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大季矢花 / Mbed 2 deprecated MB2019_main_alltimes_1123

System/Process/Process.cpp@50:87f5fa1bc460, 2019-11-13 (annotated)

Committer:: yabahiro
Date:: Wed Nov 13 10:00:45 2019 +0000
Revision:: 50:87f5fa1bc460
Parent:: 49:697b4e9ce884
Child:: 51:a0bdbddd08f7

aa

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	46:68296caae1af	97	int slow = 25;
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]);
yabahiro	46:68296caae1af	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;
yabahiro	49:697b4e9ce884	277	current = 2;//11ガツ13ニチヘンコウ
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	50:87f5fa1bc460	474	switch(mode) {
yabahiro	50:87f5fa1bc460	475	case 1:
yabahiro	50:87f5fa1bc460	476	break;
yabahiro	50:87f5fa1bc460	477	case 2:
yabahiro	50:87f5fa1bc460	478	break;
yabahiro	50:87f5fa1bc460	479	case 10:
yabahiro	50:87f5fa1bc460	480	break;
yabahiro	50:87f5fa1bc460	481	case 11:
yabahiro	50:87f5fa1bc460	482	break;
yabahiro	50:87f5fa1bc460	483	case 20:
yabahiro	50:87f5fa1bc460	484	break;
yabahiro	50:87f5fa1bc460	485	case 21:
yabahiro	50:87f5fa1bc460	486	break;
yabahiro	50:87f5fa1bc460	487	case 22:
yabahiro	50:87f5fa1bc460	488	break;
yabahiro	50:87f5fa1bc460	489	case 23:
yabahiro	50:87f5fa1bc460	490	break;
yabahiro	50:87f5fa1bc460	491	case 24:
yabahiro	50:87f5fa1bc460	492	break;
yabahiro	50:87f5fa1bc460	493	case 25:
yabahiro	50:87f5fa1bc460	494	break;
yabahiro	50:87f5fa1bc460	495	case 26:
yabahiro	50:87f5fa1bc460	496	break;
yabahiro	50:87f5fa1bc460	497	case 31:
yabahiro	50:87f5fa1bc460	498	break;
yabahiro	50:87f5fa1bc460	499	case 40:
yabahiro	50:87f5fa1bc460	500	break;
yabahiro	50:87f5fa1bc460	501	case 41:
yabahiro	50:87f5fa1bc460	502	break;
yabahiro	50:87f5fa1bc460	503	case 42:
yabahiro	50:87f5fa1bc460	504	break;
yabahiro	50:87f5fa1bc460	505	case 70:
yabahiro	50:87f5fa1bc460	506	break;
yabahiro	50:87f5fa1bc460	507	case 100:
yabahiro	50:87f5fa1bc460	508	break;
yabahiro	50:87f5fa1bc460	509	default:
yabahiro	50:87f5fa1bc460	510	break;
yabahiro	50:87f5fa1bc460	511	}
yabahiro	33:dd598bb23ad1	512	if(mode==1) {//スタートゾーンから白線検知
yabahiro	33:dd598bb23ad1	513	fast=40;
yabahiro	33:dd598bb23ad1	514	normal=30;
yabahiro	33:dd598bb23ad1	515	slow=20;
kishibekairohan	45:0cf48a0605cd	516	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	517	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	518	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	519	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	520	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	521	motor[TIRE_BR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	522	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	523	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	524	if(g[2]==0&&countss>=100000) {
yabahiro	33:dd598bb23ad1	525	countss=100000;
yabahiro	33:dd598bb23ad1	526	cross=0;
yabahiro	33:dd598bb23ad1	527	mode=3;
yabahiro	33:dd598bb23ad1	528	}
yabahiro	46:68296caae1af	529	} 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	530	motor[TIRE_FR].pwm = 30;
yabahiro	33:dd598bb23ad1	531	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	532	motor[TIRE_FL].pwm = 255;
kishibekairohan	45:0cf48a0605cd	533	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	45:0cf48a0605cd	534	motor[TIRE_BR].pwm = 255;
kishibekairohan	45:0cf48a0605cd	535	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	536	motor[TIRE_BL].pwm = 30;
yabahiro	33:dd598bb23ad1	537	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	538	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	539	mode=10;
yabahiro	33:dd598bb23ad1	540	countss=100000;
yabahiro	33:dd598bb23ad1	541	}
yabahiro	46:68296caae1af	542	} else if(mode==10) { //縦ライントレース
yabahiro	33:dd598bb23ad1	543	switch(g[1]) {
yabahiro	33:dd598bb23ad1	544	case 98:
yabahiro	49:697b4e9ce884	545	motor[TIRE_FR].pwm = normal+55;
yabahiro	33:dd598bb23ad1	546	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	547	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	548	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	549	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	550	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	551	motor[TIRE_BL].pwm = normal+45;
yabahiro	33:dd598bb23ad1	552	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	553	mtc=true;
yabahiro	39:784552c26163	554	if(countss>80000) {
yabahiro	33:dd598bb23ad1	555	cross++;
yabahiro	33:dd598bb23ad1	556	countss=0;
yabahiro	33:dd598bb23ad1	557	}
yabahiro	46:68296caae1af	558
yabahiro	46:68296caae1af	559	if(cross==2) {
yabahiro	46:68296caae1af	560	fast = 10;
yabahiro	46:68296caae1af	561	normal = 10;
kishibekairohan	45:0cf48a0605cd	562	slow = 5;
kishibekairohan	45:0cf48a0605cd	563	}
yabahiro	46:68296caae1af	564
yabahiro	39:784552c26163	565	if(cross==3) {
kishibekairohan	45:0cf48a0605cd	566	fast=40;
kishibekairohan	45:0cf48a0605cd	567	normal=30;
kishibekairohan	45:0cf48a0605cd	568	slow=20;
yabahiro	33:dd598bb23ad1	569	mode=11;
yabahiro	33:dd598bb23ad1	570	countss=0;
yabahiro	33:dd598bb23ad1	571	cross=0;
yabahiro	33:dd598bb23ad1	572	}
yabahiro	33:dd598bb23ad1	573	break;
yabahiro	33:dd598bb23ad1	574	case 0:
yabahiro	49:697b4e9ce884	575	motor[TIRE_FR].pwm = fast+55;
yabahiro	33:dd598bb23ad1	576	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	577	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	578	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	579	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	580	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	581	motor[TIRE_BL].pwm = fast+45;
yabahiro	33:dd598bb23ad1	582	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	583	mtc=true;
yabahiro	33:dd598bb23ad1	584	break;
yabahiro	33:dd598bb23ad1	585	case 255:
yabahiro	49:697b4e9ce884	586	motor[TIRE_FR].pwm = fast+55;
yabahiro	33:dd598bb23ad1	587	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	588	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	589	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	590	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	591	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	592	motor[TIRE_BL].pwm = fast+45;
yabahiro	33:dd598bb23ad1	593	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	594	mtc=true;
yabahiro	33:dd598bb23ad1	595	break;
yabahiro	33:dd598bb23ad1	596	case 253:
yabahiro	49:697b4e9ce884	597	motor[TIRE_FR].pwm = slow+55;
yabahiro	33:dd598bb23ad1	598	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	599	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	600	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	601	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	602	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	603	motor[TIRE_BL].pwm = slow+45;
yabahiro	33:dd598bb23ad1	604	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	605	mtc=true;
yabahiro	33:dd598bb23ad1	606	break;
yabahiro	33:dd598bb23ad1	607	case 254:
yabahiro	49:697b4e9ce884	608	motor[TIRE_FR].pwm = normal+55;
yabahiro	33:dd598bb23ad1	609	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	610	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	611	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	612	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	613	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	614	motor[TIRE_BL].pwm = normal+45;
yabahiro	33:dd598bb23ad1	615	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	616	mtc=true;
yabahiro	33:dd598bb23ad1	617	break;
yabahiro	33:dd598bb23ad1	618	case 1:
yabahiro	49:697b4e9ce884	619	motor[TIRE_FR].pwm = slow+55;
yabahiro	33:dd598bb23ad1	620	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	621	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	622	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	623	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	624	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	625	motor[TIRE_BL].pwm = slow+45;
yabahiro	33:dd598bb23ad1	626	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	627	mtc=true;
yabahiro	33:dd598bb23ad1	628	break;
yabahiro	33:dd598bb23ad1	629	case 3:
yabahiro	33:dd598bb23ad1	630	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	631	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	632	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	633	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	634	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	635	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	636	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	637	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	638	mtc=true;
yabahiro	33:dd598bb23ad1	639	break;
yabahiro	33:dd598bb23ad1	640	case 2:
yabahiro	33:dd598bb23ad1	641	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	642	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	643	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	644	motor[TIRE_FL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	645	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	646	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	647	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	648	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	649	mtc=true;
yabahiro	33:dd598bb23ad1	650	break;
yabahiro	33:dd598bb23ad1	651	}
kishibekairohan	45:0cf48a0605cd	652	if(g[1]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	653	switch(g[0]) {
yabahiro	33:dd598bb23ad1	654	case 0:
yabahiro	33:dd598bb23ad1	655	mtc=false;
yabahiro	33:dd598bb23ad1	656	break;
yabahiro	33:dd598bb23ad1	657	case 255:
kishibekairohan	45:0cf48a0605cd	658	motor[TIRE_FL].pwm += 3;
yabahiro	33:dd598bb23ad1	659	mtc=false;
yabahiro	33:dd598bb23ad1	660	break;
yabahiro	33:dd598bb23ad1	661	case 253:
kishibekairohan	45:0cf48a0605cd	662	motor[TIRE_FL].pwm += 6;
yabahiro	33:dd598bb23ad1	663	mtc=false;
yabahiro	33:dd598bb23ad1	664	break;
yabahiro	33:dd598bb23ad1	665	case 254:
kishibekairohan	45:0cf48a0605cd	666	motor[TIRE_FL].pwm += 9;
yabahiro	33:dd598bb23ad1	667	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	668	mtc=false;
yabahiro	33:dd598bb23ad1	669	break;
yabahiro	33:dd598bb23ad1	670	case 1:
kishibekairohan	45:0cf48a0605cd	671	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	672	mtc=false;
yabahiro	33:dd598bb23ad1	673	break;
yabahiro	33:dd598bb23ad1	674	case 3:
kishibekairohan	45:0cf48a0605cd	675	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	676	mtc=false;
yabahiro	33:dd598bb23ad1	677	break;
yabahiro	33:dd598bb23ad1	678	case 2:
kishibekairohan	45:0cf48a0605cd	679	motor[TIRE_FR].pwm += 9;
yabahiro	33:dd598bb23ad1	680	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	681	mtc=false;
yabahiro	33:dd598bb23ad1	682	break;
yabahiro	33:dd598bb23ad1	683	}
yabahiro	33:dd598bb23ad1	684	}
yabahiro	33:dd598bb23ad1	685	} else if(mode==11) {
yabahiro	33:dd598bb23ad1	686	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	687	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	688	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	689	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	690	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	691	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	692	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	693	motor[TIRE_BL].dir = BACK;
kishibekairohan	45:0cf48a0605cd	694	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	33:dd598bb23ad1	695	countss=0;
yabahiro	33:dd598bb23ad1	696	cross=0;
yabahiro	33:dd598bb23ad1	697	mode=20;
yabahiro	33:dd598bb23ad1	698	}
yabahiro	46:68296caae1af	699	} else if(mode==20) {
yabahiro	48:5562a99479e5	700	solenoid.solenoid2= SOLENOID_ON;
yabahiro	33:dd598bb23ad1	701	switch(g[2]) {
yabahiro	33:dd598bb23ad1	702	case 98:
yabahiro	49:697b4e9ce884	703	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	704	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	705	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	706	motor[TIRE_FL].dir = FOR;
yabahiro	49:697b4e9ce884	707	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	708	motor[TIRE_BR].dir = BACK;
yabahiro	49:697b4e9ce884	709	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	710	motor[TIRE_BL].dir = BACK;
yabahiro	49:697b4e9ce884	711	if(countss>20000) {
yabahiro	33:dd598bb23ad1	712	cross++;
yabahiro	33:dd598bb23ad1	713	countss=0;
yabahiro	33:dd598bb23ad1	714	}
yabahiro	33:dd598bb23ad1	715	mtc2=true;
yabahiro	46:68296caae1af	716
kishibekairohan	45:0cf48a0605cd	717	if(YELLOW) {
kishibekairohan	45:0cf48a0605cd	718	if(cross==1) {
kishibekairohan	47:a9cad8502999	719	fast=20;
kishibekairohan	47:a9cad8502999	720	normal=15;
kishibekairohan	47:a9cad8502999	721	slow=15;
yabahiro	49:697b4e9ce884	722	}
yabahiro	49:697b4e9ce884	723	if(cross==2) {
yabahiro	39:784552c26163	724	mode=21;
yabahiro	39:784552c26163	725	countss=0;
yabahiro	39:784552c26163	726	cross=0;
yabahiro	39:784552c26163	727	}
yabahiro	39:784552c26163	728	} else {
kishibekairohan	45:0cf48a0605cd	729	if(cross==3) {
yabahiro	39:784552c26163	730	mode=21;
yabahiro	39:784552c26163	731	countss=0;
yabahiro	39:784552c26163	732	cross=0;
yabahiro	39:784552c26163	733	}
yabahiro	39:784552c26163	734	}
yabahiro	33:dd598bb23ad1	735	break;
yabahiro	33:dd598bb23ad1	736	case 0:
kishibekairohan	45:0cf48a0605cd	737	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	738	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	739	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	740	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	741	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	742	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	743	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	744	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	745	mtc2=true;
yabahiro	33:dd598bb23ad1	746	break;
yabahiro	33:dd598bb23ad1	747	case 255:
kishibekairohan	45:0cf48a0605cd	748	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	749	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	750	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	751	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	752	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	753	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	754	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	755	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	756	mtc2=true;
yabahiro	33:dd598bb23ad1	757	break;
yabahiro	33:dd598bb23ad1	758	case 253:
yabahiro	33:dd598bb23ad1	759	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	760	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	761	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	762	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	763	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	764	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	765	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	766	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	767	mtc2=true;
yabahiro	33:dd598bb23ad1	768	break;
yabahiro	33:dd598bb23ad1	769	case 254:
yabahiro	33:dd598bb23ad1	770	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	771	motor[TIRE_FR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	772	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	773	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	774	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	775	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	776	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	777	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	778	mtc2=true;
yabahiro	33:dd598bb23ad1	779	break;
yabahiro	33:dd598bb23ad1	780	case 1:
kishibekairohan	45:0cf48a0605cd	781	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	782	motor[TIRE_FR].dir = FOR;
kishibekairohan	45:0cf48a0605cd	783	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	784	motor[TIRE_FL].dir = FOR;
kishibekairohan	45:0cf48a0605cd	785	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	786	motor[TIRE_BR].dir = BACK;
kishibekairohan	45:0cf48a0605cd	787	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	788	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	789	mtc2=true;
yabahiro	33:dd598bb23ad1	790	break;
yabahiro	33:dd598bb23ad1	791	case 3:
kishibekairohan	45:0cf48a0605cd	792	motor[TIRE_FR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	793	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	794	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	795	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	796	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	797	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	798	motor[TIRE_BL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	799	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	800	mtc2=true;
yabahiro	33:dd598bb23ad1	801	break;
yabahiro	33:dd598bb23ad1	802	case 2:
kishibekairohan	45:0cf48a0605cd	803	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	804	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	805	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	806	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	807	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	808	motor[TIRE_BR].dir = FREE;
kishibekairohan	45:0cf48a0605cd	809	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	810	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	811	mtc2=true;
yabahiro	33:dd598bb23ad1	812	break;
yabahiro	33:dd598bb23ad1	813	}
yabahiro	33:dd598bb23ad1	814	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	815	switch(g[3]) {
yabahiro	33:dd598bb23ad1	816	case 0:
yabahiro	33:dd598bb23ad1	817	mtc2=false;
yabahiro	33:dd598bb23ad1	818	break;
yabahiro	33:dd598bb23ad1	819	case 255:
yabahiro	33:dd598bb23ad1	820	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	821	mtc2=false;
yabahiro	33:dd598bb23ad1	822	break;
yabahiro	33:dd598bb23ad1	823	case 253:
yabahiro	33:dd598bb23ad1	824	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	825	mtc2=false;
yabahiro	33:dd598bb23ad1	826	break;
yabahiro	33:dd598bb23ad1	827	case 254:
kishibekairohan	45:0cf48a0605cd	828	motor[TIRE_BL].pwm += 15;
yabahiro	33:dd598bb23ad1	829	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	830	mtc2=false;
yabahiro	33:dd598bb23ad1	831	break;
yabahiro	33:dd598bb23ad1	832	case 1:
yabahiro	33:dd598bb23ad1	833	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	834	mtc2=false;
yabahiro	33:dd598bb23ad1	835	break;
yabahiro	33:dd598bb23ad1	836	case 3:
yabahiro	33:dd598bb23ad1	837	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	838	mtc2=false;
yabahiro	33:dd598bb23ad1	839	break;
yabahiro	33:dd598bb23ad1	840	case 2:
kishibekairohan	45:0cf48a0605cd	841	motor[TIRE_FL].pwm += 15;
yabahiro	33:dd598bb23ad1	842	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	843	mtc2=false;
yabahiro	33:dd598bb23ad1	844	break;
yabahiro	33:dd598bb23ad1	845	}
yabahiro	33:dd598bb23ad1	846	}
yabahiro	50:87f5fa1bc460	847	} else if(mode==21) {
yabahiro	50:87f5fa1bc460	848	if(YELLOW) {
yabahiro	33:dd598bb23ad1	849	motor[TIRE_FR].pwm = 20;
yabahiro	33:dd598bb23ad1	850	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	851	motor[TIRE_FL].pwm = 20;
yabahiro	33:dd598bb23ad1	852	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	853	motor[TIRE_BR].pwm = 20;
yabahiro	33:dd598bb23ad1	854	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	855	motor[TIRE_BL].pwm = 20;
yabahiro	33:dd598bb23ad1	856	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	857	if(g[3]==98&&countss>=10000) {
yabahiro	39:784552c26163	858	mode=22;
yabahiro	33:dd598bb23ad1	859	countss=0;
yabahiro	39:784552c26163	860	fast=60;
yabahiro	39:784552c26163	861	normal=40;
yabahiro	39:784552c26163	862	slow=20;
yabahiro	39:784552c26163	863	}
yabahiro	50:87f5fa1bc460	864	} else {
yabahiro	50:87f5fa1bc460	865	motor[TIRE_FR].pwm = 255;
yabahiro	50:87f5fa1bc460	866	motor[TIRE_FR].dir = BRAKE;
yabahiro	50:87f5fa1bc460	867	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	868	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	869	motor[TIRE_BR].pwm = 30;
yabahiro	50:87f5fa1bc460	870	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	871	motor[TIRE_BL].pwm = 255;
yabahiro	50:87f5fa1bc460	872	motor[TIRE_BL].dir = BRAKE;
yabahiro	50:87f5fa1bc460	873	if(g[0]==0) {
yabahiro	50:87f5fa1bc460	874	mode=22;
yabahiro	50:87f5fa1bc460	875	fast=60;
yabahiro	50:87f5fa1bc460	876	normal=40;
yabahiro	50:87f5fa1bc460	877	slow=25;
yabahiro	50:87f5fa1bc460	878	}
yabahiro	50:87f5fa1bc460	879	}
yabahiro	50:87f5fa1bc460	880	} else if(mode==22) {
yabahiro	50:87f5fa1bc460	881	if(YELLOW) {
yabahiro	39:784552c26163	882	if(g[4]==3\|\|g[4]==2) {
yabahiro	39:784552c26163	883	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	884	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	885	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	886	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	887	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	888	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	889	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	890	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	891	}
yabahiro	39:784552c26163	892	if(g[4]==253\|\|g[4]==254) {
yabahiro	39:784552c26163	893	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	894	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	895	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	896	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	897	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	898	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	899	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	900	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	901	}
yabahiro	39:784552c26163	902	switch(g[2]) {
yabahiro	39:784552c26163	903	case 0:
yabahiro	39:784552c26163	904	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	905	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	906	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	907	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	908	break;
yabahiro	39:784552c26163	909	case 255:
yabahiro	39:784552c26163	910	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	911	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	912	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	913	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	914	break;
yabahiro	39:784552c26163	915	case 253:
yabahiro	39:784552c26163	916	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	917	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	918	motor[TIRE_BR].pwm = 20;
yabahiro	39:784552c26163	919	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	920	break;
yabahiro	39:784552c26163	921	case 254:
yabahiro	39:784552c26163	922	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	923	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	924	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	925	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	926	break;
yabahiro	39:784552c26163	927	case 1:
yabahiro	39:784552c26163	928	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	929	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	930	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	931	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	932	break;
yabahiro	39:784552c26163	933	case 3:
yabahiro	39:784552c26163	934	motor[TIRE_FR].pwm = 20;
yabahiro	39:784552c26163	935	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	936	motor[TIRE_BR].pwm = 40;
yabahiro	39:784552c26163	937	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	938	break;
yabahiro	39:784552c26163	939	case 2:
yabahiro	39:784552c26163	940	motor[TIRE_FR].pwm = 30;
yabahiro	39:784552c26163	941	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	942	motor[TIRE_BR].pwm = 30;
yabahiro	39:784552c26163	943	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	944	break;
yabahiro	39:784552c26163	945	}
yabahiro	39:784552c26163	946	switch(g[3]) {
yabahiro	39:784552c26163	947	case 0:
yabahiro	39:784552c26163	948	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	949	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	950	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	951	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	952	break;
yabahiro	39:784552c26163	953	case 255:
yabahiro	39:784552c26163	954	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	955	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	956	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	957	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	958	case 253:
yabahiro	39:784552c26163	959	motor[TIRE_FL].pwm = 20;
yabahiro	39:784552c26163	960	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	961	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	962	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	963	break;
yabahiro	39:784552c26163	964	case 254:
yabahiro	39:784552c26163	965	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	966	motor[TIRE_FL].dir = BACK;
yabahiro	39:784552c26163	967	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	968	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	969	break;
yabahiro	39:784552c26163	970	case 1:
yabahiro	39:784552c26163	971	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	972	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	973	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	974	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	975	break;
yabahiro	39:784552c26163	976	case 3:
yabahiro	39:784552c26163	977	motor[TIRE_FL].pwm = 40;
yabahiro	39:784552c26163	978	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	979	motor[TIRE_BL].pwm = 20;
yabahiro	39:784552c26163	980	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	981	break;
yabahiro	39:784552c26163	982	case 2:
yabahiro	39:784552c26163	983	motor[TIRE_FL].pwm = 30;
yabahiro	39:784552c26163	984	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	985	motor[TIRE_BL].pwm = 30;
yabahiro	39:784552c26163	986	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	987	break;
yabahiro	39:784552c26163	988	}
yabahiro	39:784552c26163	989	if(g[3]==0&&g[2]==0) {
yabahiro	39:784552c26163	990	mode=23;
yabahiro	33:dd598bb23ad1	991	countss=0;
yabahiro	33:dd598bb23ad1	992	}
yabahiro	50:87f5fa1bc460	993	} else {
yabahiro	48:5562a99479e5	994	if(g[0]==98) {
kishibekairohan	47:a9cad8502999	995	slow=25;
kishibekairohan	47:a9cad8502999	996	normal=30;
kishibekairohan	47:a9cad8502999	997	fast=40;
kishibekairohan	47:a9cad8502999	998	}
yabahiro	39:784552c26163	999	if(g[3]==0) {
kishibekairohan	47:a9cad8502999	1000	slow=25;
kishibekairohan	47:a9cad8502999	1001	normal=40;
kishibekairohan	47:a9cad8502999	1002	fast=40;
yabahiro	39:784552c26163	1003	mode=23;
yabahiro	39:784552c26163	1004	}
yabahiro	39:784552c26163	1005	switch(g[0]) {
yabahiro	39:784552c26163	1006	case 98:
yabahiro	48:5562a99479e5	1007	solenoid.solenoid2 = SOLENOID_OFF;
kishibekairohan	47:a9cad8502999	1008	fast=40;
kishibekairohan	47:a9cad8502999	1009	normal=30;
kishibekairohan	47:a9cad8502999	1010	slow=25;
yabahiro	39:784552c26163	1011	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1012	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1013	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1014	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1015	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1016	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1017	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1018	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1019	break;
yabahiro	39:784552c26163	1020	case 0:
yabahiro	39:784552c26163	1021	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1022	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1023	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1024	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1025	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1026	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1027	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1028	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1029	mtc=true;
yabahiro	39:784552c26163	1030	break;
yabahiro	39:784552c26163	1031	case 255:
yabahiro	39:784552c26163	1032	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1033	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1034	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1035	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1036	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1037	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1038	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1039	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1040	mtc=true;
yabahiro	39:784552c26163	1041	break;
yabahiro	39:784552c26163	1042	case 253:
yabahiro	39:784552c26163	1043	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1044	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1045	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1046	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1047	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1048	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1049	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1050	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1051	mtc=true;
yabahiro	39:784552c26163	1052	break;
yabahiro	39:784552c26163	1053	case 254:
yabahiro	39:784552c26163	1054	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1055	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1056	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1057	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1058	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1059	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1060	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1061	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1062	mtc=true;
yabahiro	39:784552c26163	1063	break;
yabahiro	39:784552c26163	1064	case 1:
yabahiro	39:784552c26163	1065	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1066	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1067	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1068	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1069	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1070	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1071	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1072	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1073	mtc=true;
yabahiro	39:784552c26163	1074	break;
yabahiro	39:784552c26163	1075	case 3:
yabahiro	39:784552c26163	1076	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1077	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1078	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1079	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1080	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1081	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1082	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1083	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1084	mtc=true;
yabahiro	39:784552c26163	1085	break;
yabahiro	39:784552c26163	1086	case 2:
yabahiro	39:784552c26163	1087	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1088	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1089	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1090	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1091	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1092	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1093	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1094	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1095	mtc=true;
yabahiro	39:784552c26163	1096	break;
yabahiro	39:784552c26163	1097	}
yabahiro	39:784552c26163	1098	if(g[0]!=98&&mtc==true) {
yabahiro	39:784552c26163	1099	switch(g[0]) {
yabahiro	39:784552c26163	1100	case 0:
yabahiro	39:784552c26163	1101	mtc=false;
yabahiro	39:784552c26163	1102	break;
yabahiro	39:784552c26163	1103	case 255:
yabahiro	39:784552c26163	1104	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1105	mtc=false;
yabahiro	39:784552c26163	1106	break;
yabahiro	39:784552c26163	1107	case 253:
yabahiro	39:784552c26163	1108	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1109	mtc=false;
yabahiro	39:784552c26163	1110	break;
yabahiro	39:784552c26163	1111	case 254:
yabahiro	39:784552c26163	1112	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1113	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1114	mtc=false;
yabahiro	39:784552c26163	1115	break;
yabahiro	39:784552c26163	1116	case 1:
yabahiro	39:784552c26163	1117	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1118	mtc=false;
yabahiro	39:784552c26163	1119	break;
yabahiro	39:784552c26163	1120	case 3:
yabahiro	39:784552c26163	1121	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1122	mtc=false;
yabahiro	39:784552c26163	1123	break;
yabahiro	39:784552c26163	1124	case 2:
yabahiro	39:784552c26163	1125	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1126	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1127	mtc=false;
yabahiro	39:784552c26163	1128	break;
yabahiro	39:784552c26163	1129	}
yabahiro	39:784552c26163	1130	}
yabahiro	50:87f5fa1bc460	1131	}
yabahiro	50:87f5fa1bc460	1132	} else if(mode==23) {
yabahiro	50:87f5fa1bc460	1133	if(YELLOW) {
yabahiro	50:87f5fa1bc460	1134	switch(g[4]) {
yabahiro	50:87f5fa1bc460	1135	case 98:
yabahiro	50:87f5fa1bc460	1136	motor[TIRE_FR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1137	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1138	motor[TIRE_FL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1139	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1140	motor[TIRE_BR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1141	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1142	motor[TIRE_BL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1143	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1144	break;
yabahiro	50:87f5fa1bc460	1145	case 99:
yabahiro	50:87f5fa1bc460	1146	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1147	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1148	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1149	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1150	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1151	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1152	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1153	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1154	break;
yabahiro	50:87f5fa1bc460	1155	case 0:
yabahiro	50:87f5fa1bc460	1156	motor[TIRE_FR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1157	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1158	motor[TIRE_FL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1159	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1160	motor[TIRE_BR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1161	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1162	motor[TIRE_BL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1163	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1164	break;
yabahiro	50:87f5fa1bc460	1165	case 255:
yabahiro	50:87f5fa1bc460	1166	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1167	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1168	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1169	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1170	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1171	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1172	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1173	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1174	break;
yabahiro	50:87f5fa1bc460	1175	case 253:
yabahiro	50:87f5fa1bc460	1176	motor[TIRE_FR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1177	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1178	motor[TIRE_FL].pwm = slow-5;
yabahiro	50:87f5fa1bc460	1179	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1180	motor[TIRE_BR].pwm = slow-5;
yabahiro	50:87f5fa1bc460	1181	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1182	motor[TIRE_BL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1183	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1184	break;
yabahiro	50:87f5fa1bc460	1185	case 254:
yabahiro	50:87f5fa1bc460	1186	motor[TIRE_FR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1187	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1188	motor[TIRE_FL].pwm = normal-5;
yabahiro	50:87f5fa1bc460	1189	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1190	motor[TIRE_BR].pwm = normal-5;
yabahiro	50:87f5fa1bc460	1191	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1192	motor[TIRE_BL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1193	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1194	break;
yabahiro	50:87f5fa1bc460	1195	case 1:
yabahiro	50:87f5fa1bc460	1196	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1197	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1198	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1199	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1200	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1201	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1202	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1203	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1204	break;
yabahiro	50:87f5fa1bc460	1205	case 3:
yabahiro	50:87f5fa1bc460	1206	motor[TIRE_FR].pwm = slow-5;
yabahiro	50:87f5fa1bc460	1207	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1208	motor[TIRE_FL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1209	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1210	motor[TIRE_BR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1211	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1212	motor[TIRE_BL].pwm = slow-5;
yabahiro	50:87f5fa1bc460	1213	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1214	break;
yabahiro	50:87f5fa1bc460	1215	case 2:
yabahiro	50:87f5fa1bc460	1216	motor[TIRE_FR].pwm = normal-5;
yabahiro	50:87f5fa1bc460	1217	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1218	motor[TIRE_FL].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1219	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1220	motor[TIRE_BR].pwm = fast-5;
yabahiro	50:87f5fa1bc460	1221	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1222	motor[TIRE_BL].pwm = normal-5;
yabahiro	50:87f5fa1bc460	1223	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1224	break;
yabahiro	50:87f5fa1bc460	1225	}
yabahiro	50:87f5fa1bc460	1226	if(g[0]==98) {
yabahiro	50:87f5fa1bc460	1227	fast=30;
yabahiro	50:87f5fa1bc460	1228	normal=25;
yabahiro	50:87f5fa1bc460	1229	slow=20;
yabahiro	50:87f5fa1bc460	1230	}
yabahiro	50:87f5fa1bc460	1231	if(g[2]==254&&countss>=100000) {
yabahiro	50:87f5fa1bc460	1232	mode=24;
yabahiro	50:87f5fa1bc460	1233	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	50:87f5fa1bc460	1234	countss=0;
yabahiro	50:87f5fa1bc460	1235	fast=60;
yabahiro	50:87f5fa1bc460	1236	normal=40;
yabahiro	50:87f5fa1bc460	1237	slow=20;
yabahiro	50:87f5fa1bc460	1238	}
yabahiro	50:87f5fa1bc460	1239	} else {
yabahiro	39:784552c26163	1240	if(UPLS==true\|\|DOLS==true) {
yabahiro	48:5562a99479e5	1241	if(UPLS==true\|\|DOLS==true) {
yabahiro	48:5562a99479e5	1242	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	1243	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	1244	fast=60;
yabahiro	48:5562a99479e5	1245	normal=40;
yabahiro	48:5562a99479e5	1246	slow=20;
yabahiro	48:5562a99479e5	1247	countss=0;
yabahiro	48:5562a99479e5	1248	mode=24;
yabahiro	48:5562a99479e5	1249	}
yabahiro	39:784552c26163	1250	} else {
yabahiro	39:784552c26163	1251	motor[MOTOR_0].pwm = 100;
yabahiro	39:784552c26163	1252	motor[MOTOR_0].dir = BACK;
yabahiro	39:784552c26163	1253	}
kishibekairohan	47:a9cad8502999	1254	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	1255	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1256	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	1257	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1258	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	1259	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1260	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	1261	motor[TIRE_BL].dir = BRAKE;
yabahiro	50:87f5fa1bc460	1262	}
yabahiro	50:87f5fa1bc460	1263	} else if(mode==24) {
yabahiro	50:87f5fa1bc460	1264	if(YELLOW) {
yabahiro	50:87f5fa1bc460	1265	if(g[4]==3\|\|g[4]==2) {
yabahiro	50:87f5fa1bc460	1266	motor[TIRE_FR].pwm = 30;
yabahiro	50:87f5fa1bc460	1267	motor[TIRE_FR].dir = FOR;
yabahiro	50:87f5fa1bc460	1268	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1269	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1270	motor[TIRE_BR].pwm = 30;
yabahiro	50:87f5fa1bc460	1271	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1272	motor[TIRE_BL].pwm = 30;
yabahiro	50:87f5fa1bc460	1273	motor[TIRE_BL].dir = BACK;
yabahiro	50:87f5fa1bc460	1274	}
yabahiro	50:87f5fa1bc460	1275	if(g[4]==253\|\|g[4]==254) {
yabahiro	50:87f5fa1bc460	1276	motor[TIRE_FR].pwm = 30;
yabahiro	50:87f5fa1bc460	1277	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1278	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1279	motor[TIRE_FL].dir = BACK;
yabahiro	50:87f5fa1bc460	1280	motor[TIRE_BR].pwm = 30;
yabahiro	50:87f5fa1bc460	1281	motor[TIRE_BR].dir = FOR;
yabahiro	50:87f5fa1bc460	1282	motor[TIRE_BL].pwm = 30;
yabahiro	50:87f5fa1bc460	1283	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1284	}
yabahiro	50:87f5fa1bc460	1285	switch(g[2]) {
yabahiro	50:87f5fa1bc460	1286	case 0:
yabahiro	50:87f5fa1bc460	1287	motor[TIRE_FR].pwm = 20;
yabahiro	50:87f5fa1bc460	1288	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1289	motor[TIRE_BR].pwm = 20;
yabahiro	50:87f5fa1bc460	1290	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1291	break;
yabahiro	50:87f5fa1bc460	1292	case 255:
yabahiro	50:87f5fa1bc460	1293	motor[TIRE_FR].pwm = 30;
yabahiro	50:87f5fa1bc460	1294	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1295	motor[TIRE_BR].pwm = 20;
yabahiro	50:87f5fa1bc460	1296	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1297	break;
yabahiro	50:87f5fa1bc460	1298	case 253:
yabahiro	50:87f5fa1bc460	1299	motor[TIRE_FR].pwm = 40;
yabahiro	50:87f5fa1bc460	1300	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1301	motor[TIRE_BR].pwm = 20;
yabahiro	50:87f5fa1bc460	1302	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1303	break;
yabahiro	50:87f5fa1bc460	1304	case 254:
yabahiro	50:87f5fa1bc460	1305	motor[TIRE_FR].pwm = 30;
yabahiro	50:87f5fa1bc460	1306	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1307	motor[TIRE_BR].pwm = 30;
yabahiro	50:87f5fa1bc460	1308	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1309	break;
yabahiro	50:87f5fa1bc460	1310	case 1:
yabahiro	50:87f5fa1bc460	1311	motor[TIRE_FR].pwm = 20;
yabahiro	50:87f5fa1bc460	1312	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1313	motor[TIRE_BR].pwm = 30;
yabahiro	50:87f5fa1bc460	1314	motor[TIRE_BR].dir = FOR;
yabahiro	50:87f5fa1bc460	1315	break;
yabahiro	50:87f5fa1bc460	1316	case 3:
yabahiro	50:87f5fa1bc460	1317	motor[TIRE_FR].pwm = 20;
yabahiro	50:87f5fa1bc460	1318	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1319	motor[TIRE_BR].pwm = 40;
yabahiro	50:87f5fa1bc460	1320	motor[TIRE_BR].dir = FOR;
yabahiro	50:87f5fa1bc460	1321	break;
yabahiro	50:87f5fa1bc460	1322	case 2:
yabahiro	50:87f5fa1bc460	1323	motor[TIRE_FR].pwm = 30;
yabahiro	50:87f5fa1bc460	1324	motor[TIRE_FR].dir = FOR;
yabahiro	50:87f5fa1bc460	1325	motor[TIRE_BR].pwm = 30;
yabahiro	50:87f5fa1bc460	1326	motor[TIRE_BR].dir = FOR;
yabahiro	50:87f5fa1bc460	1327	break;
yabahiro	50:87f5fa1bc460	1328	}
yabahiro	50:87f5fa1bc460	1329	switch(g[3]) {
yabahiro	50:87f5fa1bc460	1330	case 0:
yabahiro	50:87f5fa1bc460	1331	motor[TIRE_FL].pwm = 20;
yabahiro	50:87f5fa1bc460	1332	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1333	motor[TIRE_BL].pwm = 20;
yabahiro	50:87f5fa1bc460	1334	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1335	break;
yabahiro	50:87f5fa1bc460	1336	case 255:
yabahiro	50:87f5fa1bc460	1337	motor[TIRE_FL].pwm = 20;
yabahiro	50:87f5fa1bc460	1338	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1339	motor[TIRE_BL].pwm = 30;
yabahiro	50:87f5fa1bc460	1340	motor[TIRE_BL].dir = BACK;
yabahiro	50:87f5fa1bc460	1341	case 253:
yabahiro	50:87f5fa1bc460	1342	motor[TIRE_FL].pwm = 20;
yabahiro	50:87f5fa1bc460	1343	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1344	motor[TIRE_BL].pwm = 40;
yabahiro	50:87f5fa1bc460	1345	motor[TIRE_BL].dir = BACK;
yabahiro	50:87f5fa1bc460	1346	break;
yabahiro	50:87f5fa1bc460	1347	case 254:
yabahiro	50:87f5fa1bc460	1348	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1349	motor[TIRE_FL].dir = BACK;
yabahiro	50:87f5fa1bc460	1350	motor[TIRE_BL].pwm = 30;
yabahiro	50:87f5fa1bc460	1351	motor[TIRE_BL].dir = BACK;
yabahiro	50:87f5fa1bc460	1352	break;
yabahiro	50:87f5fa1bc460	1353	case 1:
yabahiro	50:87f5fa1bc460	1354	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1355	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1356	motor[TIRE_BL].pwm = 20;
yabahiro	50:87f5fa1bc460	1357	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1358	break;
yabahiro	50:87f5fa1bc460	1359	case 3:
yabahiro	50:87f5fa1bc460	1360	motor[TIRE_FL].pwm = 40;
yabahiro	50:87f5fa1bc460	1361	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1362	motor[TIRE_BL].pwm = 20;
yabahiro	50:87f5fa1bc460	1363	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1364	break;
yabahiro	50:87f5fa1bc460	1365	case 2:
yabahiro	50:87f5fa1bc460	1366	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1367	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1368	motor[TIRE_BL].pwm = 30;
yabahiro	50:87f5fa1bc460	1369	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1370	break;
yabahiro	50:87f5fa1bc460	1371	}
yabahiro	50:87f5fa1bc460	1372	if(g[3]==0&&g[2]==0) {
yabahiro	50:87f5fa1bc460	1373	mode=25;
yabahiro	50:87f5fa1bc460	1374	}
yabahiro	50:87f5fa1bc460	1375	} else {
yabahiro	39:784552c26163	1376	if(g[0]==98&&countss>=40000) {
yabahiro	39:784552c26163	1377	mode=31;
yabahiro	39:784552c26163	1378	countss=0;
yabahiro	39:784552c26163	1379	}
yabahiro	39:784552c26163	1380	switch(g[0]) {
yabahiro	39:784552c26163	1381	case 98:
kishibekairohan	47:a9cad8502999	1382	fast=40;
kishibekairohan	47:a9cad8502999	1383	normal=30;
kishibekairohan	47:a9cad8502999	1384	slow=25;
yabahiro	39:784552c26163	1385	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1386	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1387	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1388	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1389	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1390	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1391	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1392	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1393	break;
yabahiro	39:784552c26163	1394	case 0:
yabahiro	39:784552c26163	1395	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1396	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1397	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1398	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1399	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1400	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1401	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1402	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1403	mtc=true;
yabahiro	39:784552c26163	1404	break;
yabahiro	39:784552c26163	1405	case 255:
yabahiro	39:784552c26163	1406	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1407	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1408	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1409	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1410	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1411	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1412	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1413	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1414	mtc=true;
yabahiro	39:784552c26163	1415	break;
yabahiro	39:784552c26163	1416	case 253:
yabahiro	39:784552c26163	1417	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1418	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1419	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1420	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1421	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1422	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1423	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1424	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1425	mtc=true;
yabahiro	39:784552c26163	1426	break;
yabahiro	39:784552c26163	1427	case 254:
yabahiro	39:784552c26163	1428	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1429	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1430	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1431	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1432	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1433	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1434	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1435	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1436	mtc=true;
yabahiro	39:784552c26163	1437	break;
yabahiro	39:784552c26163	1438	case 1:
yabahiro	39:784552c26163	1439	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1440	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1441	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1442	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1443	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1444	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1445	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1446	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1447	mtc=true;
yabahiro	39:784552c26163	1448	break;
yabahiro	39:784552c26163	1449	case 3:
yabahiro	39:784552c26163	1450	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1451	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1452	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1453	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1454	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1455	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1456	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1457	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1458	mtc=true;
yabahiro	39:784552c26163	1459	break;
yabahiro	39:784552c26163	1460	case 2:
yabahiro	39:784552c26163	1461	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1462	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1463	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1464	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1465	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1466	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1467	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1468	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1469	mtc=true;
yabahiro	39:784552c26163	1470	break;
yabahiro	39:784552c26163	1471	}
yabahiro	39:784552c26163	1472	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1473	switch(g[1]) {
yabahiro	39:784552c26163	1474	case 0:
yabahiro	39:784552c26163	1475	mtc=false;
yabahiro	39:784552c26163	1476	break;
yabahiro	39:784552c26163	1477	case 255:
yabahiro	39:784552c26163	1478	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1479	mtc=false;
yabahiro	39:784552c26163	1480	break;
yabahiro	39:784552c26163	1481	case 253:
yabahiro	39:784552c26163	1482	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1483	mtc=false;
yabahiro	39:784552c26163	1484	break;
yabahiro	39:784552c26163	1485	case 254:
yabahiro	39:784552c26163	1486	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1487	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1488	mtc=false;
yabahiro	39:784552c26163	1489	break;
yabahiro	39:784552c26163	1490	case 1:
yabahiro	39:784552c26163	1491	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1492	mtc=false;
yabahiro	39:784552c26163	1493	break;
yabahiro	39:784552c26163	1494	case 3:
yabahiro	39:784552c26163	1495	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1496	mtc=false;
yabahiro	39:784552c26163	1497	break;
yabahiro	39:784552c26163	1498	case 2:
yabahiro	39:784552c26163	1499	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1500	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1501	mtc=false;
yabahiro	39:784552c26163	1502	break;
yabahiro	39:784552c26163	1503	}
yabahiro	33:dd598bb23ad1	1504	}
yabahiro	33:dd598bb23ad1	1505	}
yabahiro	50:87f5fa1bc460	1506	} else if(mode==25) {
yabahiro	50:87f5fa1bc460	1507	motor[TIRE_FR].pwm = 100;
yabahiro	50:87f5fa1bc460	1508	motor[TIRE_FR].dir = BRAKE;
yabahiro	50:87f5fa1bc460	1509	motor[TIRE_FL].pwm = 100;
yabahiro	50:87f5fa1bc460	1510	motor[TIRE_FL].dir = BRAKE;
yabahiro	50:87f5fa1bc460	1511	motor[TIRE_BR].pwm = 100;
yabahiro	50:87f5fa1bc460	1512	motor[TIRE_BR].dir = BRAKE;
yabahiro	50:87f5fa1bc460	1513	motor[TIRE_BL].pwm = 100;
yabahiro	50:87f5fa1bc460	1514	motor[TIRE_BL].dir = BRAKE;
yabahiro	50:87f5fa1bc460	1515	if(DOLS==true\|\|UPLS==true) {
yabahiro	50:87f5fa1bc460	1516	if(DOLS==true\|\|UPLS==true) {
yabahiro	50:87f5fa1bc460	1517	motor[MOTOR_0].pwm = 200;
yabahiro	50:87f5fa1bc460	1518	motor[MOTOR_0].dir = BRAKE;
yabahiro	50:87f5fa1bc460	1519	countss=0;
yabahiro	50:87f5fa1bc460	1520	mode=26;
yabahiro	50:87f5fa1bc460	1521	}
yabahiro	50:87f5fa1bc460	1522	} else {
yabahiro	50:87f5fa1bc460	1523	motor[MOTOR_0].pwm = 100;
yabahiro	50:87f5fa1bc460	1524	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	1525	}
yabahiro	50:87f5fa1bc460	1526	} else if(mode==26) {
yabahiro	50:87f5fa1bc460	1527	switch(g[4]) {
yabahiro	50:87f5fa1bc460	1528	case 98:
yabahiro	50:87f5fa1bc460	1529	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1530	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1531	motor[TIRE_FL].pwm = 60;
yabahiro	50:87f5fa1bc460	1532	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1533	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1534	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1535	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1536	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1537	break;
yabahiro	50:87f5fa1bc460	1538	case 99:
yabahiro	50:87f5fa1bc460	1539	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1540	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1541	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1542	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1543	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1544	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1545	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1546	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1547	break;
yabahiro	50:87f5fa1bc460	1548	case 0:
yabahiro	50:87f5fa1bc460	1549	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1550	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1551	motor[TIRE_FL].pwm = 60;
yabahiro	50:87f5fa1bc460	1552	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1553	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1554	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1555	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1556	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1557	break;
yabahiro	50:87f5fa1bc460	1558	case 255:
yabahiro	50:87f5fa1bc460	1559	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1560	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1561	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1562	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1563	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1564	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1565	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1566	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1567	break;
yabahiro	50:87f5fa1bc460	1568	case 253:
yabahiro	50:87f5fa1bc460	1569	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1570	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1571	motor[TIRE_FL].pwm = 20;
yabahiro	50:87f5fa1bc460	1572	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1573	motor[TIRE_BR].pwm = 20;
yabahiro	50:87f5fa1bc460	1574	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1575	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1576	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1577	break;
yabahiro	50:87f5fa1bc460	1578	case 254:
yabahiro	50:87f5fa1bc460	1579	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1580	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1581	motor[TIRE_FL].pwm = 40;
yabahiro	50:87f5fa1bc460	1582	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1583	motor[TIRE_BR].pwm = 40;
yabahiro	50:87f5fa1bc460	1584	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1585	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1586	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1587	break;
yabahiro	50:87f5fa1bc460	1588	case 1:
yabahiro	50:87f5fa1bc460	1589	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1590	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1591	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1592	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1593	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1594	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1595	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1596	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1597	break;
yabahiro	50:87f5fa1bc460	1598	case 3:
yabahiro	50:87f5fa1bc460	1599	motor[TIRE_FR].pwm = 40;
yabahiro	50:87f5fa1bc460	1600	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1601	motor[TIRE_FL].pwm = 60;
yabahiro	50:87f5fa1bc460	1602	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1603	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1604	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1605	motor[TIRE_BL].pwm = 40;
yabahiro	50:87f5fa1bc460	1606	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1607	break;
yabahiro	50:87f5fa1bc460	1608	case 2:
yabahiro	50:87f5fa1bc460	1609	motor[TIRE_FR].pwm = 40;
yabahiro	50:87f5fa1bc460	1610	motor[TIRE_FR].dir = BACK;
yabahiro	50:87f5fa1bc460	1611	motor[TIRE_FL].pwm = 60;
yabahiro	50:87f5fa1bc460	1612	motor[TIRE_FL].dir = FOR;
yabahiro	50:87f5fa1bc460	1613	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1614	motor[TIRE_BR].dir = BACK;
yabahiro	50:87f5fa1bc460	1615	motor[TIRE_BL].pwm = 40;
yabahiro	50:87f5fa1bc460	1616	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1617	break;
yabahiro	33:dd598bb23ad1	1618	}
yabahiro	50:87f5fa1bc460	1619	if(g[0]==98) {
yabahiro	50:87f5fa1bc460	1620	mode=31;
yabahiro	50:87f5fa1bc460	1621	}
yabahiro	50:87f5fa1bc460	1622	} else if(mode==31) {
kishibekairohan	47:a9cad8502999	1623	motor[TIRE_FR].pwm = 45;
kishibekairohan	47:a9cad8502999	1624	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1625	motor[TIRE_FL].pwm = 255;
kishibekairohan	47:a9cad8502999	1626	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1627	motor[TIRE_BR].pwm = 255;
kishibekairohan	47:a9cad8502999	1628	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	1629	motor[TIRE_BL].pwm = 45;
kishibekairohan	47:a9cad8502999	1630	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	1631	if(g[2]==0) {
kishibekairohan	47:a9cad8502999	1632	cross=0;
kishibekairohan	47:a9cad8502999	1633	countss=0;
kishibekairohan	47:a9cad8502999	1634	mode=40;
kishibekairohan	47:a9cad8502999	1635	}
yabahiro	33:dd598bb23ad1	1636	} else if(mode==40) {
yabahiro	49:697b4e9ce884	1637	if(LIF\|\|LIB) {
yabahiro	49:697b4e9ce884	1638	mode=42;
yabahiro	49:697b4e9ce884	1639	}
yabahiro	33:dd598bb23ad1	1640	switch(g[3]) {
yabahiro	33:dd598bb23ad1	1641	case 98:
kishibekairohan	47:a9cad8502999	1642	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1643	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1644	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1645	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1646	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1647	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1648	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1649	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1650	if(countss>10000) {
yabahiro	33:dd598bb23ad1	1651	cross++;
yabahiro	33:dd598bb23ad1	1652	countss=0;
yabahiro	33:dd598bb23ad1	1653	}
yabahiro	33:dd598bb23ad1	1654	mtc2=true;
yabahiro	49:697b4e9ce884	1655	if(YELLOW) {
yabahiro	49:697b4e9ce884	1656	if(cross==1) {
yabahiro	49:697b4e9ce884	1657	mode=41;
yabahiro	49:697b4e9ce884	1658	countss=0;
yabahiro	49:697b4e9ce884	1659	cross=0;
yabahiro	49:697b4e9ce884	1660	}
yabahiro	49:697b4e9ce884	1661	} else {
yabahiro	49:697b4e9ce884	1662	if(cross==3) {
yabahiro	49:697b4e9ce884	1663	mode=41;
yabahiro	49:697b4e9ce884	1664	countss=0;
yabahiro	49:697b4e9ce884	1665	cross=0;
yabahiro	49:697b4e9ce884	1666	}
yabahiro	33:dd598bb23ad1	1667	}
yabahiro	33:dd598bb23ad1	1668	break;
yabahiro	33:dd598bb23ad1	1669	case 0:
kishibekairohan	47:a9cad8502999	1670	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1671	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1672	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1673	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1674	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1675	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1676	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1677	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1678	mtc2=true;
yabahiro	33:dd598bb23ad1	1679	break;
yabahiro	33:dd598bb23ad1	1680	case 255:
kishibekairohan	47:a9cad8502999	1681	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1682	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1683	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1684	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1685	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1686	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1687	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1688	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1689	mtc2=true;
yabahiro	33:dd598bb23ad1	1690	break;
yabahiro	33:dd598bb23ad1	1691	case 253:
yabahiro	33:dd598bb23ad1	1692	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1693	motor[TIRE_FR].dir = FREE;
kishibekairohan	47:a9cad8502999	1694	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1695	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1696	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1697	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1698	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1699	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1700	mtc2=true;
yabahiro	33:dd598bb23ad1	1701	break;
yabahiro	33:dd598bb23ad1	1702	case 254:
yabahiro	33:dd598bb23ad1	1703	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1704	motor[TIRE_FR].dir = FREE;
kishibekairohan	47:a9cad8502999	1705	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1706	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1707	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1708	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	1709	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1710	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1711	mtc2=true;
yabahiro	33:dd598bb23ad1	1712	break;
yabahiro	33:dd598bb23ad1	1713	case 1:
kishibekairohan	47:a9cad8502999	1714	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1715	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1716	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1717	motor[TIRE_FL].dir = BACK;
kishibekairohan	47:a9cad8502999	1718	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1719	motor[TIRE_BR].dir = FOR;
kishibekairohan	47:a9cad8502999	1720	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	1721	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1722	mtc2=true;
yabahiro	33:dd598bb23ad1	1723	break;
yabahiro	33:dd598bb23ad1	1724	case 3:
kishibekairohan	47:a9cad8502999	1725	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1726	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1727	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1728	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1729	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1730	motor[TIRE_BR].dir = FREE;
kishibekairohan	47:a9cad8502999	1731	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	1732	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1733	mtc2=true;
yabahiro	33:dd598bb23ad1	1734	break;
yabahiro	33:dd598bb23ad1	1735	case 2:
kishibekairohan	47:a9cad8502999	1736	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1737	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1738	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1739	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1740	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1741	motor[TIRE_BR].dir = FREE;
kishibekairohan	47:a9cad8502999	1742	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	1743	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1744	mtc2=true;
yabahiro	33:dd598bb23ad1	1745	break;
yabahiro	33:dd598bb23ad1	1746	}
yabahiro	33:dd598bb23ad1	1747	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	1748	switch(g[2]) {
yabahiro	33:dd598bb23ad1	1749	case 0:
yabahiro	33:dd598bb23ad1	1750	mtc2=false;
yabahiro	33:dd598bb23ad1	1751	break;
yabahiro	33:dd598bb23ad1	1752	case 255:
yabahiro	39:784552c26163	1753	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	1754	mtc2=false;
yabahiro	33:dd598bb23ad1	1755	break;
yabahiro	33:dd598bb23ad1	1756	case 253:
yabahiro	39:784552c26163	1757	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	1758	mtc2=false;
yabahiro	33:dd598bb23ad1	1759	break;
yabahiro	33:dd598bb23ad1	1760	case 254:
yabahiro	39:784552c26163	1761	motor[TIRE_FL].pwm += 20;
yabahiro	39:784552c26163	1762	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1763	mtc2=false;
yabahiro	33:dd598bb23ad1	1764	break;
yabahiro	33:dd598bb23ad1	1765	case 1:
yabahiro	39:784552c26163	1766	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	1767	mtc2=false;
yabahiro	33:dd598bb23ad1	1768	break;
yabahiro	33:dd598bb23ad1	1769	case 3:
yabahiro	39:784552c26163	1770	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	1771	mtc2=false;
yabahiro	33:dd598bb23ad1	1772	break;
yabahiro	33:dd598bb23ad1	1773	case 2:
yabahiro	39:784552c26163	1774	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1775	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1776	mtc2=false;
yabahiro	33:dd598bb23ad1	1777	break;
yabahiro	33:dd598bb23ad1	1778	}
yabahiro	33:dd598bb23ad1	1779	}
yabahiro	33:dd598bb23ad1	1780	} else if(mode==41) {
yabahiro	33:dd598bb23ad1	1781	if(LIF\|\|LIB) {
yabahiro	33:dd598bb23ad1	1782	mode=42;
yabahiro	33:dd598bb23ad1	1783	}
yabahiro	33:dd598bb23ad1	1784	motor[TIRE_FR].pwm = 30;
yabahiro	33:dd598bb23ad1	1785	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1786	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1787	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1788	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1789	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1790	motor[TIRE_BL].pwm = 30;
yabahiro	33:dd598bb23ad1	1791	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1792	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	1793	countss=0;
yabahiro	33:dd598bb23ad1	1794	mode=70;
yabahiro	33:dd598bb23ad1	1795	normal=60;
yabahiro	33:dd598bb23ad1	1796	fast=70;
yabahiro	33:dd598bb23ad1	1797	slow=40;
yabahiro	33:dd598bb23ad1	1798	}
yabahiro	33:dd598bb23ad1	1799	} else if(mode==42) {
kishibekairohan	47:a9cad8502999	1800	motor[TIRE_FR].pwm = 40;
yabahiro	39:784552c26163	1801	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	1802	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1803	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1804	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1805	motor[TIRE_BR].dir = FREE;
kishibekairohan	47:a9cad8502999	1806	motor[TIRE_BL].pwm = 40;
yabahiro	39:784552c26163	1807	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	1808	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	1809	countss=0;
yabahiro	39:784552c26163	1810	mode=70;
yabahiro	33:dd598bb23ad1	1811	}
yabahiro	39:784552c26163	1812	} else if(mode==70) {
yabahiro	33:dd598bb23ad1	1813	switch(g[0]) {
yabahiro	33:dd598bb23ad1	1814	case 99:
yabahiro	33:dd598bb23ad1	1815	if(countss>=100000) {
yabahiro	33:dd598bb23ad1	1816	mode=100;
yabahiro	33:dd598bb23ad1	1817	}
yabahiro	33:dd598bb23ad1	1818	break;
yabahiro	33:dd598bb23ad1	1819	case 98:
yabahiro	33:dd598bb23ad1	1820	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1821	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1822	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1823	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1824	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1825	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1826	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1827	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1828	break;
yabahiro	33:dd598bb23ad1	1829	case 0:
yabahiro	39:784552c26163	1830	motor[TIRE_FR].pwm = 80;
yabahiro	33:dd598bb23ad1	1831	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1832	motor[TIRE_FL].pwm = 80;
yabahiro	33:dd598bb23ad1	1833	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1834	motor[TIRE_BR].pwm = 80;
yabahiro	33:dd598bb23ad1	1835	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1836	motor[TIRE_BL].pwm = 80;
yabahiro	33:dd598bb23ad1	1837	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1838	mtc=true;
yabahiro	33:dd598bb23ad1	1839	break;
yabahiro	33:dd598bb23ad1	1840	case 255:
yabahiro	33:dd598bb23ad1	1841	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	1842	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1843	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1844	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1845	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1846	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1847	motor[TIRE_BL].pwm = fast;
yabahiro	33:dd598bb23ad1	1848	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1849	mtc=true;
yabahiro	33:dd598bb23ad1	1850	break;
yabahiro	33:dd598bb23ad1	1851	case 253:
yabahiro	33:dd598bb23ad1	1852	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1853	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1854	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1855	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1856	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1857	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1858	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1859	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1860	mtc=true;
yabahiro	33:dd598bb23ad1	1861	break;
yabahiro	33:dd598bb23ad1	1862	case 254:
yabahiro	33:dd598bb23ad1	1863	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	1864	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1865	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	1866	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	1867	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	1868	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	1869	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	1870	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1871	mtc=true;
yabahiro	33:dd598bb23ad1	1872	break;
yabahiro	33:dd598bb23ad1	1873	case 1:
yabahiro	33:dd598bb23ad1	1874	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	1875	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	1876	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	1877	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1878	motor[TIRE_BR].pwm = fast;
yabahiro	33:dd598bb23ad1	1879	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1880	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	1881	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1882	mtc=true;
yabahiro	33:dd598bb23ad1	1883	break;
yabahiro	33:dd598bb23ad1	1884	case 3:
yabahiro	33:dd598bb23ad1	1885	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1886	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1887	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	1888	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1889	motor[TIRE_BR].pwm = slow;
yabahiro	33:dd598bb23ad1	1890	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1891	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1892	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1893	mtc=true;
yabahiro	33:dd598bb23ad1	1894	break;
yabahiro	33:dd598bb23ad1	1895	case 2:
yabahiro	33:dd598bb23ad1	1896	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	1897	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	1898	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	1899	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	1900	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	1901	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	1902	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	1903	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	1904	mtc=true;
yabahiro	33:dd598bb23ad1	1905	break;
yabahiro	33:dd598bb23ad1	1906	}
yabahiro	39:784552c26163	1907	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1908	switch(g[1]) {
yabahiro	39:784552c26163	1909	case 0:
yabahiro	39:784552c26163	1910	mtc=false;
yabahiro	39:784552c26163	1911	break;
yabahiro	39:784552c26163	1912	case 255:
yabahiro	39:784552c26163	1913	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1914	mtc=false;
yabahiro	39:784552c26163	1915	break;
yabahiro	39:784552c26163	1916	case 253:
yabahiro	39:784552c26163	1917	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1918	mtc=false;
yabahiro	39:784552c26163	1919	break;
yabahiro	39:784552c26163	1920	case 254:
yabahiro	39:784552c26163	1921	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1922	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1923	mtc=false;
yabahiro	39:784552c26163	1924	break;
yabahiro	39:784552c26163	1925	case 1:
yabahiro	39:784552c26163	1926	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1927	mtc=false;
yabahiro	39:784552c26163	1928	break;
yabahiro	39:784552c26163	1929	case 3:
yabahiro	39:784552c26163	1930	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1931	mtc=false;
yabahiro	39:784552c26163	1932	break;
yabahiro	39:784552c26163	1933	case 2:
yabahiro	39:784552c26163	1934	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1935	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1936	mtc=false;
yabahiro	39:784552c26163	1937	break;
yabahiro	39:784552c26163	1938	}
yabahiro	33:dd598bb23ad1	1939	}
yabahiro	33:dd598bb23ad1	1940	} else if(mode==100) {
kishibekairohan	47:a9cad8502999	1941	motor[TIRE_FR].pwm = 50;
yabahiro	33:dd598bb23ad1	1942	motor[TIRE_FR].dir = BACK;
kishibekairohan	47:a9cad8502999	1943	motor[TIRE_FL].pwm = 50;
yabahiro	33:dd598bb23ad1	1944	motor[TIRE_FL].dir = FOR;
kishibekairohan	47:a9cad8502999	1945	motor[TIRE_BR].pwm = 50;
yabahiro	33:dd598bb23ad1	1946	motor[TIRE_BR].dir = BACK;
kishibekairohan	47:a9cad8502999	1947	motor[TIRE_BL].pwm = 50;
yabahiro	33:dd598bb23ad1	1948	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1949	} else {
yabahiro	33:dd598bb23ad1	1950	}
yabahiro	39:784552c26163	1951
kishibekairohan	13:b6e02d6261d7	1952	}
kishibekairohan	13:b6e02d6261d7	1953	#endif
kishibekairohan	13:b6e02d6261d7	1954
kishibekairohan	13:b6e02d6261d7	1955	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	1956	static void Process3()
kishibekairohan	13:b6e02d6261d7	1957	{
yabahiro	33:dd598bb23ad1	1958	//Clearly 赤ゾーン
kishibekairohan	35:33c6cdba5630	1959	LED::LED::TapeledMode(3);
yabahiro	33:dd598bb23ad1	1960	countss++;
yabahiro	33:dd598bb23ad1	1961	if(mode==1) {//スタートゾーンから白線検知
yabahiro	33:dd598bb23ad1	1962	fast=40;
yabahiro	33:dd598bb23ad1	1963	normal=30;
yabahiro	33:dd598bb23ad1	1964	slow=20;
kishibekairohan	42:980af34f6fe3	1965	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1966	motor[TIRE_FR].dir = BACK;
kishibekairohan	42:980af34f6fe3	1967	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1968	motor[TIRE_FL].dir = FOR;
kishibekairohan	42:980af34f6fe3	1969	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1970	motor[TIRE_BR].dir = BACK;
kishibekairohan	42:980af34f6fe3	1971	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	1972	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	1973	if(g[2]==0&&countss>=100000) {
yabahiro	33:dd598bb23ad1	1974	countss=100000;
yabahiro	33:dd598bb23ad1	1975	cross=0;
yabahiro	33:dd598bb23ad1	1976	mode=3;
yabahiro	33:dd598bb23ad1	1977	}
yabahiro	46:68296caae1af	1978	} 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	1979	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	1980	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	42:980af34f6fe3	1981	motor[TIRE_FL].pwm = 30;
yabahiro	33:dd598bb23ad1	1982	motor[TIRE_FL].dir = FOR;
kishibekairohan	42:980af34f6fe3	1983	motor[TIRE_BR].pwm = 30;
yabahiro	33:dd598bb23ad1	1984	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1985	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	1986	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	1987	if(g[0]==0) {
yabahiro	33:dd598bb23ad1	1988	mode=10;
yabahiro	33:dd598bb23ad1	1989	countss=100000;
yabahiro	33:dd598bb23ad1	1990	}
yabahiro	46:68296caae1af	1991	} else if(mode==10) { //縦ライントレース
yabahiro	33:dd598bb23ad1	1992	switch(g[0]) {
yabahiro	33:dd598bb23ad1	1993	case 98:
kishibekairohan	44:2aff0da5ebdb	1994	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1995	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	1996	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1997	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	1998	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	1999	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2000	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2001	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2002	mtc=true;
yabahiro	33:dd598bb23ad1	2003	if(countss>80000) {
yabahiro	33:dd598bb23ad1	2004	cross++;
yabahiro	33:dd598bb23ad1	2005	countss=0;
yabahiro	33:dd598bb23ad1	2006	}
yabahiro	46:68296caae1af	2007	if(cross==2) {
yabahiro	46:68296caae1af	2008	fast = 10;
yabahiro	46:68296caae1af	2009	normal = 10;
kishibekairohan	44:2aff0da5ebdb	2010	slow = 5;
yabahiro	46:68296caae1af	2011	}
yabahiro	46:68296caae1af	2012
yabahiro	38:40e7fdf3c694	2013	if(cross==3) {
kishibekairohan	44:2aff0da5ebdb	2014	fast=40;
kishibekairohan	44:2aff0da5ebdb	2015	normal=30;
kishibekairohan	44:2aff0da5ebdb	2016	slow=20;
yabahiro	33:dd598bb23ad1	2017	mode=11;
yabahiro	33:dd598bb23ad1	2018	countss=0;
yabahiro	33:dd598bb23ad1	2019	cross=0;
yabahiro	46:68296caae1af	2020
yabahiro	33:dd598bb23ad1	2021	}
yabahiro	33:dd598bb23ad1	2022	break;
yabahiro	33:dd598bb23ad1	2023	case 0:
kishibekairohan	44:2aff0da5ebdb	2024	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2025	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2026	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2027	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2028	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2029	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2030	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2031	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2032	mtc=true;
yabahiro	33:dd598bb23ad1	2033	break;
yabahiro	33:dd598bb23ad1	2034	case 255:
kishibekairohan	44:2aff0da5ebdb	2035	motor[TIRE_FR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2036	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2037	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2038	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2039	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2040	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2041	motor[TIRE_BL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2042	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2043	mtc=true;
yabahiro	33:dd598bb23ad1	2044	break;
yabahiro	33:dd598bb23ad1	2045	case 253:
kishibekairohan	44:2aff0da5ebdb	2046	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2047	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2048	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2049	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2050	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2051	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2052	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2053	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2054	mtc=true;
yabahiro	33:dd598bb23ad1	2055	break;
yabahiro	33:dd598bb23ad1	2056	case 254:
kishibekairohan	44:2aff0da5ebdb	2057	motor[TIRE_FR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2058	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2059	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2060	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2061	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2062	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2063	motor[TIRE_BL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2064	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2065	mtc=true;
yabahiro	33:dd598bb23ad1	2066	break;
yabahiro	33:dd598bb23ad1	2067	case 1:
kishibekairohan	44:2aff0da5ebdb	2068	motor[TIRE_FR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2069	motor[TIRE_FR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2070	motor[TIRE_FL].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2071	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2072	motor[TIRE_BR].pwm = fast+50;
yabahiro	33:dd598bb23ad1	2073	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2074	motor[TIRE_BL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2075	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2076	mtc=true;
yabahiro	33:dd598bb23ad1	2077	break;
yabahiro	33:dd598bb23ad1	2078	case 3:
yabahiro	33:dd598bb23ad1	2079	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2080	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2081	motor[TIRE_FL].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2082	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2083	motor[TIRE_BR].pwm = slow+50;
yabahiro	33:dd598bb23ad1	2084	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2085	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2086	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2087	mtc=true;
yabahiro	33:dd598bb23ad1	2088	break;
yabahiro	33:dd598bb23ad1	2089	case 2:
yabahiro	33:dd598bb23ad1	2090	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2091	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2092	motor[TIRE_FL].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2093	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2094	motor[TIRE_BR].pwm = normal+50;
yabahiro	33:dd598bb23ad1	2095	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2096	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2097	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2098	mtc=true;
yabahiro	33:dd598bb23ad1	2099	break;
yabahiro	33:dd598bb23ad1	2100	}
yabahiro	33:dd598bb23ad1	2101	if(g[0]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	2102	switch(g[1]) {
yabahiro	33:dd598bb23ad1	2103	case 0:
yabahiro	33:dd598bb23ad1	2104	mtc=false;
yabahiro	33:dd598bb23ad1	2105	break;
yabahiro	33:dd598bb23ad1	2106	case 255:
kishibekairohan	44:2aff0da5ebdb	2107	motor[TIRE_BR].pwm += 3;
yabahiro	33:dd598bb23ad1	2108	mtc=false;
yabahiro	33:dd598bb23ad1	2109	break;
yabahiro	33:dd598bb23ad1	2110	case 253:
kishibekairohan	44:2aff0da5ebdb	2111	motor[TIRE_BR].pwm += 6;
yabahiro	33:dd598bb23ad1	2112	mtc=false;
yabahiro	33:dd598bb23ad1	2113	break;
yabahiro	33:dd598bb23ad1	2114	case 254:
kishibekairohan	44:2aff0da5ebdb	2115	motor[TIRE_BR].pwm += 9;
yabahiro	33:dd598bb23ad1	2116	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2117	mtc=false;
yabahiro	33:dd598bb23ad1	2118	break;
yabahiro	33:dd598bb23ad1	2119	case 1:
kishibekairohan	44:2aff0da5ebdb	2120	motor[TIRE_BL].pwm += 3;
yabahiro	33:dd598bb23ad1	2121	mtc=false;
yabahiro	33:dd598bb23ad1	2122	break;
yabahiro	33:dd598bb23ad1	2123	case 3:
kishibekairohan	44:2aff0da5ebdb	2124	motor[TIRE_BL].pwm += 6;
yabahiro	33:dd598bb23ad1	2125	mtc=false;
yabahiro	33:dd598bb23ad1	2126	break;
yabahiro	33:dd598bb23ad1	2127	case 2:
kishibekairohan	44:2aff0da5ebdb	2128	motor[TIRE_BL].pwm += 9;
yabahiro	33:dd598bb23ad1	2129	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2130	mtc=false;
yabahiro	33:dd598bb23ad1	2131	break;
yabahiro	33:dd598bb23ad1	2132	}
yabahiro	33:dd598bb23ad1	2133	}
yabahiro	46:68296caae1af	2134	} else if(mode==11) {
kishibekairohan	44:2aff0da5ebdb	2135	motor[TIRE_FR].pwm = 25;
kishibekairohan	44:2aff0da5ebdb	2136	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2137	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	2138	motor[TIRE_FL].dir = FOR;
yabahiro	33:dd598bb23ad1	2139	motor[TIRE_BR].pwm = normal;
yabahiro	33:dd598bb23ad1	2140	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2141	motor[TIRE_BL].pwm = 25;
kishibekairohan	44:2aff0da5ebdb	2142	motor[TIRE_BL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2143	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	33:dd598bb23ad1	2144	countss=0;
yabahiro	33:dd598bb23ad1	2145	cross=0;
yabahiro	33:dd598bb23ad1	2146	mode=20;
yabahiro	33:dd598bb23ad1	2147	}
yabahiro	46:68296caae1af	2148	} else if(mode==20) {
yabahiro	38:40e7fdf3c694	2149	solenoid.solenoid4= SOLENOID_ON;
yabahiro	33:dd598bb23ad1	2150	switch(g[2]) {
yabahiro	33:dd598bb23ad1	2151	case 98:
kishibekairohan	44:2aff0da5ebdb	2152	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2153	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2154	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2155	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2156	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2157	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2158	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2159	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2160	if(countss>30000) {
yabahiro	33:dd598bb23ad1	2161	cross++;
yabahiro	33:dd598bb23ad1	2162	countss=0;
yabahiro	33:dd598bb23ad1	2163	}
yabahiro	33:dd598bb23ad1	2164	mtc2=true;
yabahiro	46:68296caae1af	2165
kishibekairohan	44:2aff0da5ebdb	2166	if(YELLOW) {
kishibekairohan	44:2aff0da5ebdb	2167	if(cross==1) {
yabahiro	46:68296caae1af	2168	fast=20;
yabahiro	46:68296caae1af	2169	normal=15;
yabahiro	46:68296caae1af	2170	slow=15;
yabahiro	46:68296caae1af	2171	} else if(cross==2) {
yabahiro	38:40e7fdf3c694	2172	mode=21;
yabahiro	38:40e7fdf3c694	2173	countss=0;
yabahiro	38:40e7fdf3c694	2174	cross=0;
yabahiro	38:40e7fdf3c694	2175	}
yabahiro	38:40e7fdf3c694	2176	} else {
yabahiro	40:ed2409e0ce6b	2177	if(cross==3) {
yabahiro	38:40e7fdf3c694	2178	mode=21;
yabahiro	38:40e7fdf3c694	2179	countss=0;
yabahiro	38:40e7fdf3c694	2180	cross=0;
yabahiro	38:40e7fdf3c694	2181	}
yabahiro	38:40e7fdf3c694	2182	}
yabahiro	33:dd598bb23ad1	2183	break;
yabahiro	33:dd598bb23ad1	2184	case 0:
kishibekairohan	44:2aff0da5ebdb	2185	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2186	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2187	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2188	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2189	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2190	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2191	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2192	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2193	mtc2=true;
yabahiro	33:dd598bb23ad1	2194	break;
yabahiro	33:dd598bb23ad1	2195	case 255:
kishibekairohan	44:2aff0da5ebdb	2196	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2197	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2198	motor[TIRE_FL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2199	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2200	motor[TIRE_BR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2201	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2202	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2203	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2204	mtc2=true;
yabahiro	33:dd598bb23ad1	2205	break;
yabahiro	33:dd598bb23ad1	2206	case 253:
yabahiro	33:dd598bb23ad1	2207	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2208	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2209	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2210	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2211	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2212	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2213	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2214	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2215	mtc2=true;
yabahiro	33:dd598bb23ad1	2216	break;
yabahiro	33:dd598bb23ad1	2217	case 254:
yabahiro	33:dd598bb23ad1	2218	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	2219	motor[TIRE_FR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2220	motor[TIRE_FL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2221	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2222	motor[TIRE_BR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2223	motor[TIRE_BR].dir = BACK;
yabahiro	33:dd598bb23ad1	2224	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2225	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	2226	mtc2=true;
yabahiro	33:dd598bb23ad1	2227	break;
yabahiro	33:dd598bb23ad1	2228	case 1:
kishibekairohan	44:2aff0da5ebdb	2229	motor[TIRE_FR].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2230	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2231	motor[TIRE_FL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2232	motor[TIRE_FL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2233	motor[TIRE_BR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2234	motor[TIRE_BR].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	2235	motor[TIRE_BL].pwm = fast+20;
yabahiro	33:dd598bb23ad1	2236	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2237	mtc2=true;
yabahiro	33:dd598bb23ad1	2238	break;
yabahiro	33:dd598bb23ad1	2239	case 3:
kishibekairohan	44:2aff0da5ebdb	2240	motor[TIRE_FR].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2241	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2242	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2243	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2244	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2245	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2246	motor[TIRE_BL].pwm = slow+20;
yabahiro	33:dd598bb23ad1	2247	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2248	mtc2=true;
yabahiro	33:dd598bb23ad1	2249	break;
yabahiro	33:dd598bb23ad1	2250	case 2:
kishibekairohan	44:2aff0da5ebdb	2251	motor[TIRE_FR].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2252	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	2253	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2254	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	2255	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	2256	motor[TIRE_BR].dir = FREE;
kishibekairohan	44:2aff0da5ebdb	2257	motor[TIRE_BL].pwm = normal+20;
yabahiro	33:dd598bb23ad1	2258	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	2259	mtc2=true;
yabahiro	33:dd598bb23ad1	2260	break;
yabahiro	33:dd598bb23ad1	2261	}
yabahiro	33:dd598bb23ad1	2262	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	2263	switch(g[3]) {
yabahiro	33:dd598bb23ad1	2264	case 0:
yabahiro	33:dd598bb23ad1	2265	mtc2=false;
yabahiro	33:dd598bb23ad1	2266	break;
yabahiro	33:dd598bb23ad1	2267	case 255:
yabahiro	33:dd598bb23ad1	2268	motor[TIRE_BL].pwm += 5;
yabahiro	33:dd598bb23ad1	2269	mtc2=false;
yabahiro	33:dd598bb23ad1	2270	break;
yabahiro	33:dd598bb23ad1	2271	case 253:
yabahiro	33:dd598bb23ad1	2272	motor[TIRE_BL].pwm += 10;
yabahiro	33:dd598bb23ad1	2273	mtc2=false;
yabahiro	33:dd598bb23ad1	2274	break;
yabahiro	33:dd598bb23ad1	2275	case 254:
kishibekairohan	44:2aff0da5ebdb	2276	motor[TIRE_BL].pwm += 15;
yabahiro	33:dd598bb23ad1	2277	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	2278	mtc2=false;
yabahiro	33:dd598bb23ad1	2279	break;
yabahiro	33:dd598bb23ad1	2280	case 1:
yabahiro	33:dd598bb23ad1	2281	motor[TIRE_FL].pwm += 5;
yabahiro	33:dd598bb23ad1	2282	mtc2=false;
yabahiro	33:dd598bb23ad1	2283	break;
yabahiro	33:dd598bb23ad1	2284	case 3:
yabahiro	33:dd598bb23ad1	2285	motor[TIRE_FL].pwm += 10;
yabahiro	33:dd598bb23ad1	2286	mtc2=false;
yabahiro	33:dd598bb23ad1	2287	break;
yabahiro	33:dd598bb23ad1	2288	case 2:
kishibekairohan	44:2aff0da5ebdb	2289	motor[TIRE_FL].pwm += 15;
yabahiro	33:dd598bb23ad1	2290	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	2291	mtc2=false;
yabahiro	33:dd598bb23ad1	2292	break;
yabahiro	33:dd598bb23ad1	2293	}
yabahiro	33:dd598bb23ad1	2294	}
yabahiro	33:dd598bb23ad1	2295	}
yabahiro	38:40e7fdf3c694	2296	if(YELLOW) {
yabahiro	38:40e7fdf3c694	2297	if(mode==21) {
yabahiro	33:dd598bb23ad1	2298	motor[TIRE_FR].pwm = 20;
yabahiro	33:dd598bb23ad1	2299	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	2300	motor[TIRE_FL].pwm = 20;
yabahiro	33:dd598bb23ad1	2301	motor[TIRE_FL].dir = BACK;
yabahiro	33:dd598bb23ad1	2302	motor[TIRE_BR].pwm = 20;
yabahiro	33:dd598bb23ad1	2303	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	2304	motor[TIRE_BL].pwm = 20;
yabahiro	33:dd598bb23ad1	2305	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2306	if(g[3]==98&&countss>=10000) {
yabahiro	38:40e7fdf3c694	2307	mode=22;
yabahiro	33:dd598bb23ad1	2308	countss=0;
yabahiro	38:40e7fdf3c694	2309	fast=60;
yabahiro	38:40e7fdf3c694	2310	normal=40;
yabahiro	38:40e7fdf3c694	2311	slow=20;
yabahiro	38:40e7fdf3c694	2312	}
yabahiro	46:68296caae1af	2313	} else if(mode==22) {
yabahiro	38:40e7fdf3c694	2314	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2315	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2316	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2317	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2318	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2319	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2320	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2321	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2322	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2323	}
yabahiro	38:40e7fdf3c694	2324	if(g[4]==253\|\|g[4]==254) {
yabahiro	38:40e7fdf3c694	2325	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2326	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2327	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2328	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2329	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2330	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2331	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2332	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	2333	}
yabahiro	38:40e7fdf3c694	2334	switch(g[2]) {
yabahiro	38:40e7fdf3c694	2335	case 0:
yabahiro	38:40e7fdf3c694	2336	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2337	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2338	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2339	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2340	break;
yabahiro	38:40e7fdf3c694	2341	case 255:
yabahiro	38:40e7fdf3c694	2342	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2343	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2344	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2345	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2346	break;
yabahiro	38:40e7fdf3c694	2347	case 253:
yabahiro	38:40e7fdf3c694	2348	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2349	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2350	motor[TIRE_BR].pwm = 20;
yabahiro	38:40e7fdf3c694	2351	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2352	break;
yabahiro	38:40e7fdf3c694	2353	case 254:
yabahiro	38:40e7fdf3c694	2354	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2355	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2356	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2357	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2358	break;
yabahiro	38:40e7fdf3c694	2359	case 1:
yabahiro	38:40e7fdf3c694	2360	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2361	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2362	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2363	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2364	break;
yabahiro	38:40e7fdf3c694	2365	case 3:
yabahiro	38:40e7fdf3c694	2366	motor[TIRE_FR].pwm = 20;
yabahiro	38:40e7fdf3c694	2367	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2368	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2369	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2370	break;
yabahiro	38:40e7fdf3c694	2371	case 2:
yabahiro	38:40e7fdf3c694	2372	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2373	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2374	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2375	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2376	break;
yabahiro	38:40e7fdf3c694	2377	}
yabahiro	38:40e7fdf3c694	2378	switch(g[3]) {
yabahiro	38:40e7fdf3c694	2379	case 0:
yabahiro	38:40e7fdf3c694	2380	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2381	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2382	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2383	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2384	break;
yabahiro	38:40e7fdf3c694	2385	case 255:
yabahiro	38:40e7fdf3c694	2386	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2387	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2388	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2389	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2390	case 253:
yabahiro	38:40e7fdf3c694	2391	motor[TIRE_FL].pwm = 20;
yabahiro	38:40e7fdf3c694	2392	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2393	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2394	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2395	break;
yabahiro	38:40e7fdf3c694	2396	case 254:
yabahiro	38:40e7fdf3c694	2397	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2398	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2399	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2400	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2401	break;
yabahiro	38:40e7fdf3c694	2402	case 1:
yabahiro	38:40e7fdf3c694	2403	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2404	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2405	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2406	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2407	break;
yabahiro	38:40e7fdf3c694	2408	case 3:
yabahiro	38:40e7fdf3c694	2409	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2410	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2411	motor[TIRE_BL].pwm = 20;
yabahiro	38:40e7fdf3c694	2412	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2413	break;
yabahiro	38:40e7fdf3c694	2414	case 2:
yabahiro	38:40e7fdf3c694	2415	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2416	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2417	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2418	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2419	break;
yabahiro	38:40e7fdf3c694	2420	}
yabahiro	38:40e7fdf3c694	2421	if(g[3]==0&&g[2]==0) {
yabahiro	38:40e7fdf3c694	2422	mode=23;
yabahiro	33:dd598bb23ad1	2423	countss=0;
yabahiro	33:dd598bb23ad1	2424	}
yabahiro	46:68296caae1af	2425	} else if(mode==23) {
yabahiro	38:40e7fdf3c694	2426	switch(g[4]) {
yabahiro	38:40e7fdf3c694	2427	case 98:
kishibekairohan	41:99a1158f3eca	2428	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2429	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2430	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2431	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2432	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2433	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2434	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2435	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2436	break;
yabahiro	38:40e7fdf3c694	2437	case 99:
yabahiro	38:40e7fdf3c694	2438	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2439	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2440	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2441	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2442	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2443	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2444	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2445	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2446	break;
yabahiro	38:40e7fdf3c694	2447	case 0:
kishibekairohan	41:99a1158f3eca	2448	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2449	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2450	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2451	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2452	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2453	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2454	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2455	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2456	break;
yabahiro	38:40e7fdf3c694	2457	case 255:
yabahiro	38:40e7fdf3c694	2458	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2459	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2460	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2461	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2462	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2463	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2464	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2465	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2466	break;
yabahiro	38:40e7fdf3c694	2467	case 253:
yabahiro	46:68296caae1af	2468	motor[TIRE_FR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2469	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2470	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2471	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2472	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2473	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	2474	motor[TIRE_BL].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2475	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2476	break;
yabahiro	38:40e7fdf3c694	2477	case 254:
yabahiro	46:68296caae1af	2478	motor[TIRE_FR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2479	motor[TIRE_FR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2480	motor[TIRE_FL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2481	motor[TIRE_FL].dir = BACK;
kishibekairohan	41:99a1158f3eca	2482	motor[TIRE_BR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2483	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	2484	motor[TIRE_BL].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2485	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2486	break;
yabahiro	38:40e7fdf3c694	2487	case 1:
yabahiro	38:40e7fdf3c694	2488	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2489	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2490	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2491	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2492	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2493	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2494	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2495	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2496	break;
yabahiro	38:40e7fdf3c694	2497	case 3:
kishibekairohan	41:99a1158f3eca	2498	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2499	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	2500	motor[TIRE_FL].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2501	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	2502	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	2503	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2504	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2505	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2506	break;
yabahiro	38:40e7fdf3c694	2507	case 2:
kishibekairohan	41:99a1158f3eca	2508	motor[TIRE_FR].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2509	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	2510	motor[TIRE_FL].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2511	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	2512	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	2513	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2514	motor[TIRE_BL].pwm = fast-5;
yabahiro	38:40e7fdf3c694	2515	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2516	break;
yabahiro	33:dd598bb23ad1	2517	}
yabahiro	38:40e7fdf3c694	2518	if(g[1]==98) {
kishibekairohan	42:980af34f6fe3	2519	fast=20;
kishibekairohan	42:980af34f6fe3	2520	normal=15;
kishibekairohan	42:980af34f6fe3	2521	slow=10;
yabahiro	38:40e7fdf3c694	2522	}
yabahiro	38:40e7fdf3c694	2523	if(g[3]==254&&countss>=100000) {
yabahiro	38:40e7fdf3c694	2524	mode=24;
yabahiro	38:40e7fdf3c694	2525	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	2526	countss=0;
yabahiro	38:40e7fdf3c694	2527	fast=60;
yabahiro	38:40e7fdf3c694	2528	normal=40;
kishibekairohan	42:980af34f6fe3	2529	slow=20;
yabahiro	33:dd598bb23ad1	2530	}
yabahiro	46:68296caae1af	2531	} else if(mode==24) {
yabahiro	38:40e7fdf3c694	2532	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2533	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2534	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2535	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2536	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2537	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2538	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2539	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2540	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2541	}
yabahiro	38:40e7fdf3c694	2542	if(g[4]==253\|\|g[4]==254) {
yabahiro	38:40e7fdf3c694	2543	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2544	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2545	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2546	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2547	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2548	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2549	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2550	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2551	}
yabahiro	38:40e7fdf3c694	2552	switch(g[2]) {
yabahiro	38:40e7fdf3c694	2553	case 0:
yabahiro	46:68296caae1af	2554	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2555	motor[TIRE_FR].dir = FREE;
yabahiro	46:68296caae1af	2556	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2557	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2558	break;
yabahiro	38:40e7fdf3c694	2559	case 255:
yabahiro	38:40e7fdf3c694	2560	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2561	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	2562	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2563	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2564	break;
yabahiro	38:40e7fdf3c694	2565	case 253:
yabahiro	38:40e7fdf3c694	2566	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2567	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	2568	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2569	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2570	break;
yabahiro	38:40e7fdf3c694	2571	case 254:
yabahiro	38:40e7fdf3c694	2572	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2573	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2574	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2575	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2576	break;
yabahiro	38:40e7fdf3c694	2577	case 1:
yabahiro	46:68296caae1af	2578	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2579	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2580	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2581	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2582	break;
yabahiro	38:40e7fdf3c694	2583	case 3:
yabahiro	46:68296caae1af	2584	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2585	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2586	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2587	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2588	break;
yabahiro	38:40e7fdf3c694	2589	case 2:
yabahiro	38:40e7fdf3c694	2590	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2591	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2592	motor[TIRE_BR].pwm = 30;
yabahiro	38:40e7fdf3c694	2593	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2594	break;
yabahiro	38:40e7fdf3c694	2595	}
yabahiro	38:40e7fdf3c694	2596	switch(g[3]) {
yabahiro	38:40e7fdf3c694	2597	case 0:
yabahiro	46:68296caae1af	2598	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2599	motor[TIRE_FL].dir = FREE;
yabahiro	46:68296caae1af	2600	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2601	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2602	break;
yabahiro	38:40e7fdf3c694	2603	case 255:
yabahiro	46:68296caae1af	2604	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2605	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2606	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2607	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2608	case 253:
yabahiro	46:68296caae1af	2609	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2610	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2611	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2612	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2613	break;
yabahiro	38:40e7fdf3c694	2614	case 254:
yabahiro	38:40e7fdf3c694	2615	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2616	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2617	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2618	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2619	break;
yabahiro	38:40e7fdf3c694	2620	case 1:
yabahiro	38:40e7fdf3c694	2621	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2622	motor[TIRE_FL].dir = FOR;
yabahiro	46:68296caae1af	2623	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2624	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2625	break;
yabahiro	38:40e7fdf3c694	2626	case 3:
yabahiro	38:40e7fdf3c694	2627	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2628	motor[TIRE_FL].dir = FOR;
yabahiro	46:68296caae1af	2629	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2630	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2631	break;
yabahiro	38:40e7fdf3c694	2632	case 2:
yabahiro	38:40e7fdf3c694	2633	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2634	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2635	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2636	motor[TIRE_BL].dir = FOR;
yabahiro	38:40e7fdf3c694	2637	break;
yabahiro	38:40e7fdf3c694	2638	}
yabahiro	38:40e7fdf3c694	2639	if(g[3]==0&&g[2]==0) {
yabahiro	46:68296caae1af	2640	mode=25;
yabahiro	38:40e7fdf3c694	2641	}
yabahiro	46:68296caae1af	2642	} else if(mode==25) {
kishibekairohan	47:a9cad8502999	2643	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	2644	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2645	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	2646	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2647	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	2648	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2649	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	2650	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	2651	if(UPLS==true\|\|DOLS==true) {
yabahiro	46:68296caae1af	2652	motor[MOTOR_0].pwm = 200;
yabahiro	46:68296caae1af	2653	motor[MOTOR_0].dir = BRAKE;
yabahiro	46:68296caae1af	2654	mode=26;
yabahiro	46:68296caae1af	2655	} else {
yabahiro	46:68296caae1af	2656	motor[MOTOR_0].pwm = 100;
yabahiro	46:68296caae1af	2657	motor[MOTOR_0].dir = BACK;
yabahiro	46:68296caae1af	2658	}
yabahiro	46:68296caae1af	2659	} else if(mode==26) {
yabahiro	38:40e7fdf3c694	2660	switch(g[4]) {
yabahiro	38:40e7fdf3c694	2661	case 98:
yabahiro	38:40e7fdf3c694	2662	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2663	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2664	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2665	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2666	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2667	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2668	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2669	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2670	break;
yabahiro	38:40e7fdf3c694	2671	case 99:
yabahiro	38:40e7fdf3c694	2672	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2673	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2674	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2675	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2676	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2677	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2678	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2679	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2680	break;
yabahiro	38:40e7fdf3c694	2681	case 0:
yabahiro	38:40e7fdf3c694	2682	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2683	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2684	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2685	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2686	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2687	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2688	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2689	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2690	break;
yabahiro	38:40e7fdf3c694	2691	case 255:
yabahiro	38:40e7fdf3c694	2692	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2693	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2694	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2695	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2696	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2697	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2698	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2699	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2700	break;
yabahiro	38:40e7fdf3c694	2701	case 253:
yabahiro	46:68296caae1af	2702	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	2703	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2704	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2705	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2706	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2707	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	2708	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	2709	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2710	break;
yabahiro	38:40e7fdf3c694	2711	case 254:
yabahiro	38:40e7fdf3c694	2712	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	2713	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2714	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	2715	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2716	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	2717	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2718	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	2719	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2720	break;
yabahiro	38:40e7fdf3c694	2721	case 1:
yabahiro	38:40e7fdf3c694	2722	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2723	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2724	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2725	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2726	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2727	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2728	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2729	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2730	break;
yabahiro	38:40e7fdf3c694	2731	case 3:
yabahiro	38:40e7fdf3c694	2732	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2733	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	2734	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	2735	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	2736	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	2737	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2738	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2739	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2740	break;
yabahiro	38:40e7fdf3c694	2741	case 2:
yabahiro	38:40e7fdf3c694	2742	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	2743	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2744	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	2745	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2746	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	2747	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	2748	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	2749	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2750	break;
yabahiro	38:40e7fdf3c694	2751	}
yabahiro	38:40e7fdf3c694	2752	if(g[1]==98) {
kishibekairohan	45:0cf48a0605cd	2753	mode=31;
yabahiro	33:dd598bb23ad1	2754	}
yabahiro	33:dd598bb23ad1	2755	}
yabahiro	46:68296caae1af	2756	} else {
yabahiro	38:40e7fdf3c694	2757	if(mode==21) {
yabahiro	38:40e7fdf3c694	2758	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2759	motor[TIRE_FR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	2760	motor[TIRE_FL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	2761	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	2762	motor[TIRE_BR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	2763	motor[TIRE_BR].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2764	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2765	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2766	if(g[1]==0) {
yabahiro	38:40e7fdf3c694	2767	mode=22;
yabahiro	38:40e7fdf3c694	2768	fast=60;
yabahiro	38:40e7fdf3c694	2769	normal=40;
yabahiro	46:68296caae1af	2770	slow=25;
yabahiro	38:40e7fdf3c694	2771	}
yabahiro	46:68296caae1af	2772	} else if(mode==22) {
yabahiro	40:ed2409e0ce6b	2773	if(g[1]==98) {
yabahiro	46:68296caae1af	2774	slow=25;
kishibekairohan	44:2aff0da5ebdb	2775	normal=30;
kishibekairohan	44:2aff0da5ebdb	2776	fast=40;
yabahiro	40:ed2409e0ce6b	2777	}
yabahiro	46:68296caae1af	2778	if(g[3]==0) {
yabahiro	46:68296caae1af	2779	slow=25;
yabahiro	40:ed2409e0ce6b	2780	normal=40;
yabahiro	40:ed2409e0ce6b	2781	fast=60;
yabahiro	38:40e7fdf3c694	2782	mode=23;
yabahiro	46:68296caae1af	2783	}
yabahiro	38:40e7fdf3c694	2784	switch(g[1]) {
yabahiro	38:40e7fdf3c694	2785	case 98:
yabahiro	38:40e7fdf3c694	2786	solenoid.solenoid4 = SOLENOID_OFF;
kishibekairohan	44:2aff0da5ebdb	2787	fast=40;
kishibekairohan	44:2aff0da5ebdb	2788	normal=30;
yabahiro	46:68296caae1af	2789	slow=25;
yabahiro	38:40e7fdf3c694	2790	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2791	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2792	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2793	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2794	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2795	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2796	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2797	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2798	break;
yabahiro	38:40e7fdf3c694	2799	case 0:
yabahiro	38:40e7fdf3c694	2800	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2801	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2802	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2803	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2804	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2805	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2806	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2807	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2808	mtc=true;
yabahiro	38:40e7fdf3c694	2809	break;
yabahiro	38:40e7fdf3c694	2810	case 255:
yabahiro	38:40e7fdf3c694	2811	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2812	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2813	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2814	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2815	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2816	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2817	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2818	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2819	mtc=true;
yabahiro	38:40e7fdf3c694	2820	break;
yabahiro	38:40e7fdf3c694	2821	case 253:
yabahiro	38:40e7fdf3c694	2822	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2823	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2824	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2825	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2826	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2827	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2828	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2829	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2830	mtc=true;
yabahiro	38:40e7fdf3c694	2831	break;
yabahiro	38:40e7fdf3c694	2832	case 254:
yabahiro	38:40e7fdf3c694	2833	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2834	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2835	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2836	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2837	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2838	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2839	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2840	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2841	mtc=true;
yabahiro	38:40e7fdf3c694	2842	break;
yabahiro	38:40e7fdf3c694	2843	case 1:
yabahiro	38:40e7fdf3c694	2844	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2845	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2846	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2847	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2848	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2849	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2850	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2851	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2852	mtc=true;
yabahiro	38:40e7fdf3c694	2853	break;
yabahiro	38:40e7fdf3c694	2854	case 3:
yabahiro	38:40e7fdf3c694	2855	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2856	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2857	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2858	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2859	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2860	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2861	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2862	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2863	mtc=true;
yabahiro	38:40e7fdf3c694	2864	break;
yabahiro	38:40e7fdf3c694	2865	case 2:
yabahiro	38:40e7fdf3c694	2866	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2867	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	2868	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2869	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2870	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2871	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2872	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	2873	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	2874	mtc=true;
yabahiro	38:40e7fdf3c694	2875	break;
yabahiro	38:40e7fdf3c694	2876	}
yabahiro	38:40e7fdf3c694	2877	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	2878	switch(g[0]) {
yabahiro	38:40e7fdf3c694	2879	case 0:
yabahiro	38:40e7fdf3c694	2880	mtc=false;
yabahiro	38:40e7fdf3c694	2881	break;
yabahiro	38:40e7fdf3c694	2882	case 255:
kishibekairohan	44:2aff0da5ebdb	2883	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	2884	mtc=false;
yabahiro	38:40e7fdf3c694	2885	break;
yabahiro	38:40e7fdf3c694	2886	case 253:
kishibekairohan	44:2aff0da5ebdb	2887	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	2888	mtc=false;
yabahiro	38:40e7fdf3c694	2889	break;
yabahiro	38:40e7fdf3c694	2890	case 254:
kishibekairohan	44:2aff0da5ebdb	2891	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	2892	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	2893	mtc=false;
yabahiro	38:40e7fdf3c694	2894	break;
yabahiro	38:40e7fdf3c694	2895	case 1:
kishibekairohan	44:2aff0da5ebdb	2896	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	2897	mtc=false;
yabahiro	38:40e7fdf3c694	2898	break;
yabahiro	38:40e7fdf3c694	2899	case 3:
kishibekairohan	44:2aff0da5ebdb	2900	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	2901	mtc=false;
yabahiro	38:40e7fdf3c694	2902	break;
yabahiro	38:40e7fdf3c694	2903	case 2:
kishibekairohan	44:2aff0da5ebdb	2904	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	2905	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2906	mtc=false;
yabahiro	38:40e7fdf3c694	2907	break;
yabahiro	38:40e7fdf3c694	2908	}
yabahiro	38:40e7fdf3c694	2909	}
yabahiro	46:68296caae1af	2910	} else if(mode==23) {
yabahiro	46:68296caae1af	2911	if(UPLS\|\|DOLS) {
yabahiro	46:68296caae1af	2912	if(UPLS\|\|DOLS) {
yabahiro	46:68296caae1af	2913	motor[MOTOR_0].pwm = 200;
yabahiro	46:68296caae1af	2914	motor[MOTOR_0].dir = BRAKE;
yabahiro	46:68296caae1af	2915	fast=60;
yabahiro	46:68296caae1af	2916	normal=40;
yabahiro	46:68296caae1af	2917	slow=25;
yabahiro	46:68296caae1af	2918	countss=0;
yabahiro	46:68296caae1af	2919	mode=24;
yabahiro	46:68296caae1af	2920	}
yabahiro	46:68296caae1af	2921	} else {
yabahiro	38:40e7fdf3c694	2922	motor[MOTOR_0].pwm = 100;
yabahiro	38:40e7fdf3c694	2923	motor[MOTOR_0].dir = BACK;
yabahiro	38:40e7fdf3c694	2924	}
yabahiro	40:ed2409e0ce6b	2925	motor[TIRE_FR].pwm = 100;
yabahiro	40:ed2409e0ce6b	2926	motor[TIRE_FR].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2927	motor[TIRE_FL].pwm = 100;
yabahiro	40:ed2409e0ce6b	2928	motor[TIRE_FL].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2929	motor[TIRE_BR].pwm = 100;
yabahiro	40:ed2409e0ce6b	2930	motor[TIRE_BR].dir = BRAKE;
yabahiro	40:ed2409e0ce6b	2931	motor[TIRE_BL].pwm = 100;
yabahiro	40:ed2409e0ce6b	2932	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	2933	} else if(mode==24) {
yabahiro	38:40e7fdf3c694	2934	if(g[1]==98&&countss>=40000) {
kishibekairohan	45:0cf48a0605cd	2935	mode=31;
yabahiro	38:40e7fdf3c694	2936	countss=0;
yabahiro	38:40e7fdf3c694	2937	}
yabahiro	38:40e7fdf3c694	2938	switch(g[1]) {
yabahiro	38:40e7fdf3c694	2939	case 98:
kishibekairohan	44:2aff0da5ebdb	2940	fast=40;
kishibekairohan	44:2aff0da5ebdb	2941	normal=30;
yabahiro	46:68296caae1af	2942	slow=25;
yabahiro	38:40e7fdf3c694	2943	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2944	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2945	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	2946	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2947	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	2948	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2949	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2950	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2951	break;
yabahiro	38:40e7fdf3c694	2952	case 0:
yabahiro	38:40e7fdf3c694	2953	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2954	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2955	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	2956	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2957	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	2958	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2959	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2960	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2961	mtc=true;
yabahiro	38:40e7fdf3c694	2962	break;
yabahiro	38:40e7fdf3c694	2963	case 255:
yabahiro	38:40e7fdf3c694	2964	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	2965	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2966	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	2967	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	2968	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	2969	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2970	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	2971	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2972	mtc=true;
yabahiro	38:40e7fdf3c694	2973	break;
yabahiro	38:40e7fdf3c694	2974	case 253:
yabahiro	38:40e7fdf3c694	2975	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2976	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2977	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2978	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2979	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2980	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2981	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	2982	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2983	mtc=true;
yabahiro	38:40e7fdf3c694	2984	break;
yabahiro	38:40e7fdf3c694	2985	case 254:
yabahiro	38:40e7fdf3c694	2986	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	2987	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2988	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2989	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2990	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2991	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	2992	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	2993	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	2994	mtc=true;
yabahiro	38:40e7fdf3c694	2995	break;
yabahiro	38:40e7fdf3c694	2996	case 1:
yabahiro	38:40e7fdf3c694	2997	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	2998	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2999	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	3000	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3001	motor[TIRE_BR].pwm = fast;
yabahiro	38:40e7fdf3c694	3002	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3003	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3004	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3005	mtc=true;
yabahiro	38:40e7fdf3c694	3006	break;
yabahiro	38:40e7fdf3c694	3007	case 3:
yabahiro	38:40e7fdf3c694	3008	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3009	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3010	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3011	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3012	motor[TIRE_BR].pwm = slow;
yabahiro	38:40e7fdf3c694	3013	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3014	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3015	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3016	mtc=true;
yabahiro	38:40e7fdf3c694	3017	break;
yabahiro	38:40e7fdf3c694	3018	case 2:
yabahiro	38:40e7fdf3c694	3019	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3020	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3021	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3022	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3023	motor[TIRE_BR].pwm = normal;
yabahiro	38:40e7fdf3c694	3024	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3025	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3026	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3027	mtc=true;
yabahiro	38:40e7fdf3c694	3028	break;
yabahiro	38:40e7fdf3c694	3029	}
yabahiro	38:40e7fdf3c694	3030	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	3031	switch(g[0]) {
yabahiro	38:40e7fdf3c694	3032	case 0:
yabahiro	38:40e7fdf3c694	3033	mtc=false;
yabahiro	38:40e7fdf3c694	3034	break;
yabahiro	38:40e7fdf3c694	3035	case 255:
kishibekairohan	44:2aff0da5ebdb	3036	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	3037	mtc=false;
yabahiro	38:40e7fdf3c694	3038	break;
yabahiro	38:40e7fdf3c694	3039	case 253:
kishibekairohan	44:2aff0da5ebdb	3040	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	3041	mtc=false;
yabahiro	38:40e7fdf3c694	3042	break;
yabahiro	38:40e7fdf3c694	3043	case 254:
kishibekairohan	44:2aff0da5ebdb	3044	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	3045	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3046	mtc=false;
yabahiro	38:40e7fdf3c694	3047	break;
yabahiro	38:40e7fdf3c694	3048	case 1:
kishibekairohan	44:2aff0da5ebdb	3049	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	3050	mtc=false;
yabahiro	38:40e7fdf3c694	3051	break;
yabahiro	38:40e7fdf3c694	3052	case 3:
kishibekairohan	44:2aff0da5ebdb	3053	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	3054	mtc=false;
yabahiro	38:40e7fdf3c694	3055	break;
yabahiro	38:40e7fdf3c694	3056	case 2:
kishibekairohan	44:2aff0da5ebdb	3057	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	3058	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3059	mtc=false;
yabahiro	38:40e7fdf3c694	3060	break;
yabahiro	38:40e7fdf3c694	3061	}
yabahiro	33:dd598bb23ad1	3062	}
yabahiro	33:dd598bb23ad1	3063	}
yabahiro	33:dd598bb23ad1	3064	}
yabahiro	46:68296caae1af	3065
kishibekairohan	44:2aff0da5ebdb	3066	/*
yabahiro	38:40e7fdf3c694	3067	if(mode==31) {
yabahiro	33:dd598bb23ad1	3068	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3069	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3070	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3071	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3072	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3073	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3074	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3075	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3076	if(countss>=5000) {
yabahiro	33:dd598bb23ad1	3077	countss=0;
yabahiro	33:dd598bb23ad1	3078	mode=32;
yabahiro	33:dd598bb23ad1	3079	}
yabahiro	33:dd598bb23ad1	3080	} else if(mode==32) {
yabahiro	33:dd598bb23ad1	3081	motor[TIRE_FR].pwm = 10;
yabahiro	33:dd598bb23ad1	3082	motor[TIRE_FR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3083	motor[TIRE_FL].pwm = 10;
yabahiro	33:dd598bb23ad1	3084	motor[TIRE_FL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3085	motor[TIRE_BR].pwm = 10;
yabahiro	33:dd598bb23ad1	3086	motor[TIRE_BR].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3087	motor[TIRE_BL].pwm = 10;
yabahiro	33:dd598bb23ad1	3088	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3089	if(countss>=40000) {
yabahiro	33:dd598bb23ad1	3090	mode=33;
yabahiro	33:dd598bb23ad1	3091	countss=0;
yabahiro	33:dd598bb23ad1	3092	}
yabahiro	46:68296caae1af	3093	}
kishibekairohan	44:2aff0da5ebdb	3094	*/
kishibekairohan	45:0cf48a0605cd	3095	if(mode==31) {
kishibekairohan	44:2aff0da5ebdb	3096	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3097	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	3098	motor[TIRE_FL].pwm = 45;
yabahiro	38:40e7fdf3c694	3099	motor[TIRE_FL].dir = BACK;
kishibekairohan	44:2aff0da5ebdb	3100	motor[TIRE_BR].pwm = 45;
yabahiro	38:40e7fdf3c694	3101	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3102	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3103	motor[TIRE_BL].dir = BRAKE;
kishibekairohan	44:2aff0da5ebdb	3104	if(g[2]==0) {
yabahiro	38:40e7fdf3c694	3105	cross=0;
yabahiro	33:dd598bb23ad1	3106	countss=0;
yabahiro	33:dd598bb23ad1	3107	mode=40;
yabahiro	33:dd598bb23ad1	3108	}
yabahiro	46:68296caae1af	3109	} else if(mode==40) {
yabahiro	33:dd598bb23ad1	3110	switch(g[3]) {
yabahiro	33:dd598bb23ad1	3111	case 98:
yabahiro	46:68296caae1af	3112	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3113	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3114	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3115	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3116	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3117	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3118	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3119	motor[TIRE_BL].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3120	if(countss>30000) {
yabahiro	33:dd598bb23ad1	3121	cross++;
yabahiro	33:dd598bb23ad1	3122	countss=0;
yabahiro	33:dd598bb23ad1	3123	}
yabahiro	33:dd598bb23ad1	3124	mtc2=true;
yabahiro	33:dd598bb23ad1	3125	break;
yabahiro	33:dd598bb23ad1	3126	case 0:
yabahiro	46:68296caae1af	3127	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3128	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3129	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3130	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3131	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3132	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3133	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3134	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3135	mtc2=true;
yabahiro	33:dd598bb23ad1	3136	break;
yabahiro	33:dd598bb23ad1	3137	case 255:
yabahiro	46:68296caae1af	3138	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3139	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3140	motor[TIRE_FL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3141	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3142	motor[TIRE_BR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3143	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3144	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3145	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3146	mtc2=true;
yabahiro	33:dd598bb23ad1	3147	break;
yabahiro	33:dd598bb23ad1	3148	case 253:
yabahiro	33:dd598bb23ad1	3149	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3150	motor[TIRE_FR].dir = FREE;
yabahiro	46:68296caae1af	3151	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3152	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3153	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3154	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3155	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3156	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3157	mtc2=true;
yabahiro	33:dd598bb23ad1	3158	break;
yabahiro	33:dd598bb23ad1	3159	case 254:
yabahiro	33:dd598bb23ad1	3160	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3161	motor[TIRE_FR].dir = FREE;
yabahiro	46:68296caae1af	3162	motor[TIRE_FL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3163	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3164	motor[TIRE_BR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3165	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3166	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3167	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3168	mtc2=true;
yabahiro	33:dd598bb23ad1	3169	break;
yabahiro	33:dd598bb23ad1	3170	case 1:
yabahiro	46:68296caae1af	3171	motor[TIRE_FR].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3172	motor[TIRE_FR].dir = BACK;
yabahiro	46:68296caae1af	3173	motor[TIRE_FL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3174	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3175	motor[TIRE_BR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3176	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3177	motor[TIRE_BL].pwm = fast+15;
yabahiro	33:dd598bb23ad1	3178	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3179	mtc2=true;
yabahiro	33:dd598bb23ad1	3180	break;
yabahiro	33:dd598bb23ad1	3181	case 3:
yabahiro	46:68296caae1af	3182	motor[TIRE_FR].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3183	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	3184	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3185	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3186	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3187	motor[TIRE_BR].dir = FREE;
yabahiro	46:68296caae1af	3188	motor[TIRE_BL].pwm = slow+15;
yabahiro	33:dd598bb23ad1	3189	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3190	mtc2=true;
yabahiro	33:dd598bb23ad1	3191	break;
yabahiro	33:dd598bb23ad1	3192	case 2:
yabahiro	46:68296caae1af	3193	motor[TIRE_FR].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3194	motor[TIRE_FR].dir = BACK;
yabahiro	33:dd598bb23ad1	3195	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3196	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3197	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3198	motor[TIRE_BR].dir = FREE;
yabahiro	46:68296caae1af	3199	motor[TIRE_BL].pwm = normal+15;
yabahiro	33:dd598bb23ad1	3200	motor[TIRE_BL].dir = FOR;
yabahiro	33:dd598bb23ad1	3201	mtc2=true;
yabahiro	33:dd598bb23ad1	3202	break;
yabahiro	33:dd598bb23ad1	3203	}
yabahiro	33:dd598bb23ad1	3204	if(g[2]!=98&&mtc2==true) {
yabahiro	33:dd598bb23ad1	3205	switch(g[2]) {
yabahiro	33:dd598bb23ad1	3206	case 0:
yabahiro	33:dd598bb23ad1	3207	mtc2=false;
yabahiro	33:dd598bb23ad1	3208	break;
yabahiro	33:dd598bb23ad1	3209	case 255:
kishibekairohan	44:2aff0da5ebdb	3210	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	3211	mtc2=false;
yabahiro	33:dd598bb23ad1	3212	break;
yabahiro	33:dd598bb23ad1	3213	case 253:
kishibekairohan	44:2aff0da5ebdb	3214	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	3215	mtc2=false;
yabahiro	33:dd598bb23ad1	3216	break;
yabahiro	33:dd598bb23ad1	3217	case 254:
kishibekairohan	44:2aff0da5ebdb	3218	motor[TIRE_FR].pwm += 9;
kishibekairohan	44:2aff0da5ebdb	3219	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3220	mtc2=false;
yabahiro	33:dd598bb23ad1	3221	break;
yabahiro	33:dd598bb23ad1	3222	case 1:
kishibekairohan	44:2aff0da5ebdb	3223	motor[TIRE_BR].pwm += 3;
yabahiro	33:dd598bb23ad1	3224	mtc2=false;
yabahiro	33:dd598bb23ad1	3225	break;
yabahiro	33:dd598bb23ad1	3226	case 3:
kishibekairohan	44:2aff0da5ebdb	3227	motor[TIRE_BR].pwm += 6;
yabahiro	33:dd598bb23ad1	3228	mtc2=false;
yabahiro	33:dd598bb23ad1	3229	break;
yabahiro	33:dd598bb23ad1	3230	case 2:
kishibekairohan	44:2aff0da5ebdb	3231	motor[TIRE_BR].pwm += 9;
kishibekairohan	44:2aff0da5ebdb	3232	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3233	mtc2=false;
yabahiro	33:dd598bb23ad1	3234	break;
yabahiro	33:dd598bb23ad1	3235	}
yabahiro	33:dd598bb23ad1	3236	}
yabahiro	46:68296caae1af	3237
kishibekairohan	42:980af34f6fe3	3238	if(YELLOW) {
kishibekairohan	42:980af34f6fe3	3239	if(cross==1) {
kishibekairohan	42:980af34f6fe3	3240	mode=41;
kishibekairohan	42:980af34f6fe3	3241	countss=0;
kishibekairohan	42:980af34f6fe3	3242	cross=0;
kishibekairohan	42:980af34f6fe3	3243	}
yabahiro	46:68296caae1af	3244	} else {
kishibekairohan	42:980af34f6fe3	3245	if(cross==3) {
kishibekairohan	42:980af34f6fe3	3246	mode=41;
kishibekairohan	42:980af34f6fe3	3247	countss=0;
kishibekairohan	42:980af34f6fe3	3248	cross=0;
kishibekairohan	42:980af34f6fe3	3249	}
kishibekairohan	42:980af34f6fe3	3250	}
yabahiro	46:68296caae1af	3251	if(LIF\|\|LIB) {
yabahiro	46:68296caae1af	3252	mode=42;
yabahiro	46:68296caae1af	3253	}
yabahiro	46:68296caae1af	3254
yabahiro	46:68296caae1af	3255	} else if(mode==41) {
yabahiro	33:dd598bb23ad1	3256	if(LIF\|\|LIB) {
yabahiro	33:dd598bb23ad1	3257	mode=42;
yabahiro	33:dd598bb23ad1	3258	}
kishibekairohan	44:2aff0da5ebdb	3259	motor[TIRE_FR].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3260	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	42:980af34f6fe3	3261	motor[TIRE_FL].pwm = 40;
yabahiro	33:dd598bb23ad1	3262	motor[TIRE_FL].dir = BACK;
kishibekairohan	42:980af34f6fe3	3263	motor[TIRE_BR].pwm = 40;
yabahiro	33:dd598bb23ad1	3264	motor[TIRE_BR].dir = FOR;
kishibekairohan	44:2aff0da5ebdb	3265	motor[TIRE_BL].pwm = 255;
kishibekairohan	44:2aff0da5ebdb	3266	motor[TIRE_BL].dir = BRAKE;
yabahiro	33:dd598bb23ad1	3267	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	3268	countss=0;
yabahiro	33:dd598bb23ad1	3269	mode=70;
kishibekairohan	42:980af34f6fe3	3270	normal=80;
kishibekairohan	42:980af34f6fe3	3271	fast=100;
kishibekairohan	42:980af34f6fe3	3272	slow=60;
yabahiro	33:dd598bb23ad1	3273	}
yabahiro	46:68296caae1af	3274	} else if(mode==42) {
kishibekairohan	42:980af34f6fe3	3275	motor[TIRE_FR].pwm = 40;
yabahiro	33:dd598bb23ad1	3276	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3277	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3278	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3279	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3280	motor[TIRE_BR].dir = FREE;
kishibekairohan	42:980af34f6fe3	3281	motor[TIRE_BL].pwm = 40;
yabahiro	33:dd598bb23ad1	3282	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3283	if(g[1]==0) {
yabahiro	33:dd598bb23ad1	3284	countss=0;
yabahiro	33:dd598bb23ad1	3285	mode=70;
yabahiro	33:dd598bb23ad1	3286	}
yabahiro	46:68296caae1af	3287	} else if(mode==70) {
yabahiro	33:dd598bb23ad1	3288	switch(g[1]) {
yabahiro	33:dd598bb23ad1	3289	case 99:
yabahiro	33:dd598bb23ad1	3290	if(countss>=100000) {
yabahiro	33:dd598bb23ad1	3291	mode=100;
yabahiro	33:dd598bb23ad1	3292	}
yabahiro	33:dd598bb23ad1	3293	break;
yabahiro	33:dd598bb23ad1	3294	case 98:
yabahiro	33:dd598bb23ad1	3295	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	3296	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3297	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	3298	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3299	motor[TIRE_BR].pwm = normal+5;
yabahiro	33:dd598bb23ad1	3300	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3301	motor[TIRE_BL].pwm = normal;
yabahiro	33:dd598bb23ad1	3302	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3303	break;
yabahiro	33:dd598bb23ad1	3304	case 0:
kishibekairohan	42:980af34f6fe3	3305	motor[TIRE_FR].pwm = 100;
yabahiro	33:dd598bb23ad1	3306	motor[TIRE_FR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3307	motor[TIRE_FL].pwm = 100;
yabahiro	33:dd598bb23ad1	3308	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3309	motor[TIRE_BR].pwm = 105;
yabahiro	33:dd598bb23ad1	3310	motor[TIRE_BR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3311	motor[TIRE_BL].pwm = 100;
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 255:
yabahiro	33:dd598bb23ad1	3316	motor[TIRE_FR].pwm = fast;
yabahiro	33:dd598bb23ad1	3317	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3318	motor[TIRE_FL].pwm = slow;
yabahiro	33:dd598bb23ad1	3319	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3320	motor[TIRE_BR].pwm = slow+5;
yabahiro	33:dd598bb23ad1	3321	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3322	motor[TIRE_BL].pwm = fast;
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 253:
yabahiro	33:dd598bb23ad1	3327	motor[TIRE_FR].pwm = slow;
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 = slow;
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 254:
yabahiro	33:dd598bb23ad1	3338	motor[TIRE_FR].pwm = normal;
yabahiro	33:dd598bb23ad1	3339	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3340	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3341	motor[TIRE_FL].dir = FREE;
yabahiro	33:dd598bb23ad1	3342	motor[TIRE_BR].pwm = 0;
yabahiro	33:dd598bb23ad1	3343	motor[TIRE_BR].dir = FREE;
yabahiro	33:dd598bb23ad1	3344	motor[TIRE_BL].pwm = normal;
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 1:
yabahiro	33:dd598bb23ad1	3349	motor[TIRE_FR].pwm = slow;
yabahiro	33:dd598bb23ad1	3350	motor[TIRE_FR].dir = FOR;
yabahiro	33:dd598bb23ad1	3351	motor[TIRE_FL].pwm = fast;
yabahiro	33:dd598bb23ad1	3352	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3353	motor[TIRE_BR].pwm = fast+5;
yabahiro	33:dd598bb23ad1	3354	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3355	motor[TIRE_BL].pwm = slow;
yabahiro	33:dd598bb23ad1	3356	motor[TIRE_BL].dir = BACK;
yabahiro	33:dd598bb23ad1	3357	mtc=true;
yabahiro	33:dd598bb23ad1	3358	break;
yabahiro	33:dd598bb23ad1	3359	case 3:
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 = slow;
yabahiro	33:dd598bb23ad1	3363	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3364	motor[TIRE_BR].pwm = slow+5;
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	case 2:
yabahiro	33:dd598bb23ad1	3371	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3372	motor[TIRE_FR].dir = FREE;
yabahiro	33:dd598bb23ad1	3373	motor[TIRE_FL].pwm = normal;
yabahiro	33:dd598bb23ad1	3374	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3375	motor[TIRE_BR].pwm = normal+5;
yabahiro	33:dd598bb23ad1	3376	motor[TIRE_BR].dir = FOR;
yabahiro	33:dd598bb23ad1	3377	motor[TIRE_BL].pwm = 0;
yabahiro	33:dd598bb23ad1	3378	motor[TIRE_BL].dir = FREE;
yabahiro	33:dd598bb23ad1	3379	mtc=true;
yabahiro	33:dd598bb23ad1	3380	break;
yabahiro	33:dd598bb23ad1	3381	}
yabahiro	33:dd598bb23ad1	3382	if(g[1]!=98&&mtc==true) {
yabahiro	33:dd598bb23ad1	3383	switch(g[0]) {
yabahiro	33:dd598bb23ad1	3384	case 0:
yabahiro	33:dd598bb23ad1	3385	mtc=false;
yabahiro	33:dd598bb23ad1	3386	break;
yabahiro	33:dd598bb23ad1	3387	case 255:
kishibekairohan	44:2aff0da5ebdb	3388	motor[TIRE_FL].pwm += 3;
yabahiro	33:dd598bb23ad1	3389	mtc=false;
yabahiro	33:dd598bb23ad1	3390	break;
yabahiro	33:dd598bb23ad1	3391	case 253:
kishibekairohan	44:2aff0da5ebdb	3392	motor[TIRE_FL].pwm += 6;
yabahiro	33:dd598bb23ad1	3393	mtc=false;
yabahiro	33:dd598bb23ad1	3394	break;
yabahiro	33:dd598bb23ad1	3395	case 254:
kishibekairohan	44:2aff0da5ebdb	3396	motor[TIRE_FL].pwm += 9;
yabahiro	33:dd598bb23ad1	3397	motor[TIRE_FR].pwm = 0;
yabahiro	33:dd598bb23ad1	3398	mtc=false;
yabahiro	33:dd598bb23ad1	3399	break;
yabahiro	33:dd598bb23ad1	3400	case 1:
kishibekairohan	44:2aff0da5ebdb	3401	motor[TIRE_FR].pwm += 3;
yabahiro	33:dd598bb23ad1	3402	mtc=false;
yabahiro	33:dd598bb23ad1	3403	break;
yabahiro	33:dd598bb23ad1	3404	case 3:
kishibekairohan	44:2aff0da5ebdb	3405	motor[TIRE_FR].pwm += 6;
yabahiro	33:dd598bb23ad1	3406	mtc=false;
yabahiro	33:dd598bb23ad1	3407	break;
yabahiro	33:dd598bb23ad1	3408	case 2:
kishibekairohan	44:2aff0da5ebdb	3409	motor[TIRE_FR].pwm += 9;
yabahiro	33:dd598bb23ad1	3410	motor[TIRE_FL].pwm = 0;
yabahiro	33:dd598bb23ad1	3411	mtc=false;
yabahiro	33:dd598bb23ad1	3412	break;
yabahiro	33:dd598bb23ad1	3413	}
yabahiro	33:dd598bb23ad1	3414	}
yabahiro	46:68296caae1af	3415	} else if(mode==100) {
kishibekairohan	42:980af34f6fe3	3416	motor[TIRE_FR].pwm = 50;
yabahiro	33:dd598bb23ad1	3417	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	3418	motor[TIRE_FL].pwm = 55;
yabahiro	33:dd598bb23ad1	3419	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3420	motor[TIRE_BR].pwm = 60;
yabahiro	33:dd598bb23ad1	3421	motor[TIRE_BR].dir = FOR;
kishibekairohan	42:980af34f6fe3	3422	motor[TIRE_BL].pwm = 50;
yabahiro	33:dd598bb23ad1	3423	motor[TIRE_BL].dir = BACK;
yabahiro	46:68296caae1af	3424	}
yabahiro	46:68296caae1af	3425
kishibekairohan	13:b6e02d6261d7	3426	}
kishibekairohan	13:b6e02d6261d7	3427	#endif
kishibekairohan	13:b6e02d6261d7	3428
kishibekairohan	13:b6e02d6261d7	3429	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	3430	static void Process4()
M_souta	22:7d93f79a3686	3431	{
yabahiro	48:5562a99479e5	3432	//Oh So 決勝青ゾーン
yabahiro	48:5562a99479e5	3433	LED::LED::TapeledMode(2);
yabahiro	48:5562a99479e5	3434	countss++;
yabahiro	48:5562a99479e5	3435	if(mode==1) {//スタートゾーンから白線検知
yabahiro	48:5562a99479e5	3436	fast=40;
yabahiro	48:5562a99479e5	3437	normal=30;
yabahiro	48:5562a99479e5	3438	slow=20;
yabahiro	48:5562a99479e5	3439	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3440	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3441	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3442	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3443	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3444	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3445	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3446	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3447	if(g[2]==0&&countss>=100000) {
yabahiro	48:5562a99479e5	3448	countss=100000;
yabahiro	48:5562a99479e5	3449	cross=0;
yabahiro	48:5562a99479e5	3450	mode=3;
yabahiro	48:5562a99479e5	3451	}
yabahiro	48:5562a99479e5	3452	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	48:5562a99479e5	3453	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3454	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3455	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	3456	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	3457	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	3458	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3459	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3460	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3461	if(g[1]==0) {
yabahiro	48:5562a99479e5	3462	mode=10;
yabahiro	48:5562a99479e5	3463	countss=100000;
yabahiro	48:5562a99479e5	3464	}
yabahiro	48:5562a99479e5	3465	} else if(mode==10) { //縦ライントレース
yabahiro	48:5562a99479e5	3466	switch(g[1]) {
yabahiro	48:5562a99479e5	3467	case 98:
yabahiro	48:5562a99479e5	3468	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3469	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3470	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3471	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3472	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3473	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3474	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3475	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3476	mtc=true;
yabahiro	49:697b4e9ce884	3477	if(YELLOW) {
yabahiro	49:697b4e9ce884	3478	if(countss>80000) {
yabahiro	49:697b4e9ce884	3479	cross++;
yabahiro	49:697b4e9ce884	3480	countss=0;
yabahiro	49:697b4e9ce884	3481	}
yabahiro	48:5562a99479e5	3482
yabahiro	49:697b4e9ce884	3483	if(cross==2) {
yabahiro	49:697b4e9ce884	3484	fast = 10;
yabahiro	49:697b4e9ce884	3485	normal = 10;
yabahiro	49:697b4e9ce884	3486	slow = 5;
yabahiro	49:697b4e9ce884	3487	}
yabahiro	48:5562a99479e5	3488
yabahiro	49:697b4e9ce884	3489	if(cross==3) {
yabahiro	49:697b4e9ce884	3490	fast=40;
yabahiro	49:697b4e9ce884	3491	normal=30;
yabahiro	49:697b4e9ce884	3492	slow=20;
yabahiro	49:697b4e9ce884	3493	mode=11;
yabahiro	49:697b4e9ce884	3494	countss=0;
yabahiro	49:697b4e9ce884	3495	cross=0;
yabahiro	49:697b4e9ce884	3496	}
yabahiro	49:697b4e9ce884	3497	} else {
yabahiro	48:5562a99479e5	3498	mode=11;
yabahiro	48:5562a99479e5	3499	}
yabahiro	48:5562a99479e5	3500	break;
yabahiro	48:5562a99479e5	3501	case 0:
yabahiro	48:5562a99479e5	3502	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3503	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3504	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3505	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3506	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3507	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3508	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3509	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3510	mtc=true;
yabahiro	48:5562a99479e5	3511	break;
yabahiro	48:5562a99479e5	3512	case 255:
yabahiro	48:5562a99479e5	3513	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3514	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3515	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3516	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3517	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3518	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3519	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3520	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3521	mtc=true;
yabahiro	48:5562a99479e5	3522	break;
yabahiro	48:5562a99479e5	3523	case 253:
yabahiro	48:5562a99479e5	3524	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3525	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3526	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3527	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3528	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3529	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3530	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3531	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3532	mtc=true;
yabahiro	48:5562a99479e5	3533	break;
yabahiro	48:5562a99479e5	3534	case 254:
yabahiro	48:5562a99479e5	3535	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3536	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3537	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3538	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3539	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3540	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3541	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3542	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3543	mtc=true;
yabahiro	48:5562a99479e5	3544	break;
yabahiro	48:5562a99479e5	3545	case 1:
yabahiro	48:5562a99479e5	3546	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3547	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3548	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3549	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3550	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3551	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3552	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3553	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3554	mtc=true;
yabahiro	48:5562a99479e5	3555	break;
yabahiro	48:5562a99479e5	3556	case 3:
yabahiro	48:5562a99479e5	3557	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3558	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3559	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3560	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3561	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3562	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3563	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3564	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3565	mtc=true;
yabahiro	48:5562a99479e5	3566	break;
yabahiro	48:5562a99479e5	3567	case 2:
yabahiro	48:5562a99479e5	3568	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3569	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3570	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3571	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3572	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3573	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3574	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3575	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3576	mtc=true;
yabahiro	48:5562a99479e5	3577	break;
yabahiro	48:5562a99479e5	3578	}
yabahiro	48:5562a99479e5	3579	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	3580	switch(g[0]) {
yabahiro	48:5562a99479e5	3581	case 0:
yabahiro	48:5562a99479e5	3582	mtc=false;
yabahiro	48:5562a99479e5	3583	break;
yabahiro	48:5562a99479e5	3584	case 255:
yabahiro	48:5562a99479e5	3585	motor[TIRE_FL].pwm += 3;
yabahiro	48:5562a99479e5	3586	mtc=false;
yabahiro	48:5562a99479e5	3587	break;
yabahiro	48:5562a99479e5	3588	case 253:
yabahiro	48:5562a99479e5	3589	motor[TIRE_FL].pwm += 6;
yabahiro	48:5562a99479e5	3590	mtc=false;
yabahiro	48:5562a99479e5	3591	break;
yabahiro	48:5562a99479e5	3592	case 254:
yabahiro	48:5562a99479e5	3593	motor[TIRE_FL].pwm += 9;
yabahiro	48:5562a99479e5	3594	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3595	mtc=false;
yabahiro	48:5562a99479e5	3596	break;
yabahiro	48:5562a99479e5	3597	case 1:
yabahiro	48:5562a99479e5	3598	motor[TIRE_FR].pwm += 3;
yabahiro	48:5562a99479e5	3599	mtc=false;
yabahiro	48:5562a99479e5	3600	break;
yabahiro	48:5562a99479e5	3601	case 3:
yabahiro	48:5562a99479e5	3602	motor[TIRE_FR].pwm += 6;
yabahiro	48:5562a99479e5	3603	mtc=false;
yabahiro	48:5562a99479e5	3604	break;
yabahiro	48:5562a99479e5	3605	case 2:
yabahiro	48:5562a99479e5	3606	motor[TIRE_FR].pwm += 9;
yabahiro	48:5562a99479e5	3607	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3608	mtc=false;
yabahiro	48:5562a99479e5	3609	break;
yabahiro	48:5562a99479e5	3610	}
yabahiro	48:5562a99479e5	3611	}
yabahiro	48:5562a99479e5	3612	} else if(mode==11) {
yabahiro	48:5562a99479e5	3613	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	3614	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	3615	motor[TIRE_FL].pwm = 50;
yabahiro	49:697b4e9ce884	3616	motor[TIRE_FL].dir = BRAKE;
yabahiro	49:697b4e9ce884	3617	motor[TIRE_BR].pwm = 50;
yabahiro	49:697b4e9ce884	3618	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3619	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	3620	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3621	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	48:5562a99479e5	3622	countss=0;
yabahiro	48:5562a99479e5	3623	cross=0;
yabahiro	48:5562a99479e5	3624	mode=20;
yabahiro	48:5562a99479e5	3625	}
yabahiro	48:5562a99479e5	3626	} else if(mode==20) {
yabahiro	48:5562a99479e5	3627	switch(g[2]) {
yabahiro	48:5562a99479e5	3628	case 98:
yabahiro	48:5562a99479e5	3629	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3630	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3631	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3632	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3633	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3634	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3635	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3636	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3637	if(countss>30000) {
yabahiro	48:5562a99479e5	3638	cross++;
yabahiro	48:5562a99479e5	3639	countss=0;
yabahiro	48:5562a99479e5	3640	}
yabahiro	48:5562a99479e5	3641	mtc2=true;
yabahiro	48:5562a99479e5	3642
yabahiro	48:5562a99479e5	3643	if(YELLOW) {
yabahiro	49:697b4e9ce884	3644	solenoid.solenoid4= SOLENOID_ON;
yabahiro	48:5562a99479e5	3645	if(cross==1) {
yabahiro	48:5562a99479e5	3646	fast=20;
yabahiro	48:5562a99479e5	3647	normal=15;
yabahiro	48:5562a99479e5	3648	slow=15;
yabahiro	48:5562a99479e5	3649	} else if(cross==2) {
yabahiro	48:5562a99479e5	3650	mode=21;
yabahiro	48:5562a99479e5	3651	countss=0;
yabahiro	48:5562a99479e5	3652	cross=0;
yabahiro	48:5562a99479e5	3653	}
yabahiro	48:5562a99479e5	3654	} else {
yabahiro	49:697b4e9ce884	3655	if(cross==2) {
yabahiro	49:697b4e9ce884	3656	fast=20;
yabahiro	49:697b4e9ce884	3657	normal=15;
yabahiro	49:697b4e9ce884	3658	slow=15;
yabahiro	49:697b4e9ce884	3659	}
yabahiro	48:5562a99479e5	3660	if(cross==3) {
yabahiro	48:5562a99479e5	3661	mode=21;
yabahiro	48:5562a99479e5	3662	countss=0;
yabahiro	48:5562a99479e5	3663	cross=0;
yabahiro	48:5562a99479e5	3664	}
yabahiro	48:5562a99479e5	3665	}
yabahiro	48:5562a99479e5	3666	break;
yabahiro	48:5562a99479e5	3667	case 0:
yabahiro	48:5562a99479e5	3668	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3669	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3670	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3671	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3672	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3673	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3674	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3675	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3676	mtc2=true;
yabahiro	48:5562a99479e5	3677	break;
yabahiro	48:5562a99479e5	3678	case 255:
yabahiro	48:5562a99479e5	3679	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3680	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3681	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3682	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3683	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3684	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3685	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3686	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3687	mtc2=true;
yabahiro	48:5562a99479e5	3688	break;
yabahiro	48:5562a99479e5	3689	case 253:
yabahiro	48:5562a99479e5	3690	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3691	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3692	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3693	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3694	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3695	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3696	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3697	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3698	mtc2=true;
yabahiro	48:5562a99479e5	3699	break;
yabahiro	48:5562a99479e5	3700	case 254:
yabahiro	48:5562a99479e5	3701	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3702	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3703	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3704	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3705	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3706	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3707	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3708	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3709	mtc2=true;
yabahiro	48:5562a99479e5	3710	break;
yabahiro	48:5562a99479e5	3711	case 1:
yabahiro	48:5562a99479e5	3712	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3713	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3714	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3715	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3716	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3717	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3718	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3719	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3720	mtc2=true;
yabahiro	48:5562a99479e5	3721	break;
yabahiro	48:5562a99479e5	3722	case 3:
yabahiro	48:5562a99479e5	3723	motor[TIRE_FR].pwm = slow+20;
yabahiro	48:5562a99479e5	3724	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3725	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3726	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3727	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3728	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3729	motor[TIRE_BL].pwm = slow+20;
yabahiro	48:5562a99479e5	3730	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3731	mtc2=true;
yabahiro	48:5562a99479e5	3732	break;
yabahiro	48:5562a99479e5	3733	case 2:
yabahiro	48:5562a99479e5	3734	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3735	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3736	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3737	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3738	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3739	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3740	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3741	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3742	mtc2=true;
yabahiro	48:5562a99479e5	3743	break;
yabahiro	48:5562a99479e5	3744	}
yabahiro	48:5562a99479e5	3745	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	3746	switch(g[3]) {
yabahiro	48:5562a99479e5	3747	case 0:
yabahiro	48:5562a99479e5	3748	mtc2=false;
yabahiro	48:5562a99479e5	3749	break;
yabahiro	48:5562a99479e5	3750	case 255:
yabahiro	48:5562a99479e5	3751	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	3752	mtc2=false;
yabahiro	48:5562a99479e5	3753	break;
yabahiro	48:5562a99479e5	3754	case 253:
yabahiro	48:5562a99479e5	3755	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	3756	mtc2=false;
yabahiro	48:5562a99479e5	3757	break;
yabahiro	48:5562a99479e5	3758	case 254:
yabahiro	48:5562a99479e5	3759	motor[TIRE_BL].pwm += 15;
yabahiro	48:5562a99479e5	3760	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3761	mtc2=false;
yabahiro	48:5562a99479e5	3762	break;
yabahiro	48:5562a99479e5	3763	case 1:
yabahiro	48:5562a99479e5	3764	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	3765	mtc2=false;
yabahiro	48:5562a99479e5	3766	break;
yabahiro	48:5562a99479e5	3767	case 3:
yabahiro	48:5562a99479e5	3768	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	3769	mtc2=false;
yabahiro	48:5562a99479e5	3770	break;
yabahiro	48:5562a99479e5	3771	case 2:
yabahiro	48:5562a99479e5	3772	motor[TIRE_FL].pwm += 15;
yabahiro	48:5562a99479e5	3773	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3774	mtc2=false;
yabahiro	48:5562a99479e5	3775	break;
yabahiro	48:5562a99479e5	3776	}
yabahiro	48:5562a99479e5	3777	}
yabahiro	48:5562a99479e5	3778	}
yabahiro	48:5562a99479e5	3779	if(YELLOW) {
yabahiro	48:5562a99479e5	3780	if(mode==21) {
yabahiro	48:5562a99479e5	3781	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3782	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3783	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3784	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3785	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3786	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3787	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3788	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3789	if(g[3]==98&&countss>=10000) {
yabahiro	48:5562a99479e5	3790	mode=22;
yabahiro	48:5562a99479e5	3791	countss=0;
yabahiro	48:5562a99479e5	3792	fast=60;
yabahiro	48:5562a99479e5	3793	normal=40;
yabahiro	48:5562a99479e5	3794	slow=20;
yabahiro	48:5562a99479e5	3795	}
yabahiro	48:5562a99479e5	3796	} else if(mode==22) {
yabahiro	48:5562a99479e5	3797	if(g[4]==3\|\|g[4]==2) {
yabahiro	48:5562a99479e5	3798	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3799	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3800	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3801	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3802	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3803	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3804	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3805	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3806	}
yabahiro	48:5562a99479e5	3807	if(g[4]==253\|\|g[4]==254) {
yabahiro	48:5562a99479e5	3808	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3809	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3810	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3811	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3812	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3813	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3814	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3815	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3816	}
yabahiro	48:5562a99479e5	3817	switch(g[2]) {
yabahiro	48:5562a99479e5	3818	case 0:
yabahiro	48:5562a99479e5	3819	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3820	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3821	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3822	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3823	break;
yabahiro	48:5562a99479e5	3824	case 255:
yabahiro	48:5562a99479e5	3825	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3826	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3827	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3828	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3829	break;
yabahiro	48:5562a99479e5	3830	case 253:
yabahiro	48:5562a99479e5	3831	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	3832	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3833	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3834	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3835	break;
yabahiro	48:5562a99479e5	3836	case 254:
yabahiro	48:5562a99479e5	3837	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3838	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3839	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3840	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3841	break;
yabahiro	48:5562a99479e5	3842	case 1:
yabahiro	48:5562a99479e5	3843	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3844	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3845	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3846	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3847	break;
yabahiro	48:5562a99479e5	3848	case 3:
yabahiro	48:5562a99479e5	3849	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3850	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3851	motor[TIRE_BR].pwm = 40;
yabahiro	48:5562a99479e5	3852	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3853	break;
yabahiro	48:5562a99479e5	3854	case 2:
yabahiro	48:5562a99479e5	3855	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3856	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3857	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3858	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3859	break;
yabahiro	48:5562a99479e5	3860	}
yabahiro	48:5562a99479e5	3861	switch(g[3]) {
yabahiro	48:5562a99479e5	3862	case 0:
yabahiro	48:5562a99479e5	3863	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3864	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3865	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3866	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3867	break;
yabahiro	48:5562a99479e5	3868	case 255:
yabahiro	48:5562a99479e5	3869	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3870	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3871	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3872	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3873	case 253:
yabahiro	48:5562a99479e5	3874	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3875	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3876	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	3877	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3878	break;
yabahiro	48:5562a99479e5	3879	case 254:
yabahiro	48:5562a99479e5	3880	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3881	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3882	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3883	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3884	break;
yabahiro	48:5562a99479e5	3885	case 1:
yabahiro	48:5562a99479e5	3886	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3887	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3888	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3889	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3890	break;
yabahiro	48:5562a99479e5	3891	case 3:
yabahiro	48:5562a99479e5	3892	motor[TIRE_FL].pwm = 40;
yabahiro	48:5562a99479e5	3893	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3894	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3895	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3896	break;
yabahiro	48:5562a99479e5	3897	case 2:
yabahiro	48:5562a99479e5	3898	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3899	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3900	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3901	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3902	break;
yabahiro	48:5562a99479e5	3903	}
yabahiro	48:5562a99479e5	3904	if(g[3]==0&&g[2]==0) {
yabahiro	48:5562a99479e5	3905	mode=23;
yabahiro	48:5562a99479e5	3906	countss=0;
yabahiro	48:5562a99479e5	3907	}
yabahiro	48:5562a99479e5	3908	} else if(mode==23) {
yabahiro	48:5562a99479e5	3909	switch(g[4]) {
yabahiro	48:5562a99479e5	3910	case 98:
yabahiro	48:5562a99479e5	3911	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3912	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3913	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3914	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3915	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3916	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3917	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3918	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3919	break;
yabahiro	48:5562a99479e5	3920	case 99:
yabahiro	48:5562a99479e5	3921	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3922	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3923	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3924	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3925	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3926	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3927	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3928	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3929	break;
yabahiro	48:5562a99479e5	3930	case 0:
yabahiro	48:5562a99479e5	3931	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3932	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3933	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3934	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3935	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3936	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3937	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3938	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3939	break;
yabahiro	48:5562a99479e5	3940	case 255:
yabahiro	48:5562a99479e5	3941	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3942	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3943	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3944	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3945	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3946	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3947	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3948	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3949	break;
yabahiro	48:5562a99479e5	3950	case 253:
yabahiro	48:5562a99479e5	3951	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3952	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3953	motor[TIRE_FL].pwm = slow-5;
yabahiro	48:5562a99479e5	3954	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3955	motor[TIRE_BR].pwm = slow-5;
yabahiro	48:5562a99479e5	3956	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3957	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3958	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3959	break;
yabahiro	48:5562a99479e5	3960	case 254:
yabahiro	48:5562a99479e5	3961	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3962	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3963	motor[TIRE_FL].pwm = normal-5;
yabahiro	48:5562a99479e5	3964	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3965	motor[TIRE_BR].pwm = normal-5;
yabahiro	48:5562a99479e5	3966	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3967	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3968	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3969	break;
yabahiro	48:5562a99479e5	3970	case 1:
yabahiro	48:5562a99479e5	3971	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3972	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3973	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3974	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3975	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3976	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3977	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3978	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3979	break;
yabahiro	48:5562a99479e5	3980	case 3:
yabahiro	48:5562a99479e5	3981	motor[TIRE_FR].pwm = slow-5;
yabahiro	48:5562a99479e5	3982	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3983	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3984	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3985	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3986	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3987	motor[TIRE_BL].pwm = slow-5;
yabahiro	48:5562a99479e5	3988	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3989	break;
yabahiro	48:5562a99479e5	3990	case 2:
yabahiro	48:5562a99479e5	3991	motor[TIRE_FR].pwm = normal-5;
yabahiro	48:5562a99479e5	3992	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3993	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3994	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3995	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3996	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3997	motor[TIRE_BL].pwm = normal-5;
yabahiro	48:5562a99479e5	3998	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3999	break;
yabahiro	48:5562a99479e5	4000	}
yabahiro	48:5562a99479e5	4001	if(g[2]==254&&countss>=100000) {
yabahiro	48:5562a99479e5	4002	mode=24;
yabahiro	48:5562a99479e5	4003	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	48:5562a99479e5	4004	countss=0;
yabahiro	48:5562a99479e5	4005	fast=60;
yabahiro	48:5562a99479e5	4006	normal=40;
yabahiro	48:5562a99479e5	4007	slow=20;
yabahiro	48:5562a99479e5	4008	}
yabahiro	48:5562a99479e5	4009	} else if(mode==24) {
yabahiro	48:5562a99479e5	4010	motor[TIRE_FR].pwm = 60;
yabahiro	48:5562a99479e5	4011	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4012	motor[TIRE_FL].pwm = 60;
yabahiro	48:5562a99479e5	4013	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4014	motor[TIRE_BR].pwm = 60;
yabahiro	48:5562a99479e5	4015	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4016	motor[TIRE_BL].pwm = 60;
yabahiro	48:5562a99479e5	4017	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4018	if(g[0]==0) {
yabahiro	48:5562a99479e5	4019	mode=25;
yabahiro	48:5562a99479e5	4020	}
yabahiro	48:5562a99479e5	4021	} else if(mode==25) {
yabahiro	48:5562a99479e5	4022	motor[TIRE_FR].pwm = 100;
yabahiro	48:5562a99479e5	4023	motor[TIRE_FR].dir = BRAKE;
yabahiro	48:5562a99479e5	4024	motor[TIRE_FL].pwm = 100;
yabahiro	48:5562a99479e5	4025	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4026	motor[TIRE_BR].pwm = 100;
yabahiro	48:5562a99479e5	4027	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4028	motor[TIRE_BL].pwm = 100;
yabahiro	48:5562a99479e5	4029	motor[TIRE_BL].dir = BRAKE;
yabahiro	48:5562a99479e5	4030	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	4031	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	4032	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	4033	mode=26;
yabahiro	48:5562a99479e5	4034	countss=0;
yabahiro	48:5562a99479e5	4035	} else {
yabahiro	48:5562a99479e5	4036	motor[MOTOR_0].pwm = 100;
yabahiro	48:5562a99479e5	4037	motor[MOTOR_0].dir = BACK;
yabahiro	48:5562a99479e5	4038	}
yabahiro	48:5562a99479e5	4039	} else if(mode==26) {
yabahiro	48:5562a99479e5	4040	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4041	mode=31;
yabahiro	48:5562a99479e5	4042	countss=0;
yabahiro	48:5562a99479e5	4043	}
yabahiro	48:5562a99479e5	4044	switch(g[0]) {
yabahiro	48:5562a99479e5	4045	case 98:
yabahiro	48:5562a99479e5	4046	fast=40;
yabahiro	48:5562a99479e5	4047	normal=30;
yabahiro	48:5562a99479e5	4048	slow=25;
yabahiro	48:5562a99479e5	4049	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4050	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4051	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4052	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4053	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4054	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4055	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4056	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4057	break;
yabahiro	48:5562a99479e5	4058	case 0:
yabahiro	48:5562a99479e5	4059	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4060	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4061	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4062	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4063	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4064	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4065	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4066	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4067	mtc=true;
yabahiro	48:5562a99479e5	4068	break;
yabahiro	48:5562a99479e5	4069	case 255:
yabahiro	48:5562a99479e5	4070	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4071	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4072	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4073	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4074	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4075	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4076	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4077	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4078	mtc=true;
yabahiro	48:5562a99479e5	4079	break;
yabahiro	48:5562a99479e5	4080	case 253:
yabahiro	48:5562a99479e5	4081	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4082	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4083	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4084	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4085	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4086	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4087	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4088	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4089	mtc=true;
yabahiro	48:5562a99479e5	4090	break;
yabahiro	48:5562a99479e5	4091	case 254:
yabahiro	48:5562a99479e5	4092	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4093	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4094	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4095	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4096	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4097	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4098	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4099	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4100	mtc=true;
yabahiro	48:5562a99479e5	4101	break;
yabahiro	48:5562a99479e5	4102	case 1:
yabahiro	48:5562a99479e5	4103	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4104	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4105	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4106	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4107	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4108	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4109	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4110	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4111	mtc=true;
yabahiro	48:5562a99479e5	4112	break;
yabahiro	48:5562a99479e5	4113	case 3:
yabahiro	48:5562a99479e5	4114	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4115	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4116	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4117	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4118	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4119	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4120	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4121	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4122	mtc=true;
yabahiro	48:5562a99479e5	4123	break;
yabahiro	48:5562a99479e5	4124	case 2:
yabahiro	48:5562a99479e5	4125	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4126	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4127	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4128	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4129	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4130	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4131	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4132	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4133	mtc=true;
yabahiro	48:5562a99479e5	4134	break;
yabahiro	48:5562a99479e5	4135	}
yabahiro	48:5562a99479e5	4136	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4137	switch(g[1]) {
yabahiro	48:5562a99479e5	4138	case 0:
yabahiro	48:5562a99479e5	4139	mtc=false;
yabahiro	48:5562a99479e5	4140	break;
yabahiro	48:5562a99479e5	4141	case 255:
yabahiro	48:5562a99479e5	4142	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4143	mtc=false;
yabahiro	48:5562a99479e5	4144	break;
yabahiro	48:5562a99479e5	4145	case 253:
yabahiro	48:5562a99479e5	4146	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4147	mtc=false;
yabahiro	48:5562a99479e5	4148	break;
yabahiro	48:5562a99479e5	4149	case 254:
yabahiro	48:5562a99479e5	4150	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4151	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4152	mtc=false;
yabahiro	48:5562a99479e5	4153	break;
yabahiro	48:5562a99479e5	4154	case 1:
yabahiro	48:5562a99479e5	4155	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4156	mtc=false;
yabahiro	48:5562a99479e5	4157	break;
yabahiro	48:5562a99479e5	4158	case 3:
yabahiro	48:5562a99479e5	4159	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4160	mtc=false;
yabahiro	48:5562a99479e5	4161	break;
yabahiro	48:5562a99479e5	4162	case 2:
yabahiro	48:5562a99479e5	4163	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4164	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4165	mtc=false;
yabahiro	48:5562a99479e5	4166	break;
yabahiro	48:5562a99479e5	4167	}
yabahiro	48:5562a99479e5	4168	}
yabahiro	48:5562a99479e5	4169	}
yabahiro	48:5562a99479e5	4170	} else {
yabahiro	48:5562a99479e5	4171	if(mode==21) {
yabahiro	49:697b4e9ce884	4172	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4173	fast=60;
yabahiro	48:5562a99479e5	4174	normal=30;
yabahiro	48:5562a99479e5	4175	slow=25;
yabahiro	48:5562a99479e5	4176	mode=31;
yabahiro	48:5562a99479e5	4177	countss=0;
yabahiro	48:5562a99479e5	4178	}
yabahiro	48:5562a99479e5	4179	switch(g[0]) {
yabahiro	48:5562a99479e5	4180	case 98:
yabahiro	48:5562a99479e5	4181	fast=40;
yabahiro	48:5562a99479e5	4182	normal=30;
yabahiro	48:5562a99479e5	4183	slow=25;
yabahiro	48:5562a99479e5	4184	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4185	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4186	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4187	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4188	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4189	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4190	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4191	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4192	break;
yabahiro	48:5562a99479e5	4193	case 0:
yabahiro	48:5562a99479e5	4194	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4195	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4196	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4197	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4198	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4199	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4200	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4201	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4202	mtc=true;
yabahiro	48:5562a99479e5	4203	break;
yabahiro	48:5562a99479e5	4204	case 255:
yabahiro	48:5562a99479e5	4205	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4206	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4207	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4208	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4209	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4210	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4211	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4212	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4213	mtc=true;
yabahiro	48:5562a99479e5	4214	break;
yabahiro	48:5562a99479e5	4215	case 253:
yabahiro	48:5562a99479e5	4216	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4217	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4218	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4219	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4220	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4221	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4222	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4223	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4224	mtc=true;
yabahiro	48:5562a99479e5	4225	break;
yabahiro	48:5562a99479e5	4226	case 254:
yabahiro	48:5562a99479e5	4227	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4228	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4229	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4230	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4231	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4232	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4233	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4234	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4235	mtc=true;
yabahiro	48:5562a99479e5	4236	break;
yabahiro	48:5562a99479e5	4237	case 1:
yabahiro	48:5562a99479e5	4238	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4239	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4240	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4241	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4242	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4243	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4244	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4245	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4246	mtc=true;
yabahiro	48:5562a99479e5	4247	break;
yabahiro	48:5562a99479e5	4248	case 3:
yabahiro	48:5562a99479e5	4249	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4250	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4251	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4252	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4253	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4254	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4255	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4256	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4257	mtc=true;
yabahiro	48:5562a99479e5	4258	break;
yabahiro	48:5562a99479e5	4259	case 2:
yabahiro	48:5562a99479e5	4260	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4261	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4262	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4263	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4264	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4265	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4266	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4267	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4268	mtc=true;
yabahiro	48:5562a99479e5	4269	break;
yabahiro	48:5562a99479e5	4270	}
yabahiro	48:5562a99479e5	4271	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4272	switch(g[1]) {
yabahiro	48:5562a99479e5	4273	case 0:
yabahiro	48:5562a99479e5	4274	mtc=false;
yabahiro	48:5562a99479e5	4275	break;
yabahiro	48:5562a99479e5	4276	case 255:
yabahiro	48:5562a99479e5	4277	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4278	mtc=false;
yabahiro	48:5562a99479e5	4279	break;
yabahiro	48:5562a99479e5	4280	case 253:
yabahiro	48:5562a99479e5	4281	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4282	mtc=false;
yabahiro	48:5562a99479e5	4283	break;
yabahiro	48:5562a99479e5	4284	case 254:
yabahiro	48:5562a99479e5	4285	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4286	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4287	mtc=false;
yabahiro	48:5562a99479e5	4288	break;
yabahiro	48:5562a99479e5	4289	case 1:
yabahiro	48:5562a99479e5	4290	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4291	mtc=false;
yabahiro	48:5562a99479e5	4292	break;
yabahiro	48:5562a99479e5	4293	case 3:
yabahiro	48:5562a99479e5	4294	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4295	mtc=false;
yabahiro	48:5562a99479e5	4296	break;
yabahiro	48:5562a99479e5	4297	case 2:
yabahiro	48:5562a99479e5	4298	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4299	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4300	mtc=false;
yabahiro	48:5562a99479e5	4301	break;
yabahiro	48:5562a99479e5	4302	}
yabahiro	48:5562a99479e5	4303	}
yabahiro	48:5562a99479e5	4304	}
yabahiro	48:5562a99479e5	4305	}
yabahiro	48:5562a99479e5	4306
yabahiro	48:5562a99479e5	4307	/*
yabahiro	48:5562a99479e5	4308	if(mode==31) {
yabahiro	48:5562a99479e5	4309	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4310	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4311	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4312	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4313	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4314	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4315	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4316	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4317	if(countss>=5000) {
yabahiro	48:5562a99479e5	4318	countss=0;
yabahiro	48:5562a99479e5	4319	mode=33;
yabahiro	48:5562a99479e5	4320	}
yabahiro	48:5562a99479e5	4321	} else if(mode==33) {
yabahiro	48:5562a99479e5	4322	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4323	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4324	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4325	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4326	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4327	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4328	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4329	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4330	if(g[3]==0) {
yabahiro	48:5562a99479e5	4331	cross=0;
yabahiro	48:5562a99479e5	4332	countss=0;
yabahiro	48:5562a99479e5	4333	mode=40;
yabahiro	48:5562a99479e5	4334	}
yabahiro	48:5562a99479e5	4335	} else
yabahiro	48:5562a99479e5	4336	*/
yabahiro	48:5562a99479e5	4337	if(mode==31) {
yabahiro	48:5562a99479e5	4338	motor[TIRE_FR].pwm = 45;
yabahiro	48:5562a99479e5	4339	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4340	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	4341	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4342	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	4343	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4344	motor[TIRE_BL].pwm = 45;
yabahiro	48:5562a99479e5	4345	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4346	if(g[3]==0) {
yabahiro	48:5562a99479e5	4347	cross=0;
yabahiro	48:5562a99479e5	4348	countss=0;
yabahiro	48:5562a99479e5	4349	mode=40;
yabahiro	48:5562a99479e5	4350	}
yabahiro	48:5562a99479e5	4351	} else if(mode==40) {
yabahiro	48:5562a99479e5	4352	switch(g[3]) {
yabahiro	48:5562a99479e5	4353	case 98:
yabahiro	48:5562a99479e5	4354	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4355	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4356	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4357	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4358	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4359	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4360	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4361	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4362	if(countss>10000) {
yabahiro	48:5562a99479e5	4363	cross++;
yabahiro	48:5562a99479e5	4364	countss=0;
yabahiro	48:5562a99479e5	4365	}
yabahiro	48:5562a99479e5	4366	mtc2=true;
yabahiro	48:5562a99479e5	4367	if(cross==1) {
yabahiro	48:5562a99479e5	4368	mode=41;
yabahiro	48:5562a99479e5	4369	countss=0;
yabahiro	48:5562a99479e5	4370	cross=0;
yabahiro	48:5562a99479e5	4371	}
yabahiro	48:5562a99479e5	4372	break;
yabahiro	48:5562a99479e5	4373	case 0:
yabahiro	48:5562a99479e5	4374	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4375	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4376	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4377	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4378	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4379	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4380	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4381	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4382	mtc2=true;
yabahiro	48:5562a99479e5	4383	break;
yabahiro	48:5562a99479e5	4384	case 255:
yabahiro	48:5562a99479e5	4385	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4386	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4387	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4388	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4389	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4390	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4391	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4392	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4393	mtc2=true;
yabahiro	48:5562a99479e5	4394	break;
yabahiro	48:5562a99479e5	4395	case 253:
yabahiro	48:5562a99479e5	4396	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4397	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4398	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4399	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4400	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4401	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4402	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4403	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4404	mtc2=true;
yabahiro	48:5562a99479e5	4405	break;
yabahiro	48:5562a99479e5	4406	case 254:
yabahiro	48:5562a99479e5	4407	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4408	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4409	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4410	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4411	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4412	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4413	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4414	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4415	mtc2=true;
yabahiro	48:5562a99479e5	4416	break;
yabahiro	48:5562a99479e5	4417	case 1:
yabahiro	48:5562a99479e5	4418	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4419	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4420	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4421	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4422	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4423	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4424	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4425	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4426	mtc2=true;
yabahiro	48:5562a99479e5	4427	break;
yabahiro	48:5562a99479e5	4428	case 3:
yabahiro	48:5562a99479e5	4429	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4430	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4431	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4432	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4433	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4434	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4435	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4436	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4437	mtc2=true;
yabahiro	48:5562a99479e5	4438	break;
yabahiro	48:5562a99479e5	4439	case 2:
yabahiro	48:5562a99479e5	4440	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4441	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4442	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4443	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4444	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4445	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4446	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4447	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4448	mtc2=true;
yabahiro	48:5562a99479e5	4449	break;
yabahiro	48:5562a99479e5	4450	}
yabahiro	48:5562a99479e5	4451	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	4452	switch(g[2]) {
yabahiro	48:5562a99479e5	4453	case 0:
yabahiro	48:5562a99479e5	4454	mtc2=false;
yabahiro	48:5562a99479e5	4455	break;
yabahiro	48:5562a99479e5	4456	case 255:
yabahiro	48:5562a99479e5	4457	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	4458	mtc2=false;
yabahiro	48:5562a99479e5	4459	break;
yabahiro	48:5562a99479e5	4460	case 253:
yabahiro	48:5562a99479e5	4461	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	4462	mtc2=false;
yabahiro	48:5562a99479e5	4463	break;
yabahiro	48:5562a99479e5	4464	case 254:
yabahiro	48:5562a99479e5	4465	motor[TIRE_FL].pwm += 20;
yabahiro	48:5562a99479e5	4466	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4467	mtc2=false;
yabahiro	48:5562a99479e5	4468	break;
yabahiro	48:5562a99479e5	4469	case 1:
yabahiro	48:5562a99479e5	4470	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4471	mtc2=false;
yabahiro	48:5562a99479e5	4472	break;
yabahiro	48:5562a99479e5	4473	case 3:
yabahiro	48:5562a99479e5	4474	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4475	mtc2=false;
yabahiro	48:5562a99479e5	4476	break;
yabahiro	48:5562a99479e5	4477	case 2:
yabahiro	48:5562a99479e5	4478	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4479	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4480	mtc2=false;
yabahiro	48:5562a99479e5	4481	break;
yabahiro	48:5562a99479e5	4482	}
yabahiro	48:5562a99479e5	4483	}
yabahiro	48:5562a99479e5	4484	} else if(mode==41) {
yabahiro	48:5562a99479e5	4485	if(LIF\|\|LIB) {
yabahiro	48:5562a99479e5	4486	mode=42;
yabahiro	48:5562a99479e5	4487	}
yabahiro	48:5562a99479e5	4488	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4489	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4490	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4491	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4492	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4493	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4494	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4495	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4496	if(g[1]==0) {
yabahiro	48:5562a99479e5	4497	countss=0;
yabahiro	48:5562a99479e5	4498	mode=70;
yabahiro	48:5562a99479e5	4499	normal=60;
yabahiro	48:5562a99479e5	4500	fast=70;
yabahiro	48:5562a99479e5	4501	slow=40;
yabahiro	48:5562a99479e5	4502	}
yabahiro	48:5562a99479e5	4503	} else if(mode==42) {
yabahiro	48:5562a99479e5	4504	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	4505	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	4506	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4507	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4508	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4509	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4510	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	4511	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	4512	if(g[1]==0) {
yabahiro	48:5562a99479e5	4513	countss=0;
yabahiro	48:5562a99479e5	4514	mode=70;
yabahiro	48:5562a99479e5	4515	}
yabahiro	48:5562a99479e5	4516	} else if(mode==70) {
yabahiro	48:5562a99479e5	4517	switch(g[0]) {
yabahiro	48:5562a99479e5	4518	case 99:
yabahiro	48:5562a99479e5	4519	if(countss>=100000) {
yabahiro	48:5562a99479e5	4520	mode=100;
yabahiro	48:5562a99479e5	4521	}
yabahiro	48:5562a99479e5	4522	break;
yabahiro	48:5562a99479e5	4523	case 98:
yabahiro	48:5562a99479e5	4524	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4525	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4526	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4527	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4528	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4529	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4530	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4531	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4532	break;
yabahiro	48:5562a99479e5	4533	case 0:
yabahiro	48:5562a99479e5	4534	motor[TIRE_FR].pwm = 80;
yabahiro	48:5562a99479e5	4535	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4536	motor[TIRE_FL].pwm = 80;
yabahiro	48:5562a99479e5	4537	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4538	motor[TIRE_BR].pwm = 80;
yabahiro	48:5562a99479e5	4539	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4540	motor[TIRE_BL].pwm = 80;
yabahiro	48:5562a99479e5	4541	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4542	mtc=true;
yabahiro	48:5562a99479e5	4543	break;
yabahiro	48:5562a99479e5	4544	case 255:
yabahiro	48:5562a99479e5	4545	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4546	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4547	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4548	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4549	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4550	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4551	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4552	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4553	mtc=true;
yabahiro	48:5562a99479e5	4554	break;
yabahiro	48:5562a99479e5	4555	case 253:
yabahiro	48:5562a99479e5	4556	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4557	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4558	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4559	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4560	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4561	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4562	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4563	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4564	mtc=true;
yabahiro	48:5562a99479e5	4565	break;
yabahiro	48:5562a99479e5	4566	case 254:
yabahiro	48:5562a99479e5	4567	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4568	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4569	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4570	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4571	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4572	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4573	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4574	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4575	mtc=true;
yabahiro	48:5562a99479e5	4576	break;
yabahiro	48:5562a99479e5	4577	case 1:
yabahiro	48:5562a99479e5	4578	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4579	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4580	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4581	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4582	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4583	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4584	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4585	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4586	mtc=true;
yabahiro	48:5562a99479e5	4587	break;
yabahiro	48:5562a99479e5	4588	case 3:
yabahiro	48:5562a99479e5	4589	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4590	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4591	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4592	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4593	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4594	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4595	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4596	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4597	mtc=true;
yabahiro	48:5562a99479e5	4598	break;
yabahiro	48:5562a99479e5	4599	case 2:
yabahiro	48:5562a99479e5	4600	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4601	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4602	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4603	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4604	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4605	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4606	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4607	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4608	mtc=true;
yabahiro	48:5562a99479e5	4609	break;
yabahiro	48:5562a99479e5	4610	}
yabahiro	48:5562a99479e5	4611	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4612	switch(g[1]) {
yabahiro	48:5562a99479e5	4613	case 0:
yabahiro	48:5562a99479e5	4614	mtc=false;
yabahiro	48:5562a99479e5	4615	break;
yabahiro	48:5562a99479e5	4616	case 255:
yabahiro	48:5562a99479e5	4617	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4618	mtc=false;
yabahiro	48:5562a99479e5	4619	break;
yabahiro	48:5562a99479e5	4620	case 253:
yabahiro	48:5562a99479e5	4621	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4622	mtc=false;
yabahiro	48:5562a99479e5	4623	break;
yabahiro	48:5562a99479e5	4624	case 254:
yabahiro	48:5562a99479e5	4625	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4626	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4627	mtc=false;
yabahiro	48:5562a99479e5	4628	break;
yabahiro	48:5562a99479e5	4629	case 1:
yabahiro	48:5562a99479e5	4630	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4631	mtc=false;
yabahiro	48:5562a99479e5	4632	break;
yabahiro	48:5562a99479e5	4633	case 3:
yabahiro	48:5562a99479e5	4634	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4635	mtc=false;
yabahiro	48:5562a99479e5	4636	break;
yabahiro	48:5562a99479e5	4637	case 2:
yabahiro	48:5562a99479e5	4638	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4639	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4640	mtc=false;
yabahiro	48:5562a99479e5	4641	break;
yabahiro	48:5562a99479e5	4642	}
yabahiro	48:5562a99479e5	4643	}
yabahiro	48:5562a99479e5	4644	} else if(mode==100) {
yabahiro	48:5562a99479e5	4645	motor[TIRE_FR].pwm = 50;
yabahiro	48:5562a99479e5	4646	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4647	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	4648	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4649	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	4650	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4651	motor[TIRE_BL].pwm = 50;
yabahiro	48:5562a99479e5	4652	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4653	} else {
yabahiro	48:5562a99479e5	4654	}
yabahiro	33:dd598bb23ad1	4655
kishibekairohan	13:b6e02d6261d7	4656	}
kishibekairohan	13:b6e02d6261d7	4657	#endif
kishibekairohan	13:b6e02d6261d7	4658
kishibekairohan	13:b6e02d6261d7	4659	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	4660	static void Process5()
Ryosei	27:dd9f27fce7d1	4661	{
yabahiro	46:68296caae1af	4662
kishibekairohan	13:b6e02d6261d7	4663	}
kishibekairohan	13:b6e02d6261d7	4664	#endif
kishibekairohan	13:b6e02d6261d7	4665
kishibekairohan	13:b6e02d6261d7	4666	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	4667	static void Process6()
kishibekairohan	13:b6e02d6261d7	4668	{
Ryosei	27:dd9f27fce7d1	4669
kishibekairohan	13:b6e02d6261d7	4670	}
kishibekairohan	13:b6e02d6261d7	4671	#endif
kishibekairohan	13:b6e02d6261d7	4672
kishibekairohan	13:b6e02d6261d7	4673	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	4674	static void Process7()
kishibekairohan	13:b6e02d6261d7	4675	{
yabahiro	33:dd598bb23ad1	4676
kishibekairohan	12:c09b3e08a316	4677	}
kishibekairohan	12:c09b3e08a316	4678	#endif
kishibekairohan	12:c09b3e08a316	4679
Ryosei	27:dd9f27fce7d1	4680	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	4681	static void Process8()
kishibekairohan	12:c09b3e08a316	4682	{
yabahiro	33:dd598bb23ad1	4683
kishibekairohan	12:c09b3e08a316	4684	}
kishibekairohan	12:c09b3e08a316	4685	#endif
kishibekairohan	12:c09b3e08a316	4686
kishibekairohan	13:b6e02d6261d7	4687	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	4688	static void Process9()
kishibekairohan	12:c09b3e08a316	4689	{
Ryosei	27:dd9f27fce7d1	4690
t_yamamoto	0:669ef71cba68	4691	}
t_yamamoto	0:669ef71cba68	4692	#endif
t_yamamoto	0:669ef71cba68	4693	#endif
t_yamamoto	0:669ef71cba68	4694	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	4695
t_yamamoto	0:669ef71cba68	4696	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	4697	{
yabahiro	33:dd598bb23ad1	4698	#ifdef USE_SOLENOID
yabahiro	33:dd598bb23ad1	4699	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	4700	#endif
yabahiro	33:dd598bb23ad1	4701
yabahiro	33:dd598bb23ad1	4702	#ifdef USE_MOTOR
yabahiro	33:dd598bb23ad1	4703	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	33:dd598bb23ad1	4704	motor[i].dir = FREE;
yabahiro	33:dd598bb23ad1	4705	motor[i].pwm = 0;
yabahiro	33:dd598bb23ad1	4706	}
yabahiro	33:dd598bb23ad1	4707	#endif
t_yamamoto	0:669ef71cba68	4708	}
t_yamamoto	0:669ef71cba68	4709
kishibekairohan	16:3f2c2d89372b	4710	#pragma region USER-DEFINED-FUNCTIONS
M_souta	29:44d5454ce8fa	4711
M_souta	29:44d5454ce8fa	4712	uint8_t SetStatus(int pwmVal)
Ryosei	27:dd9f27fce7d1	4713	{
M_souta	29:44d5454ce8fa	4714	if (pwmVal < 0) return BACK;
M_souta	29:44d5454ce8fa	4715	else if (pwmVal > 0) return FOR;
M_souta	29:44d5454ce8fa	4716	else if (pwmVal == 0) return BRAKE;
M_souta	29:44d5454ce8fa	4717	else return BRAKE;
M_souta	22:7d93f79a3686	4718	}
kishibekairohan	16:3f2c2d89372b	4719
M_souta	29:44d5454ce8fa	4720	uint8_t SetPWM(int pwmVal)
Ryosei	27:dd9f27fce7d1	4721	{
M_souta	29:44d5454ce8fa	4722	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
M_souta	29:44d5454ce8fa	4723	else return abs(pwmVal);
M_souta	22:7d93f79a3686	4724	}
kishibekairohan	16:3f2c2d89372b	4725
t_yamamoto	0:669ef71cba68	4726	#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@50:87f5fa1bc460, 2019-11-13 (annotated)

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