb23ad1	1761	normal=60;
yabahiro	33:dd598bb23ad1	1762	fast=70;
yabahiro	33:dd598bb23ad1	1763	slow=40;
yabahiro	33:dd598bb23ad1	1764	}
yabahiro	33:dd598bb23ad1	1765	} else if(mode==42) {
yabahiro	39:784552c26163	1766	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	1767	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	1768	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1769	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1770	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1771	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1772	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	1773	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1774	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	1775	countss=0;
yabahiro	39:784552c26163	1776	mode=70;
yabahiro	33:dd598bb23ad1	1777	}
yabahiro	39:784552c26163	1778	} else if(mode==70) {
yabahiro	33:dd598bb23ad1	1779	switch(g[0]) {
yabahiro	33:dd598bb23ad1	1780	case 99:
yabahiro	33:dd598bb23ad1	1781	if(countss>=100000) {
yabahiro	33:dd598bb23ad1	1782	mode=100;
yabahiro	33:dd598bb23ad1	1783	}
yabahiro	33:dd598bb23ad1	1784	break;
yabahiro	33:dd598bb23ad1	1785	case 98:
yabahiro	33:dd598bb23ad1	1786	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1787	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1788	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1789	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1790	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1791	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1792	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1793	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1794	break;
yabahiro	33:dd598bb23ad1	1795	case 0:
yabahiro	39:784552c26163	1796	motor[TIRE_FR].pwm = 80;
yabahiro	33:dd598bb23ad1	1797	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1798	motor[TIRE_FL].pwm = 80;
yabahiro	33:dd598bb23ad1	1799	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1800	motor[TIRE_BR].pwm = 80;
yabahiro	33:dd598bb23ad1	1801	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1802	motor[TIRE_BL].pwm = 80;
yabahiro	33:dd598bb23ad1	1803	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1804	mtc=true;
yabahiro	33:dd598bb23ad1	1805	break;
yabahiro	33:dd598bb23ad1	1806	case 255:
yabahiro	33:dd598bb23ad1	1807	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	1808	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1809	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1810	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1811	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1812	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1813	motor[TIRE_BL].pwm = fast;
yabahiro	33:dd598bb23ad1	1814	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1815	mtc=true;
yabahiro	33:dd598bb23ad1	1816	break;
yabahiro	33:dd598bb23ad1	1817	case 253:
yabahiro	33:dd598bb23ad1	1818	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1819	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1820	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1821	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1822	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1823	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1824	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1825	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1826	mtc=true;
yabahiro	33:dd598bb23ad1	1827	break;
yabahiro	33:dd598bb23ad1	1828	case 254:
yabahiro	33:dd598bb23ad1	1829	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1830	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1831	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1832	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1833	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1834	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1835	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1836	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1837	mtc=true;
yabahiro	33:dd598bb23ad1	1838	break;
yabahiro	33:dd598bb23ad1	1839	case 1:
yabahiro	33:dd598bb23ad1	1840	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1841	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1842	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	1843	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1844	motor[TIRE_BR].pwm = fast;
yabahiro	33:dd598bb23ad1	1845	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1846	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1847	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1848	mtc=true;
yabahiro	33:dd598bb23ad1	1849	break;
yabahiro	33:dd598bb23ad1	1850	case 3:
yabahiro	33:dd598bb23ad1	1851	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1852	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1853	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1854	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1855	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1856	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1857	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1858	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1859	mtc=true;
yabahiro	33:dd598bb23ad1	1860	break;
yabahiro	33:dd598bb23ad1	1861	case 2:
yabahiro	33:dd598bb23ad1	1862	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1863	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1864	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1865	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1866	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1867	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1868	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1869	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1870	mtc=true;
yabahiro	33:dd598bb23ad1	1871	break;
yabahiro	33:dd598bb23ad1	1872	}
yabahiro	39:784552c26163	1873	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1874	switch(g[1]) {
yabahiro	39:784552c26163	1875	case 0:
yabahiro	39:784552c26163	1876	mtc=false;
yabahiro	39:784552c26163	1877	break;
yabahiro	39:784552c26163	1878	case 255:
yabahiro	39:784552c26163	1879	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1880	mtc=false;
yabahiro	39:784552c26163	1881	break;
yabahiro	39:784552c26163	1882	case 253:
yabahiro	39:784552c26163	1883	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1884	mtc=false;
yabahiro	39:784552c26163	1885	break;
yabahiro	39:784552c26163	1886	case 254:
yabahiro	39:784552c26163	1887	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1888	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1889	mtc=false;
yabahiro	39:784552c26163	1890	break;
yabahiro	39:784552c26163	1891	case 1:
yabahiro	39:784552c26163	1892	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1893	mtc=false;
yabahiro	39:784552c26163	1894	break;
yabahiro	39:784552c26163	1895	case 3:
yabahiro	39:784552c26163	1896	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1897	mtc=false;
yabahiro	39:784552c26163	1898	break;
yabahiro	39:784552c26163	1899	case 2:
yabahiro	39:784552c26163	1900	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1901	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1902	mtc=false;
yabahiro	39:784552c26163	1903	break;
yabahiro	39:784552c26163	1904	}
yabahiro	33:dd598bb23ad1	1905	}
yabahiro	33:dd598bb23ad1	1906	} else if(mode==100) {
yabahiro	39:784552c26163	1907	motor[TIRE_FR].pwm = 40;
yabahiro	33:dd598bb23ad1	1908	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1909	motor[TIRE_FL].pwm = 40;
yabahiro	33:dd598bb23ad1	1910	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1911	motor[TIRE_BR].pwm = 43;
yabahiro	33:dd598bb23ad1	1912	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1913	motor[TIRE_BL].pwm = 40;
yabahiro	33:dd598bb23ad1	1914	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1915	} else {
yabahiro	33:dd598bb23ad1	1916	}
yabahiro	39:784552c26163	1917
kishibekairohan	13:b6e02d6261d7	1918	}
kishibekairohan	13:b6e02d6261d7	1919	#endif
kishibekairohan	13:b6e02d6261d7	1920
kishibekairohan	13:b6e02d6261d7	1921	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	1922	static void Process3()
kishibekairohan	13:b6e02d6261d7	1923	{
yabahiro	33:dd598bb23ad1	1924	//Clearly 赤ゾーン
kishibekairohan	35:33c6cdba5630	1925	LED::LED::TapeledMode(3);
yabahiro	33:dd598bb23ad1	1926	countss++;
yabahiro	33:dd598bb23ad1	1927	if(mode==1) {//スタートゾーンから白線検知
yabahiro	33:dd598bb23ad1	1928	fast=40;
yabahiro	33:dd598bb23ad1	1929	normal=30;
yabahiro	33:dd598bb23ad1	1930	slow=20;
kishibekairohan	42:980af34f6fe3	1931	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1932	motor[TIRE_FR].dir = BACK;
kishibekairohan	42:980af34f6fe3	1933	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1934	motor[TIRE_FL].dir = FOR;
kishibekairohan	42:980af34f6fe3	1935	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1936	motor[TIRE_BR].dir = BACK;
kishibekairohan	42:980af34f6fe3	1937	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1938	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1939	if(g[2]==0&&countss>=100000) {
yabahiro	33:dd598bb23ad1	1940	countss=100000;
yabahiro	33:dd598bb23ad1	1941	cross=0;
yabahiro	33:dd598bb23ad1	1942	mode=3;
yabahiro	33:dd598bb23ad1	1943	}
kishibekairohan	44:2aff0da5ebdb	1944	}
kishibekairohan	44:2aff0da5ebdb	1945	else if(mode==3) { //横ライントレースから縦ライントレースへ
kishibekairohan	44:2aff0da5ebdb	1946	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	1947	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	42:980af34f6fe3	1948	motor[TIRE_FL].pwm = 30;
yabahiro	33:dd598bb23ad1	1949	motor[TIRE_FL].dir = FOR;
kishibekairohan	42:980af34f6fe3	1950	motor[TIRE_BR].pwm = 30;
yabahiro	33:dd598bb23ad1	1951	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1952	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	1953	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	1954	if(g[0]==0) {
yabahiro	33:dd598bb23ad1	1955	mode=10;
yabahiro	33:dd598bb23ad1	1956	countss=100000;
yabahiro	33:dd598bb23ad1	1957	}
kishibekairohan	44:2aff0da5ebdb	1958	}
kishibekairohan	44:2aff0da5ebdb	1959	else if(mode==10) { //縦ライントレース
yabahiro	33:dd598bb23ad1	1960	switch(g[0]) {
yabahiro	33:dd598bb23ad1	1961	case 98:
kishibekairohan	44:2aff0da5ebdb	1962	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1963	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1964	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1965	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	1966	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1967	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1968	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1969	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1970	mtc=true;
yabahiro	33:dd598bb23ad1	1971	if(countss>80000) {
yabahiro	33:dd598bb23ad1	1972	cross++;
yabahiro	33:dd598bb23ad1	1973	countss=0;
yabahiro	33:dd598bb23ad1	1974	}
kishibekairohan	42:980af34f6fe3	1975	if(cross==2){
kishibekairohan	44:2aff0da5ebdb	1976	fast = 10;
kishibekairohan	44:2aff0da5ebdb	1977	normal = 10;
kishibekairohan	44:2aff0da5ebdb	1978	slow = 5;
kishibekairohan	44:2aff0da5ebdb	1979	}
kishibekairohan	44:2aff0da5ebdb	1980
yabahiro	38:40e7fdf3c694	1981	if(cross==3) {
kishibekairohan	44:2aff0da5ebdb	1982	fast=40;
kishibekairohan	44:2aff0da5ebdb	1983	normal=30;
kishibekairohan	44:2aff0da5ebdb	1984	slow=20;
yabahiro	33:dd598bb23ad1	1985	mode=11;
yabahiro	33:dd598bb23ad1	1986	countss=0;
yabahiro	33:dd598bb23ad1	1987	cross=0;
kishibekairohan	44:2aff0da5ebdb	1988
yabahiro	33:dd598bb23ad1	1989	}
yabahiro	33:dd598bb23ad1	1990	break;
yabahiro	33:dd598bb23ad1	1991	case 0:
kishibekairohan	44:2aff0da5ebdb	1992	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	1993	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1994	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	1995	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	1996	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	1997	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1998	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	1999	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2000	mtc=true;
yabahiro	33:dd598bb23ad1	2001	break;
yabahiro	33:dd598bb23ad1	2002	case 255:
kishibekairohan	44:2aff0da5ebdb	2003	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2004	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2005	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2006	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2007	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2008	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2009	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2010	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2011	mtc=true;
yabahiro	33:dd598bb23ad1	2012	break;
yabahiro	33:dd598bb23ad1	2013	case 253:
kishibekairohan	44:2aff0da5ebdb	2014	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2015	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2016	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2017	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2018	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2019	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2020	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2021	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2022	mtc=true;
yabahiro	33:dd598bb23ad1	2023	break;
yabahiro	33:dd598bb23ad1	2024	case 254:
kishibekairohan	44:2aff0da5ebdb	2025	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2026	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2027	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2028	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2029	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2030	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2031	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2032	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2033	mtc=true;
yabahiro	33:dd598bb23ad1	2034	break;
yabahiro	33:dd598bb23ad1	2035	case 1:
kishibekairohan	44:2aff0da5ebdb	2036	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2037	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2038	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2039	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2040	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2041	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2042	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2043	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2044	mtc=true;
yabahiro	33:dd598bb23ad1	2045	break;
yabahiro	33:dd598bb23ad1	2046	case 3:
yabahiro	33:dd598bb23ad1	2047	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2048	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2049	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2050	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2051	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2052	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2053	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2054	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2055	mtc=true;
yabahiro	33:dd598bb23ad1	2056	break;
yabahiro	33:dd598bb23ad1	2057	case 2:
yabahiro	33:dd598bb23ad1	2058	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2059	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2060	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2061	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2062	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2063	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2064	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2065	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2066	mtc=true;
yabahiro	33:dd598bb23ad1	2067	break;
yabahiro	33:dd598bb23ad1	2068	}
yabahiro	33:dd598bb23ad1	2069	if(g[0]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	2070	switch(g[1]) {
yabahiro	33:dd598bb23ad1	2071	case 0:
yabahiro	33:dd598bb23ad1	2072	mtc=false;
yabahiro	33:dd598bb23ad1	2073	break;
yabahiro	33:dd598bb23ad1	2074	case 255:
kishibekairohan	44:2aff0da5ebdb	2075	motor[TIRE_BR].pwm += 3;
yabahiro	33:dd598bb23ad1	2076	mtc=false;
yabahiro	33:dd598bb23ad1	2077	break;
yabahiro	33:dd598bb23ad1	2078	case 253:
kishibekairohan	44:2aff0da5ebdb	2079	motor[TIRE_BR].pwm += 6;
yabahiro	33:dd598bb23ad1	2080	mtc=false;
yabahiro	33:dd598bb23ad1	2081	break;
yabahiro	33:dd598bb23ad1	2082	case 254:
kishibekairohan	44:2aff0da5ebdb	2083	motor[TIRE_BR].pwm += 9;
yabahiro	33:dd598bb23ad1	2084	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2085	mtc=false;
yabahiro	33:dd598bb23ad1	2086	break;
yabahiro	33:dd598bb23ad1	2087	case 1:
kishibekairohan	44:2aff0da5ebdb	2088	motor[TIRE_BL].pwm += 3;
yabahiro	33:dd598bb23ad1	2089	mtc=false;
yabahiro	33:dd598bb23ad1	2090	break;
yabahiro	33:dd598bb23ad1	2091	case 3:
kishibekairohan	44:2aff0da5ebdb	2092	motor[TIRE_BL].pwm += 6;
yabahiro	33:dd598bb23ad1	2093	mtc=false;
yabahiro	33:dd598bb23ad1	2094	break;
yabahiro	33:dd598bb23ad1	2095	case 2:
kishibekairohan	44:2aff0da5ebdb	2096	motor[TIRE_BL].pwm += 9;
yabahiro	33:dd598bb23ad1	2097	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2098	mtc=false;
yabahiro	33:dd598bb23ad1	2099	break;
yabahiro	33:dd598bb23ad1	2100	}
yabahiro	33:dd598bb23ad1	2101	}
kishibekairohan	44:2aff0da5ebdb	2102	}
kishibekairohan	44:2aff0da5ebdb	2103	else if(mode==11) {
kishibekairohan	44:2aff0da5ebdb	2104	motor[TIRE_FR].pwm = 25;
kishibekairohan	44:2aff0da5ebdb	2105	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2106	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	2107	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	2108	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	2109	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2110	motor[TIRE_BL].pwm = 25;
kishibekairohan	44:2aff0da5ebdb	2111	motor[TIRE_BL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2112	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	33:dd598bb23ad1	2113	countss=0;
yabahiro	33:dd598bb23ad1	2114	cross=0;
yabahiro	33:dd598bb23ad1	2115	mode=20;
yabahiro	33:dd598bb23ad1	2116	}
kishibekairohan	44:2aff0da5ebdb	2117	}
kishibekairohan	44:2aff0da5ebdb	2118	else if(mode==20) {
yabahiro	38:40e7fdf3c694	2119	solenoid.solenoid4= SOLENOID_ON;
yabahiro	33:dd598bb23ad1	2120	switch(g[2]) {
yabahiro	33:dd598bb23ad1	2121	case 98:
kishibekairohan	44:2aff0da5ebdb	2122	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2123	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2124	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2125	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2126	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2127	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2128	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2129	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2130	if(countss>30000) {
yabahiro	33:dd598bb23ad1	2131	cross++;
yabahiro	33:dd598bb23ad1	2132	countss=0;
yabahiro	33:dd598bb23ad1	2133	}
yabahiro	33:dd598bb23ad1	2134	mtc2=true;
kishibekairohan	44:2aff0da5ebdb	2135
kishibekairohan	44:2aff0da5ebdb	2136	if(YELLOW) {
kishibekairohan	44:2aff0da5ebdb	2137	if(cross==1) {
yabahiro	38:40e7fdf3c694	2138	fast=30;
yabahiro	38:40e7fdf3c694	2139	normal=20;
yabahiro	33:dd598bb23ad1	2140	slow=20;
kishibekairohan	44:2aff0da5ebdb	2141	}
kishibekairohan	44:2aff0da5ebdb	2142	else if(cross==2) {
yabahiro	38:40e7fdf3c694	2143	mode=21;
yabahiro	38:40e7fdf3c694	2144	countss=0;
yabahiro	38:40e7fdf3c694	2145	cross=0;
yabahiro	38:40e7fdf3c694	2146	}
yabahiro	38:40e7fdf3c694	2147	} else {
yabahiro	40:ed2409e0ce6b	2148	if(cross==3) {
yabahiro	38:40e7fdf3c694	2149	mode=21;
yabahiro	38:40e7fdf3c694	2150	countss=0;
yabahiro	38:40e7fdf3c694	2151	cross=0;
yabahiro	38:40e7fdf3c694	2152	}
yabahiro	38:40e7fdf3c694	2153	}
yabahiro	33:dd598bb23ad1	2154	break;
yabahiro	33:dd598bb23ad1	2155	case 0:
kishibekairohan	44:2aff0da5ebdb	2156	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2157	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2158	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2159	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2160	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2161	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2162	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2163	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2164	mtc2=true;
yabahiro	33:dd598bb23ad1	2165	break;
yabahiro	33:dd598bb23ad1	2166	case 255:
kishibekairohan	44:2aff0da5ebdb	2167	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2168	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2169	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2170	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2171	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2172	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2173	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2174	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2175	mtc2=true;
yabahiro	33:dd598bb23ad1	2176	break;
yabahiro	33:dd598bb23ad1	2177	case 253:
yabahiro	33:dd598bb23ad1	2178	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2179	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2180	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2181	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2182	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2183	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2184	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2185	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2186	mtc2=true;
yabahiro	33:dd598bb23ad1	2187	break;
yabahiro	33:dd598bb23ad1	2188	case 254:
yabahiro	33:dd598bb23ad1	2189	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2190	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2191	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2192	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2193	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2194	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2195	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2196	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2197	mtc2=true;
yabahiro	33:dd598bb23ad1	2198	break;
yabahiro	33:dd598bb23ad1	2199	case 1:
kishibekairohan	44:2aff0da5ebdb	2200	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2201	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2202	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2203	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2204	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2205	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2206	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2207	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2208	mtc2=true;
yabahiro	33:dd598bb23ad1	2209	break;
yabahiro	33:dd598bb23ad1	2210	case 3:
kishibekairohan	44:2aff0da5ebdb	2211	motor[TIRE_FR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2212	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2213	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2214	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2215	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2216	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2217	motor[TIRE_BL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2218	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2219	mtc2=true;
yabahiro	33:dd598bb23ad1	2220	break;
yabahiro	33:dd598bb23ad1	2221	case 2:
kishibekairohan	44:2aff0da5ebdb	2222	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2223	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2224	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2225	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2226	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2227	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2228	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2229	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2230	mtc2=true;
yabahiro	33:dd598bb23ad1	2231	break;
yabahiro	33:dd598bb23ad1	2232	}
yabahiro	33:dd598bb23ad1	2233	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	2234	switch(g[3]) {
yabahiro	33:dd598bb23ad1	2235	case 0:
yabahiro	33:dd598bb23ad1	2236	mtc2=false;
yabahiro	33:dd598bb23ad1	2237	break;
yabahiro	33:dd598bb23ad1	2238	case 255:
yabahiro	33:dd598bb23ad1	2239	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	2240	mtc2=false;
yabahiro	33:dd598bb23ad1	2241	break;
yabahiro	33:dd598bb23ad1	2242	case 253:
yabahiro	33:dd598bb23ad1	2243	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	2244	mtc2=false;
yabahiro	33:dd598bb23ad1	2245	break;
yabahiro	33:dd598bb23ad1	2246	case 254:
kishibekairohan	44:2aff0da5ebdb	2247	motor[TIRE_BL].pwm += 15;
yabahiro	33:dd598bb23ad1	2248	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2249	mtc2=false;
yabahiro	33:dd598bb23ad1	2250	break;
yabahiro	33:dd598bb23ad1	2251	case 1:
yabahiro	33:dd598bb23ad1	2252	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	2253	mtc2=false;
yabahiro	33:dd598bb23ad1	2254	break;
yabahiro	33:dd598bb23ad1	2255	case 3:
yabahiro	33:dd598bb23ad1	2256	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	2257	mtc2=false;
yabahiro	33:dd598bb23ad1	2258	break;
yabahiro	33:dd598bb23ad1	2259	case 2:
kishibekairohan	44:2aff0da5ebdb	2260	motor[TIRE_FL].pwm += 15;
yabahiro	33:dd598bb23ad1	2261	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2262	mtc2=false;
yabahiro	33:dd598bb23ad1	2263	break;
yabahiro	33:dd598bb23ad1	2264	}
yabahiro	33:dd598bb23ad1	2265	}
yabahiro	33:dd598bb23ad1	2266	}
yabahiro	38:40e7fdf3c694	2267	if(YELLOW) {
yabahiro	38:40e7fdf3c694	2268	if(mode==21) {
yabahiro	33:dd598bb23ad1	2269	motor[TIRE_FR].pwm = 20;
yabahiro	33:dd598bb23ad1	2270	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2271	motor[TIRE_FL].pwm = 20;
yabahiro	33:dd598bb23ad1	2272	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	2273	motor[TIRE_BR].pwm = 20;
yabahiro	33:dd598bb23ad1	2274	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	2275	motor[TIRE_BL].pwm = 20;
yabahiro	33:dd598bb23ad1	2276	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2277	if(g[3]==98&&countss>=10000) {
yabahiro	38:40e7fdf3c694	2278	mode=22;
yabahiro	33:dd598bb23ad1	2279	countss=0;
yabahiro	38:40e7fdf3c694	2280	fast=60;
yabahiro	38:40e7fdf3c694	2281	normal=40;
yabahiro	38:40e7fdf3c694	2282	slow=20;
yabahiro	38:40e7fdf3c694	2283	}
kishibekairohan	44:2aff0da5ebdb	2284	}
kishibekairohan	44:2aff0da5ebdb	2285	else if(mode==22) {
yabahiro	38:40e7fdf3c694	2286	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2287	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2288	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2289	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2290	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2291	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2292	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2293	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2294	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2295	}
yabahiro	38:40e7fdf3c694	2296	if(g[4]==253\|\|g[4]==254) {
yabahiro	38:40e7fdf3c694	2297	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2298	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2299	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2300	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2301	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2302	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2303	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2304	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2305	}
yabahiro	38:40e7fdf3c694	2306	switch(g[2]) {
yabahiro	38:40e7fdf3c694	2307	case 0:
yabahiro	38:40e7fdf3c694	2308	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2309	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2310	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2311	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2312	break;
yabahiro	38:40e7fdf3c694	2313	case 255:
yabahiro	38:40e7fdf3c694	2314	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2315	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2316	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2317	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2318	break;
yabahiro	38:40e7fdf3c694	2319	case 253:
yabahiro	38:40e7fdf3c694	2320	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2321	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2322	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2323	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2324	break;
yabahiro	38:40e7fdf3c694	2325	case 254:
yabahiro	38:40e7fdf3c694	2326	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2327	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2328	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2329	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2330	break;
yabahiro	38:40e7fdf3c694	2331	case 1:
yabahiro	38:40e7fdf3c694	2332	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2333	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2334	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2335	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2336	break;
yabahiro	38:40e7fdf3c694	2337	case 3:
yabahiro	38:40e7fdf3c694	2338	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2339	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2340	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2341	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2342	break;
yabahiro	38:40e7fdf3c694	2343	case 2:
yabahiro	38:40e7fdf3c694	2344	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2345	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2346	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2347	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2348	break;
yabahiro	38:40e7fdf3c694	2349	}
yabahiro	38:40e7fdf3c694	2350	switch(g[3]) {
yabahiro	38:40e7fdf3c694	2351	case 0:
yabahiro	38:40e7fdf3c694	2352	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2353	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2354	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2355	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2356	break;
yabahiro	38:40e7fdf3c694	2357	case 255:
yabahiro	38:40e7fdf3c694	2358	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2359	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2360	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2361	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2362	case 253:
yabahiro	38:40e7fdf3c694	2363	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2364	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2365	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2366	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2367	break;
yabahiro	38:40e7fdf3c694	2368	case 254:
yabahiro	38:40e7fdf3c694	2369	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2370	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2371	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2372	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2373	break;
yabahiro	38:40e7fdf3c694	2374	case 1:
yabahiro	38:40e7fdf3c694	2375	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2376	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2377	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2378	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2379	break;
yabahiro	38:40e7fdf3c694	2380	case 3:
yabahiro	38:40e7fdf3c694	2381	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2382	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2383	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2384	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2385	break;
yabahiro	38:40e7fdf3c694	2386	case 2:
yabahiro	38:40e7fdf3c694	2387	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2388	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2389	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2390	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2391	break;
yabahiro	38:40e7fdf3c694	2392	}
yabahiro	38:40e7fdf3c694	2393	if(g[3]==0&&g[2]==0) {
yabahiro	38:40e7fdf3c694	2394	mode=23;
yabahiro	33:dd598bb23ad1	2395	countss=0;
yabahiro	33:dd598bb23ad1	2396	}
kishibekairohan	44:2aff0da5ebdb	2397	}
kishibekairohan	44:2aff0da5ebdb	2398	else if(mode==23) {
yabahiro	38:40e7fdf3c694	2399	switch(g[4]) {
yabahiro	38:40e7fdf3c694	2400	case 98:
kishibekairohan	41:99a1158f3eca	2401	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2402	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2403	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2404	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2405	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2406	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2407	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2408	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2409	break;
yabahiro	38:40e7fdf3c694	2410	case 99:
yabahiro	38:40e7fdf3c694	2411	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2412	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2413	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2414	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2415	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2416	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2417	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2418	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2419	break;
yabahiro	38:40e7fdf3c694	2420	case 0:
kishibekairohan	41:99a1158f3eca	2421	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2422	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2423	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2424	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2425	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2426	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2427	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2428	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2429	break;
yabahiro	38:40e7fdf3c694	2430	case 255:
yabahiro	38:40e7fdf3c694	2431	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2432	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2433	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2434	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2435	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2436	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2437	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2438	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2439	break;
yabahiro	38:40e7fdf3c694	2440	case 253:
kishibekairohan	41:99a1158f3eca	2441	motor[TIRE_FR].pwm = slow-5;
yabahiro	38:40e7fdf3c694	2442	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2443	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2444	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2445	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2446	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2447	motor[TIRE_BL].pwm = slow-5;
yabahiro	38:40e7fdf3c694	2448	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2449	break;
yabahiro	38:40e7fdf3c694	2450	case 254:
kishibekairohan	41:99a1158f3eca	2451	motor[TIRE_FR].pwm = normal-5;
yabahiro	38:40e7fdf3c694	2452	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2453	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2454	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2455	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2456	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2457	motor[TIRE_BL].pwm = normal-5;
yabahiro	38:40e7fdf3c694	2458	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2459	break;
yabahiro	38:40e7fdf3c694	2460	case 1:
yabahiro	38:40e7fdf3c694	2461	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2462	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2463	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2464	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2465	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2466	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2467	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2468	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2469	break;
yabahiro	38:40e7fdf3c694	2470	case 3:
kishibekairohan	41:99a1158f3eca	2471	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2472	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2473	motor[TIRE_FL].pwm = slow-5;
yabahiro	38:40e7fdf3c694	2474	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2475	motor[TIRE_BR].pwm = slow-5;
yabahiro	38:40e7fdf3c694	2476	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2477	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2478	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2479	break;
yabahiro	38:40e7fdf3c694	2480	case 2:
kishibekairohan	41:99a1158f3eca	2481	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2482	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2483	motor[TIRE_FL].pwm = normal-5;
yabahiro	38:40e7fdf3c694	2484	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2485	motor[TIRE_BR].pwm = normal-5;
yabahiro	38:40e7fdf3c694	2486	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2487	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2488	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2489	break;
yabahiro	33:dd598bb23ad1	2490	}
yabahiro	38:40e7fdf3c694	2491	if(DOLS==true\|\|UPLS==true) {
yabahiro	38:40e7fdf3c694	2492	motor[MOTOR_0].pwm = 200;
yabahiro	38:40e7fdf3c694	2493	motor[MOTOR_0].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2494	}
yabahiro	38:40e7fdf3c694	2495	if(g[1]==98) {
kishibekairohan	42:980af34f6fe3	2496	fast=20;
kishibekairohan	42:980af34f6fe3	2497	normal=15;
kishibekairohan	42:980af34f6fe3	2498	slow=10;
yabahiro	38:40e7fdf3c694	2499	if(DOLS==true\|\|UPLS==true) {
yabahiro	38:40e7fdf3c694	2500	motor[MOTOR_0].pwm = 200;
yabahiro	38:40e7fdf3c694	2501	motor[MOTOR_0].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2502	} else {
yabahiro	38:40e7fdf3c694	2503	motor[MOTOR_0].pwm = 100;
yabahiro	38:40e7fdf3c694	2504	motor[MOTOR_0].dir = BACK;
yabahiro	38:40e7fdf3c694	2505	}
yabahiro	38:40e7fdf3c694	2506	}
yabahiro	38:40e7fdf3c694	2507	if(g[3]==254&&countss>=100000) {
yabahiro	38:40e7fdf3c694	2508	mode=24;
yabahiro	38:40e7fdf3c694	2509	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	2510	countss=0;
yabahiro	38:40e7fdf3c694	2511	fast=60;
yabahiro	38:40e7fdf3c694	2512	normal=40;
kishibekairohan	42:980af34f6fe3	2513	slow=20;
yabahiro	33:dd598bb23ad1	2514	}
kishibekairohan	44:2aff0da5ebdb	2515	}
kishibekairohan	44:2aff0da5ebdb	2516	else if(mode==24) {
yabahiro	38:40e7fdf3c694	2517	if(DOLS==true\|\|UPLS==true) {
yabahiro	38:40e7fdf3c694	2518	motor[MOTOR_0].pwm = 200;
yabahiro	38:40e7fdf3c694	2519	motor[MOTOR_0].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	2520	}
kishibekairohan	44:2aff0da5ebdb	2521	else {
yabahiro	38:40e7fdf3c694	2522	motor[MOTOR_0].pwm = 100;
yabahiro	38:40e7fdf3c694	2523	motor[MOTOR_0].dir = BACK;
yabahiro	38:40e7fdf3c694	2524	}
yabahiro	38:40e7fdf3c694	2525	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2526	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2527	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2528	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2529	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2530	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2531	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2532	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2533	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2534	}
yabahiro	38:40e7fdf3c694	2535	if(g[4]==253\|\|g[4]==254) {
yabahiro	38:40e7fdf3c694	2536	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2537	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2538	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2539	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2540	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2541	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2542	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2543	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2544	}
yabahiro	38:40e7fdf3c694	2545	switch(g[2]) {
yabahiro	38:40e7fdf3c694	2546	case 0:
yabahiro	38:40e7fdf3c694	2547	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2548	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2549	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2550	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2551	break;
yabahiro	38:40e7fdf3c694	2552	case 255:
yabahiro	38:40e7fdf3c694	2553	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2554	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2555	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2556	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2557	break;
yabahiro	38:40e7fdf3c694	2558	case 253:
yabahiro	38:40e7fdf3c694	2559	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2560	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2561	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2562	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2563	break;
yabahiro	38:40e7fdf3c694	2564	case 254:
yabahiro	38:40e7fdf3c694	2565	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2566	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2567	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2568	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2569	break;
yabahiro	38:40e7fdf3c694	2570	case 1:
yabahiro	38:40e7fdf3c694	2571	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2572	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2573	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2574	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2575	break;
yabahiro	38:40e7fdf3c694	2576	case 3:
yabahiro	38:40e7fdf3c694	2577	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2578	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2579	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2580	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2581	break;
yabahiro	38:40e7fdf3c694	2582	case 2:
yabahiro	38:40e7fdf3c694	2583	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2584	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2585	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2586	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2587	break;
yabahiro	38:40e7fdf3c694	2588	}
yabahiro	38:40e7fdf3c694	2589	switch(g[3]) {
yabahiro	38:40e7fdf3c694	2590	case 0:
yabahiro	38:40e7fdf3c694	2591	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2592	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2593	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2594	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2595	break;
yabahiro	38:40e7fdf3c694	2596	case 255:
yabahiro	38:40e7fdf3c694	2597	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2598	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2599	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2600	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2601	case 253:
yabahiro	38:40e7fdf3c694	2602	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2603	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2604	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2605	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2606	break;
yabahiro	38:40e7fdf3c694	2607	case 254:
yabahiro	38:40e7fdf3c694	2608	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2609	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2610	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2611	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2612	break;
yabahiro	38:40e7fdf3c694	2613	case 1:
yabahiro	38:40e7fdf3c694	2614	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2615	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2616	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2617	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2618	break;
yabahiro	38:40e7fdf3c694	2619	case 3:
yabahiro	38:40e7fdf3c694	2620	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2621	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2622	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2623	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2624	break;
yabahiro	38:40e7fdf3c694	2625	case 2:
yabahiro	38:40e7fdf3c694	2626	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2627	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2628	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2629	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2630	break;
yabahiro	38:40e7fdf3c694	2631	}
yabahiro	38:40e7fdf3c694	2632	if(g[3]==0&&g[2]==0) {
yabahiro	38:40e7fdf3c694	2633	if(UPLS==true\|\|DOLS==true) {
yabahiro	38:40e7fdf3c694	2634	motor[MOTOR_0].pwm = 200;
yabahiro	38:40e7fdf3c694	2635	motor[MOTOR_0].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2636	mode=25;
yabahiro	38:40e7fdf3c694	2637	} else {
yabahiro	38:40e7fdf3c694	2638	motor[MOTOR_0].pwm = 100;
yabahiro	38:40e7fdf3c694	2639	motor[MOTOR_0].dir = BACK;
yabahiro	38:40e7fdf3c694	2640	}
yabahiro	38:40e7fdf3c694	2641	}
kishibekairohan	44:2aff0da5ebdb	2642	}
kishibekairohan	44:2aff0da5ebdb	2643	else if(mode==25) {
yabahiro	38:40e7fdf3c694	2644	switch(g[4]) {
yabahiro	38:40e7fdf3c694	2645	case 98:
yabahiro	38:40e7fdf3c694	2646	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2647	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2648	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2649	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2650	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2651	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2652	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2653	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2654	break;
yabahiro	38:40e7fdf3c694	2655	case 99:
yabahiro	38:40e7fdf3c694	2656	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2657	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2658	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2659	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2660	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2661	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2662	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2663	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2664	break;
yabahiro	38:40e7fdf3c694	2665	case 0:
yabahiro	38:40e7fdf3c694	2666	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2667	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2668	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2669	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2670	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2671	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2672	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2673	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2674	break;
yabahiro	38:40e7fdf3c694	2675	case 255:
yabahiro	38:40e7fdf3c694	2676	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2677	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2678	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2679	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2680	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2681	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2682	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2683	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2684	break;
yabahiro	38:40e7fdf3c694	2685	case 253:
yabahiro	38:40e7fdf3c694	2686	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2687	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2688	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2689	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2690	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2691	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2692	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2693	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2694	break;
yabahiro	38:40e7fdf3c694	2695	case 254:
yabahiro	38:40e7fdf3c694	2696	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2697	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2698	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2699	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2700	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2701	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2702	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2703	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2704	break;
yabahiro	38:40e7fdf3c694	2705	case 1:
yabahiro	38:40e7fdf3c694	2706	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2707	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2708	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2709	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2710	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2711	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2712	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2713	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2714	break;
yabahiro	38:40e7fdf3c694	2715	case 3:
yabahiro	38:40e7fdf3c694	2716	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2717	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2718	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2719	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2720	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2721	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2722	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2723	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2724	break;
yabahiro	38:40e7fdf3c694	2725	case 2:
yabahiro	38:40e7fdf3c694	2726	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2727	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2728	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2729	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2730	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2731	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2732	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2733	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2734	break;
yabahiro	38:40e7fdf3c694	2735	}
yabahiro	38:40e7fdf3c694	2736	if(g[1]==98) {
kishibekairohan	45:0cf48a0605cd	2737	mode=31;
yabahiro	33:dd598bb23ad1	2738	}
yabahiro	33:dd598bb23ad1	2739	}
kishibekairohan	44:2aff0da5ebdb	2740	}
kishibekairohan	44:2aff0da5ebdb	2741	else {
yabahiro	38:40e7fdf3c694	2742	if(mode==21) {
yabahiro	38:40e7fdf3c694	2743	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2744	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2745	motor[TIRE_FL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	2746	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	2747	motor[TIRE_BR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	2748	motor[TIRE_BR].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2749	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2750	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2751	if(g[1]==0) {
yabahiro	38:40e7fdf3c694	2752	mode=22;
yabahiro	38:40e7fdf3c694	2753	fast=60;
yabahiro	38:40e7fdf3c694	2754	normal=40;
yabahiro	38:40e7fdf3c694	2755	slow=20;
yabahiro	38:40e7fdf3c694	2756	}
kishibekairohan	44:2aff0da5ebdb	2757	}
kishibekairohan	44:2aff0da5ebdb	2758	else if(mode==22) {
yabahiro	40:ed2409e0ce6b	2759	if(g[1]==98) {
yabahiro	40:ed2409e0ce6b	2760	slow=20;
kishibekairohan	44:2aff0da5ebdb	2761	normal=30;
kishibekairohan	44:2aff0da5ebdb	2762	fast=40;
yabahiro	40:ed2409e0ce6b	2763	}
yabahiro	40:ed2409e0ce6b	2764	if(g[3]==0){
kishibekairohan	44:2aff0da5ebdb	2765	slow=20;
yabahiro	40:ed2409e0ce6b	2766	normal=40;
yabahiro	40:ed2409e0ce6b	2767	fast=60;
yabahiro	38:40e7fdf3c694	2768	mode=23;
yabahiro	40:ed2409e0ce6b	2769	}
yabahiro	38:40e7fdf3c694	2770	switch(g[1]) {
yabahiro	38:40e7fdf3c694	2771	case 98:
yabahiro	38:40e7fdf3c694	2772	solenoid.solenoid4 = SOLENOID_OFF;
kishibekairohan	44:2aff0da5ebdb	2773	fast=40;
kishibekairohan	44:2aff0da5ebdb	2774	normal=30;
yabahiro	38:40e7fdf3c694	2775	slow=20;
yabahiro	38:40e7fdf3c694	2776	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2777	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2778	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2779	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2780	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2781	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2782	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2783	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2784	break;
yabahiro	38:40e7fdf3c694	2785	case 0:
yabahiro	38:40e7fdf3c694	2786	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2787	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2788	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2789	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2790	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2791	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2792	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2793	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2794	mtc=true;
yabahiro	38:40e7fdf3c694	2795	break;
yabahiro	38:40e7fdf3c694	2796	case 255:
yabahiro	38:40e7fdf3c694	2797	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2798	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2799	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2800	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2801	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2802	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2803	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2804	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2805	mtc=true;
yabahiro	38:40e7fdf3c694	2806	break;
yabahiro	38:40e7fdf3c694	2807	case 253:
yabahiro	38:40e7fdf3c694	2808	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2809	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2810	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2811	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2812	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2813	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2814	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2815	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2816	mtc=true;
yabahiro	38:40e7fdf3c694	2817	break;
yabahiro	38:40e7fdf3c694	2818	case 254:
yabahiro	38:40e7fdf3c694	2819	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2820	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2821	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2822	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2823	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2824	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2825	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2826	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2827	mtc=true;
yabahiro	38:40e7fdf3c694	2828	break;
yabahiro	38:40e7fdf3c694	2829	case 1:
yabahiro	38:40e7fdf3c694	2830	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2831	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2832	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2833	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2834	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2835	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2836	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2837	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2838	mtc=true;
yabahiro	38:40e7fdf3c694	2839	break;
yabahiro	38:40e7fdf3c694	2840	case 3:
yabahiro	38:40e7fdf3c694	2841	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2842	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2843	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2844	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2845	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2846	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2847	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2848	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2849	mtc=true;
yabahiro	38:40e7fdf3c694	2850	break;
yabahiro	38:40e7fdf3c694	2851	case 2:
yabahiro	38:40e7fdf3c694	2852	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2853	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2854	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2855	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2856	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2857	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2858	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2859	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2860	mtc=true;
yabahiro	38:40e7fdf3c694	2861	break;
yabahiro	38:40e7fdf3c694	2862	}
yabahiro	38:40e7fdf3c694	2863	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	2864	switch(g[0]) {
yabahiro	38:40e7fdf3c694	2865	case 0:
yabahiro	38:40e7fdf3c694	2866	mtc=false;
yabahiro	38:40e7fdf3c694	2867	break;
yabahiro	38:40e7fdf3c694	2868	case 255:
kishibekairohan	44:2aff0da5ebdb	2869	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	2870	mtc=false;
yabahiro	38:40e7fdf3c694	2871	break;
yabahiro	38:40e7fdf3c694	2872	case 253:
kishibekairohan	44:2aff0da5ebdb	2873	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	2874	mtc=false;
yabahiro	38:40e7fdf3c694	2875	break;
yabahiro	38:40e7fdf3c694	2876	case 254:
kishibekairohan	44:2aff0da5ebdb	2877	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	2878	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2879	mtc=false;
yabahiro	38:40e7fdf3c694	2880	break;
yabahiro	38:40e7fdf3c694	2881	case 1:
kishibekairohan	44:2aff0da5ebdb	2882	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	2883	mtc=false;
yabahiro	38:40e7fdf3c694	2884	break;
yabahiro	38:40e7fdf3c694	2885	case 3:
kishibekairohan	44:2aff0da5ebdb	2886	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	2887	mtc=false;
yabahiro	38:40e7fdf3c694	2888	break;
yabahiro	38:40e7fdf3c694	2889	case 2:
kishibekairohan	44:2aff0da5ebdb	2890	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	2891	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2892	mtc=false;
yabahiro	38:40e7fdf3c694	2893	break;
yabahiro	38:40e7fdf3c694	2894	}
yabahiro	38:40e7fdf3c694	2895	}
kishibekairohan	44:2aff0da5ebdb	2896	}
kishibekairohan	44:2aff0da5ebdb	2897	else if(mode==23) {
yabahiro	38:40e7fdf3c694	2898	if(UPLS==true\|\|DOLS==true) {
yabahiro	38:40e7fdf3c694	2899	motor[MOTOR_0].pwm = 200;
yabahiro	38:40e7fdf3c694	2900	motor[MOTOR_0].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2901	fast=60;
yabahiro	38:40e7fdf3c694	2902	normal=40;
yabahiro	38:40e7fdf3c694	2903	slow=20;
yabahiro	33:dd598bb23ad1	2904	countss=0;
yabahiro	38:40e7fdf3c694	2905	mode=24;
kishibekairohan	44:2aff0da5ebdb	2906	}
kishibekairohan	44:2aff0da5ebdb	2907	else {
yabahiro	38:40e7fdf3c694	2908	motor[MOTOR_0].pwm = 100;
yabahiro	38:40e7fdf3c694	2909	motor[MOTOR_0].dir = BACK;
yabahiro	38:40e7fdf3c694	2910	}
yabahiro	40:ed2409e0ce6b	2911	motor[TIRE_FR].pwm = 100;
yabahiro	40:ed2409e0ce6b	2912	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2913	motor[TIRE_FL].pwm = 100;
yabahiro	40:ed2409e0ce6b	2914	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2915	motor[TIRE_BR].pwm = 100;
yabahiro	40:ed2409e0ce6b	2916	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2917	motor[TIRE_BL].pwm = 100;
yabahiro	40:ed2409e0ce6b	2918	motor[TIRE_BL].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	2919	}
kishibekairohan	44:2aff0da5ebdb	2920	else if(mode==24) {
yabahiro	38:40e7fdf3c694	2921	if(g[1]==98&&countss>=40000) {
kishibekairohan	45:0cf48a0605cd	2922	mode=31;
yabahiro	38:40e7fdf3c694	2923	countss=0;
yabahiro	38:40e7fdf3c694	2924	}
yabahiro	38:40e7fdf3c694	2925	switch(g[1]) {
yabahiro	38:40e7fdf3c694	2926	case 98:
kishibekairohan	44:2aff0da5ebdb	2927	fast=40;
kishibekairohan	44:2aff0da5ebdb	2928	normal=30;
yabahiro	38:40e7fdf3c694	2929	slow=20;
yabahiro	38:40e7fdf3c694	2930	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2931	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2932	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2933	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2934	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2935	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2936	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2937	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2938	break;
yabahiro	38:40e7fdf3c694	2939	case 0:
yabahiro	38:40e7fdf3c694	2940	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2941	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2942	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2943	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2944	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2945	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2946	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2947	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2948	mtc=true;
yabahiro	38:40e7fdf3c694	2949	break;
yabahiro	38:40e7fdf3c694	2950	case 255:
yabahiro	38:40e7fdf3c694	2951	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2952	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2953	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2954	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2955	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2956	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2957	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2958	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2959	mtc=true;
yabahiro	38:40e7fdf3c694	2960	break;
yabahiro	38:40e7fdf3c694	2961	case 253:
yabahiro	38:40e7fdf3c694	2962	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2963	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2964	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2965	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2966	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2967	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2968	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2969	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2970	mtc=true;
yabahiro	38:40e7fdf3c694	2971	break;
yabahiro	38:40e7fdf3c694	2972	case 254:
yabahiro	38:40e7fdf3c694	2973	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2974	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2975	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2976	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2977	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2978	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2979	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2980	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2981	mtc=true;
yabahiro	38:40e7fdf3c694	2982	break;
yabahiro	38:40e7fdf3c694	2983	case 1:
yabahiro	38:40e7fdf3c694	2984	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2985	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2986	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2987	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2988	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2989	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2990	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2991	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2992	mtc=true;
yabahiro	38:40e7fdf3c694	2993	break;
yabahiro	38:40e7fdf3c694	2994	case 3:
yabahiro	38:40e7fdf3c694	2995	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2996	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2997	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2998	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2999	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	3000	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3001	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3002	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3003	mtc=true;
yabahiro	38:40e7fdf3c694	3004	break;
yabahiro	38:40e7fdf3c694	3005	case 2:
yabahiro	38:40e7fdf3c694	3006	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3007	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3008	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3009	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3010	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	3011	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3012	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3013	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3014	mtc=true;
yabahiro	38:40e7fdf3c694	3015	break;
yabahiro	38:40e7fdf3c694	3016	}
yabahiro	38:40e7fdf3c694	3017	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	3018	switch(g[0]) {
yabahiro	38:40e7fdf3c694	3019	case 0:
yabahiro	38:40e7fdf3c694	3020	mtc=false;
yabahiro	38:40e7fdf3c694	3021	break;
yabahiro	38:40e7fdf3c694	3022	case 255:
kishibekairohan	44:2aff0da5ebdb	3023	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	3024	mtc=false;
yabahiro	38:40e7fdf3c694	3025	break;
yabahiro	38:40e7fdf3c694	3026	case 253:
kishibekairohan	44:2aff0da5ebdb	3027	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	3028	mtc=false;
yabahiro	38:40e7fdf3c694	3029	break;
yabahiro	38:40e7fdf3c694	3030	case 254:
kishibekairohan	44:2aff0da5ebdb	3031	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	3032	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3033	mtc=false;
yabahiro	38:40e7fdf3c694	3034	break;
yabahiro	38:40e7fdf3c694	3035	case 1:
kishibekairohan	44:2aff0da5ebdb	3036	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	3037	mtc=false;
yabahiro	38:40e7fdf3c694	3038	break;
yabahiro	38:40e7fdf3c694	3039	case 3:
kishibekairohan	44:2aff0da5ebdb	3040	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	3041	mtc=false;
yabahiro	38:40e7fdf3c694	3042	break;
yabahiro	38:40e7fdf3c694	3043	case 2:
kishibekairohan	44:2aff0da5ebdb	3044	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	3045	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3046	mtc=false;
yabahiro	38:40e7fdf3c694	3047	break;
yabahiro	38:40e7fdf3c694	3048	}
yabahiro	33:dd598bb23ad1	3049	}
yabahiro	33:dd598bb23ad1	3050	}
yabahiro	33:dd598bb23ad1	3051	}
kishibekairohan	44:2aff0da5ebdb	3052
kishibekairohan	44:2aff0da5ebdb	3053	/*
yabahiro	38:40e7fdf3c694	3054	if(mode==31) {
yabahiro	33:dd598bb23ad1	3055	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3056	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3057	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3058	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3059	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3060	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3061	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3062	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3063	if(countss>=5000) {
yabahiro	33:dd598bb23ad1	3064	countss=0;
yabahiro	33:dd598bb23ad1	3065	mode=32;
yabahiro	33:dd598bb23ad1	3066	}
yabahiro	33:dd598bb23ad1	3067	} else if(mode==32) {
yabahiro	33:dd598bb23ad1	3068	motor[TIRE_FR].pwm = 10;
yabahiro	33:dd598bb23ad1	3069	motor[TIRE_FR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3070	motor[TIRE_FL].pwm = 10;
yabahiro	33:dd598bb23ad1	3071	motor[TIRE_FL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3072	motor[TIRE_BR].pwm = 10;
yabahiro	33:dd598bb23ad1	3073	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3074	motor[TIRE_BL].pwm = 10;
yabahiro	33:dd598bb23ad1	3075	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3076	if(countss>=40000) {
yabahiro	33:dd598bb23ad1	3077	mode=33;
yabahiro	33:dd598bb23ad1	3078	countss=0;
yabahiro	33:dd598bb23ad1	3079	}
kishibekairohan	44:2aff0da5ebdb	3080	}
kishibekairohan	44:2aff0da5ebdb	3081	*/
kishibekairohan	45:0cf48a0605cd	3082	if(mode==31) {
kishibekairohan	44:2aff0da5ebdb	3083	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3084	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	3085	motor[TIRE_FL].pwm = 45;
yabahiro	38:40e7fdf3c694	3086	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3087	motor[TIRE_BR].pwm = 45;
yabahiro	38:40e7fdf3c694	3088	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3089	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3090	motor[TIRE_BL].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	3091	if(g[2]==0) {
yabahiro	38:40e7fdf3c694	3092	cross=0;
yabahiro	33:dd598bb23ad1	3093	countss=0;
yabahiro	33:dd598bb23ad1	3094	mode=40;
yabahiro	33:dd598bb23ad1	3095	}
kishibekairohan	44:2aff0da5ebdb	3096	}
kishibekairohan	44:2aff0da5ebdb	3097	else if(mode==40) {
yabahiro	33:dd598bb23ad1	3098	switch(g[3]) {
yabahiro	33:dd598bb23ad1	3099	case 98:
kishibekairohan	44:2aff0da5ebdb	3100	motor[TIRE_FR].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3101	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3102	motor[TIRE_FL].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3103	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3104	motor[TIRE_BR].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3105	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3106	motor[TIRE_BL].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3107	motor[TIRE_BL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3108	if(countss>30000) {
yabahiro	33:dd598bb23ad1	3109	cross++;
yabahiro	33:dd598bb23ad1	3110	countss=0;
yabahiro	33:dd598bb23ad1	3111	}
yabahiro	33:dd598bb23ad1	3112	mtc2=true;
yabahiro	33:dd598bb23ad1	3113	break;
yabahiro	33:dd598bb23ad1	3114	case 0:
kishibekairohan	44:2aff0da5ebdb	3115	motor[TIRE_FR].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3116	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3117	motor[TIRE_FL].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3118	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3119	motor[TIRE_BR].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3120	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3121	motor[TIRE_BL].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3122	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3123	mtc2=true;
yabahiro	33:dd598bb23ad1	3124	break;
yabahiro	33:dd598bb23ad1	3125	case 255:
kishibekairohan	44:2aff0da5ebdb	3126	motor[TIRE_FR].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3127	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3128	motor[TIRE_FL].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3129	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3130	motor[TIRE_BR].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3131	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3132	motor[TIRE_BL].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3133	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3134	mtc2=true;
yabahiro	33:dd598bb23ad1	3135	break;
yabahiro	33:dd598bb23ad1	3136	case 253:
yabahiro	33:dd598bb23ad1	3137	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3138	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	3139	motor[TIRE_FL].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3140	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3141	motor[TIRE_BR].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3142	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3143	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3144	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3145	mtc2=true;
yabahiro	33:dd598bb23ad1	3146	break;
yabahiro	33:dd598bb23ad1	3147	case 254:
yabahiro	33:dd598bb23ad1	3148	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3149	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	3150	motor[TIRE_FL].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3151	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3152	motor[TIRE_BR].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3153	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3154	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3155	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3156	mtc2=true;
yabahiro	33:dd598bb23ad1	3157	break;
yabahiro	33:dd598bb23ad1	3158	case 1:
kishibekairohan	44:2aff0da5ebdb	3159	motor[TIRE_FR].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3160	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3161	motor[TIRE_FL].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3162	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3163	motor[TIRE_BR].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3164	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3165	motor[TIRE_BL].pwm = fast+30;
yabahiro	33:dd598bb23ad1	3166	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3167	mtc2=true;
yabahiro	33:dd598bb23ad1	3168	break;
yabahiro	33:dd598bb23ad1	3169	case 3:
kishibekairohan	44:2aff0da5ebdb	3170	motor[TIRE_FR].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3171	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	3172	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3173	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3174	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3175	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	3176	motor[TIRE_BL].pwm = slow+30;
yabahiro	33:dd598bb23ad1	3177	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3178	mtc2=true;
yabahiro	33:dd598bb23ad1	3179	break;
yabahiro	33:dd598bb23ad1	3180	case 2:
kishibekairohan	44:2aff0da5ebdb	3181	motor[TIRE_FR].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3182	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	3183	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3184	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3185	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3186	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	3187	motor[TIRE_BL].pwm = normal+30;
yabahiro	33:dd598bb23ad1	3188	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3189	mtc2=true;
yabahiro	33:dd598bb23ad1	3190	break;
yabahiro	33:dd598bb23ad1	3191	}
yabahiro	33:dd598bb23ad1	3192	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	3193	switch(g[2]) {
yabahiro	33:dd598bb23ad1	3194	case 0:
yabahiro	33:dd598bb23ad1	3195	mtc2=false;
yabahiro	33:dd598bb23ad1	3196	break;
yabahiro	33:dd598bb23ad1	3197	case 255:
kishibekairohan	44:2aff0da5ebdb	3198	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	3199	mtc2=false;
yabahiro	33:dd598bb23ad1	3200	break;
yabahiro	33:dd598bb23ad1	3201	case 253:
kishibekairohan	44:2aff0da5ebdb	3202	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	3203	mtc2=false;
yabahiro	33:dd598bb23ad1	3204	break;
yabahiro	33:dd598bb23ad1	3205	case 254:
kishibekairohan	44:2aff0da5ebdb	3206	motor[TIRE_FR].pwm += 9;
kishibekairohan	44:2aff0da5ebdb	3207	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3208	mtc2=false;
yabahiro	33:dd598bb23ad1	3209	break;
yabahiro	33:dd598bb23ad1	3210	case 1:
kishibekairohan	44:2aff0da5ebdb	3211	motor[TIRE_BR].pwm += 3;
yabahiro	33:dd598bb23ad1	3212	mtc2=false;
yabahiro	33:dd598bb23ad1	3213	break;
yabahiro	33:dd598bb23ad1	3214	case 3:
kishibekairohan	44:2aff0da5ebdb	3215	motor[TIRE_BR].pwm += 6;
yabahiro	33:dd598bb23ad1	3216	mtc2=false;
yabahiro	33:dd598bb23ad1	3217	break;
yabahiro	33:dd598bb23ad1	3218	case 2:
kishibekairohan	44:2aff0da5ebdb	3219	motor[TIRE_BR].pwm += 9;
kishibekairohan	44:2aff0da5ebdb	3220	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3221	mtc2=false;
yabahiro	33:dd598bb23ad1	3222	break;
yabahiro	33:dd598bb23ad1	3223	}
yabahiro	33:dd598bb23ad1	3224	}
kishibekairohan	42:980af34f6fe3	3225
kishibekairohan	42:980af34f6fe3	3226	if(YELLOW) {
kishibekairohan	42:980af34f6fe3	3227	if(cross==1) {
kishibekairohan	42:980af34f6fe3	3228	mode=41;
kishibekairohan	42:980af34f6fe3	3229	countss=0;
kishibekairohan	42:980af34f6fe3	3230	cross=0;
kishibekairohan	42:980af34f6fe3	3231	}
kishibekairohan	44:2aff0da5ebdb	3232	}
kishibekairohan	44:2aff0da5ebdb	3233	else {
kishibekairohan	42:980af34f6fe3	3234	if(cross==3) {
kishibekairohan	42:980af34f6fe3	3235	mode=41;
kishibekairohan	42:980af34f6fe3	3236	countss=0;
kishibekairohan	42:980af34f6fe3	3237	cross=0;
kishibekairohan	42:980af34f6fe3	3238	}
kishibekairohan	42:980af34f6fe3	3239	}
kishibekairohan	42:980af34f6fe3	3240
kishibekairohan	44:2aff0da5ebdb	3241	}
kishibekairohan	44:2aff0da5ebdb	3242	else if(mode==41) {
yabahiro	33:dd598bb23ad1	3243	if(LIF\|\|LIB) {
yabahiro	33:dd598bb23ad1	3244	mode=42;
yabahiro	33:dd598bb23ad1	3245	}
kishibekairohan	44:2aff0da5ebdb	3246	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3247	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	42:980af34f6fe3	3248	motor[TIRE_FL].pwm = 40;
yabahiro	33:dd598bb23ad1	3249	motor[TIRE_FL].dir = BACK;
kishibekairohan	42:980af34f6fe3	3250	motor[TIRE_BR].pwm = 40;
yabahiro	33:dd598bb23ad1	3251	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3252	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3253	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3254	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	3255	countss=0;
yabahiro	33:dd598bb23ad1	3256	mode=70;
kishibekairohan	42:980af34f6fe3	3257	normal=80;
kishibekairohan	42:980af34f6fe3	3258	fast=100;
kishibekairohan	42:980af34f6fe3	3259	slow=60;
yabahiro	33:dd598bb23ad1	3260	}
kishibekairohan	44:2aff0da5ebdb	3261	}
kishibekairohan	44:2aff0da5ebdb	3262	else if(mode==42) {
kishibekairohan	42:980af34f6fe3	3263	motor[TIRE_FR].pwm = 40;
yabahiro	33:dd598bb23ad1	3264	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3265	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3266	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3267	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3268	motor[TIRE_BR].dir = FREE;
kishibekairohan	42:980af34f6fe3	3269	motor[TIRE_BL].pwm = 40;
yabahiro	33:dd598bb23ad1	3270	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3271	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	3272	countss=0;
yabahiro	33:dd598bb23ad1	3273	mode=70;
yabahiro	33:dd598bb23ad1	3274	}
kishibekairohan	44:2aff0da5ebdb	3275	}
kishibekairohan	44:2aff0da5ebdb	3276	else if(mode==70) {
yabahiro	33:dd598bb23ad1	3277	switch(g[1]) {
yabahiro	33:dd598bb23ad1	3278	case 99:
yabahiro	33:dd598bb23ad1	3279	if(countss>=100000) {
yabahiro	33:dd598bb23ad1	3280	mode=100;
yabahiro	33:dd598bb23ad1	3281	}
yabahiro	33:dd598bb23ad1	3282	break;
yabahiro	33:dd598bb23ad1	3283	case 98:
yabahiro	33:dd598bb23ad1	3284	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	3285	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3286	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	3287	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	3288	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	3289	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3290	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	3291	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3292	break;
yabahiro	33:dd598bb23ad1	3293	case 0:
kishibekairohan	42:980af34f6fe3	3294	motor[TIRE_FR].pwm = 100;
yabahiro	33:dd598bb23ad1	3295	motor[TIRE_FR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3296	motor[TIRE_FL].pwm = 100;
yabahiro	33:dd598bb23ad1	3297	motor[TIRE_FL].dir = BACK;
kishibekairohan	42:980af34f6fe3	3298	motor[TIRE_BR].pwm = 100;
yabahiro	33:dd598bb23ad1	3299	motor[TIRE_BR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3300	motor[TIRE_BL].pwm = 100;
yabahiro	33:dd598bb23ad1	3301	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3302	mtc=true;
yabahiro	33:dd598bb23ad1	3303	break;
yabahiro	33:dd598bb23ad1	3304	case 255:
yabahiro	33:dd598bb23ad1	3305	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	3306	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3307	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	3308	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	3309	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	3310	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3311	motor[TIRE_BL].pwm = fast;
yabahiro	33:dd598bb23ad1	3312	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3313	mtc=true;
yabahiro	33:dd598bb23ad1	3314	break;
yabahiro	33:dd598bb23ad1	3315	case 253:
yabahiro	33:dd598bb23ad1	3316	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	3317	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3318	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3319	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3320	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3321	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3322	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	3323	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3324	mtc=true;
yabahiro	33:dd598bb23ad1	3325	break;
yabahiro	33:dd598bb23ad1	3326	case 254:
yabahiro	33:dd598bb23ad1	3327	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	3328	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3329	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3330	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3331	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3332	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3333	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	3334	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3335	mtc=true;
yabahiro	33:dd598bb23ad1	3336	break;
yabahiro	33:dd598bb23ad1	3337	case 1:
yabahiro	33:dd598bb23ad1	3338	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	3339	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3340	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	3341	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	3342	motor[TIRE_BR].pwm = fast;
yabahiro	33:dd598bb23ad1	3343	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3344	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	3345	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3346	mtc=true;
yabahiro	33:dd598bb23ad1	3347	break;
yabahiro	33:dd598bb23ad1	3348	case 3:
yabahiro	33:dd598bb23ad1	3349	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3350	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3351	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	3352	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	3353	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	3354	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3355	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3356	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3357	mtc=true;
yabahiro	33:dd598bb23ad1	3358	break;
yabahiro	33:dd598bb23ad1	3359	case 2:
yabahiro	33:dd598bb23ad1	3360	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3361	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3362	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	3363	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	3364	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	3365	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3366	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3367	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3368	mtc=true;
yabahiro	33:dd598bb23ad1	3369	break;
yabahiro	33:dd598bb23ad1	3370	}
yabahiro	33:dd598bb23ad1	3371	if(g[1]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	3372	switch(g[0]) {
yabahiro	33:dd598bb23ad1	3373	case 0:
yabahiro	33:dd598bb23ad1	3374	mtc=false;
yabahiro	33:dd598bb23ad1	3375	break;
yabahiro	33:dd598bb23ad1	3376	case 255:
kishibekairohan	44:2aff0da5ebdb	3377	motor[TIRE_FL].pwm += 3;
yabahiro	33:dd598bb23ad1	3378	mtc=false;
yabahiro	33:dd598bb23ad1	3379	break;
yabahiro	33:dd598bb23ad1	3380	case 253:
kishibekairohan	44:2aff0da5ebdb	3381	motor[TIRE_FL].pwm += 6;
yabahiro	33:dd598bb23ad1	3382	mtc=false;
yabahiro	33:dd598bb23ad1	3383	break;
yabahiro	33:dd598bb23ad1	3384	case 254:
kishibekairohan	44:2aff0da5ebdb	3385	motor[TIRE_FL].pwm += 9;
yabahiro	33:dd598bb23ad1	3386	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3387	mtc=false;
yabahiro	33:dd598bb23ad1	3388	break;
yabahiro	33:dd598bb23ad1	3389	case 1:
kishibekairohan	44:2aff0da5ebdb	3390	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	3391	mtc=false;
yabahiro	33:dd598bb23ad1	3392	break;
yabahiro	33:dd598bb23ad1	3393	case 3:
kishibekairohan	44:2aff0da5ebdb	3394	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	3395	mtc=false;
yabahiro	33:dd598bb23ad1	3396	break;
yabahiro	33:dd598bb23ad1	3397	case 2:
kishibekairohan	44:2aff0da5ebdb	3398	motor[TIRE_FR].pwm += 9;
yabahiro	33:dd598bb23ad1	3399	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3400	mtc=false;
yabahiro	33:dd598bb23ad1	3401	break;
yabahiro	33:dd598bb23ad1	3402	}
yabahiro	33:dd598bb23ad1	3403	}
kishibekairohan	44:2aff0da5ebdb	3404	}
kishibekairohan	44:2aff0da5ebdb	3405	else if(mode==100) {
kishibekairohan	42:980af34f6fe3	3406	motor[TIRE_FR].pwm = 50;
yabahiro	33:dd598bb23ad1	3407	motor[TIRE_FR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3408	motor[TIRE_FL].pwm = 50;
yabahiro	33:dd598bb23ad1	3409	motor[TIRE_FL].dir = BACK;
kishibekairohan	42:980af34f6fe3	3410	motor[TIRE_BR].pwm = 50;
yabahiro	33:dd598bb23ad1	3411	motor[TIRE_BR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3412	motor[TIRE_BL].pwm = 50;
yabahiro	33:dd598bb23ad1	3413	motor[TIRE_BL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3414	}
kishibekairohan	44:2aff0da5ebdb	3415
kishibekairohan	13:b6e02d6261d7	3416	}
kishibekairohan	13:b6e02d6261d7	3417	#endif
kishibekairohan	13:b6e02d6261d7	3418
kishibekairohan	13:b6e02d6261d7	3419	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	3420	static void Process4()
M_souta	22:7d93f79a3686	3421	{
yabahiro	33:dd598bb23ad1	3422
kishibekairohan	13:b6e02d6261d7	3423	}
kishibekairohan	13:b6e02d6261d7	3424	#endif
kishibekairohan	13:b6e02d6261d7	3425
kishibekairohan	13:b6e02d6261d7	3426	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	3427	static void Process5()
Ryosei	27:dd9f27fce7d1	3428	{
kishibekairohan	42:980af34f6fe3	3429
kishibekairohan	13:b6e02d6261d7	3430	}
kishibekairohan	13:b6e02d6261d7	3431	#endif
kishibekairohan	13:b6e02d6261d7	3432
kishibekairohan	13:b6e02d6261d7	3433	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	3434	static void Process6()
kishibekairohan	13:b6e02d6261d7	3435	{
Ryosei	27:dd9f27fce7d1	3436
kishibekairohan	13:b6e02d6261d7	3437	}
kishibekairohan	13:b6e02d6261d7	3438	#endif
kishibekairohan	13:b6e02d6261d7	3439
kishibekairohan	13:b6e02d6261d7	3440	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	3441	static void Process7()
kishibekairohan	13:b6e02d6261d7	3442	{
yabahiro	33:dd598bb23ad1	3443
kishibekairohan	12:c09b3e08a316	3444	}
kishibekairohan	12:c09b3e08a316	3445	#endif
kishibekairohan	12:c09b3e08a316	3446
Ryosei	27:dd9f27fce7d1	3447	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	3448	static void Process8()
kishibekairohan	12:c09b3e08a316	3449	{
yabahiro	33:dd598bb23ad1	3450
kishibekairohan	12:c09b3e08a316	3451	}
kishibekairohan	12:c09b3e08a316	3452	#endif
kishibekairohan	12:c09b3e08a316	3453
kishibekairohan	13:b6e02d6261d7	3454	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	3455	static void Process9()
kishibekairohan	12:c09b3e08a316	3456	{
Ryosei	27:dd9f27fce7d1	3457
t_yamamoto	0:669ef71cba68	3458	}
t_yamamoto	0:669ef71cba68	3459	#endif
t_yamamoto	0:669ef71cba68	3460	#endif
t_yamamoto	0:669ef71cba68	3461	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	3462
t_yamamoto	0:669ef71cba68	3463	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	3464	{
yabahiro	33:dd598bb23ad1	3465	#ifdef USE_SOLENOID
yabahiro	33:dd598bb23ad1	3466	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	3467	#endif
yabahiro	33:dd598bb23ad1	3468
yabahiro	33:dd598bb23ad1	3469	#ifdef USE_MOTOR
yabahiro	33:dd598bb23ad1	3470	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	33:dd598bb23ad1	3471	motor[i].dir = FREE;
yabahiro	33:dd598bb23ad1	3472	motor[i].pwm = 0;
yabahiro	33:dd598bb23ad1	3473	}
yabahiro	33:dd598bb23ad1	3474	#endif
t_yamamoto	0:669ef71cba68	3475	}
t_yamamoto	0:669ef71cba68	3476
kishibekairohan	16:3f2c2d89372b	3477	#pragma region USER-DEFINED-FUNCTIONS
M_souta	29:44d5454ce8fa	3478
M_souta	29:44d5454ce8fa	3479	uint8_t SetStatus(int pwmVal)
Ryosei	27:dd9f27fce7d1	3480	{
M_souta	29:44d5454ce8fa	3481	if (pwmVal < 0) return BACK;
M_souta	29:44d5454ce8fa	3482	else if (pwmVal > 0) return FOR;
M_souta	29:44d5454ce8fa	3483	else if (pwmVal == 0) return BRAKE;
M_souta	29:44d5454ce8fa	3484	else return BRAKE;
M_souta	22:7d93f79a3686	3485	}
kishibekairohan	16:3f2c2d89372b	3486
M_souta	29:44d5454ce8fa	3487	uint8_t SetPWM(int pwmVal)
Ryosei	27:dd9f27fce7d1	3488	{
M_souta	29:44d5454ce8fa	3489	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
M_souta	29:44d5454ce8fa	3490	else return abs(pwmVal);
M_souta	22:7d93f79a3686	3491	}
kishibekairohan	16:3f2c2d89372b	3492
t_yamamoto	0:669ef71cba68	3493	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Nov 2019
Imports:	0
Forks:	0
Commits:	60
Dependents:	0
Dependencies:	1
Followers:	1

System/Process/Process.cpp@45:0cf48a0605cd, 2019-11-11 (annotated)

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