大季 矢花 / Mbed 2 deprecated MB2019_main_alltimes_1123

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Dependencies:   mbed

System/Process/Process.cpp@51:a0bdbddd08f7, 2019-11-13 (annotated)

Committer:
yabahiro
Date:
Wed Nov 13 20:59:54 2019 +0000
Revision:
51:a0bdbddd08f7
Parent:
50:87f5fa1bc460
Child:
52:4394a1debceb
a;

Who changed what in which revision?

UserRevisionLine numberNew 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 51:a0bdbddd08f7 476 fast=40;
yabahiro 51:a0bdbddd08f7 477 normal=30;
yabahiro 51:a0bdbddd08f7 478 slow=20;
yabahiro 51:a0bdbddd08f7 479 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 480 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 481 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 482 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 483 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 484 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 485 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 486 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 487 if(g[2]==0&&countss>=100000) {
yabahiro 51:a0bdbddd08f7 488 countss=100000;
yabahiro 51:a0bdbddd08f7 489 cross=0;
yabahiro 51:a0bdbddd08f7 490 mode=3;
yabahiro 51:a0bdbddd08f7 491 }
yabahiro 50:87f5fa1bc460 492 break;
yabahiro 51:a0bdbddd08f7 493 case 3:
yabahiro 51:a0bdbddd08f7 494 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 495 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 496 motor[TIRE_FL].pwm = 255;
yabahiro 51:a0bdbddd08f7 497 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 498 motor[TIRE_BR].pwm = 255;
yabahiro 51:a0bdbddd08f7 499 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 500 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 501 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 502 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 503 mode=10;
yabahiro 51:a0bdbddd08f7 504 countss=100000;
yabahiro 51:a0bdbddd08f7 505 }
yabahiro 50:87f5fa1bc460 506 break;
yabahiro 50:87f5fa1bc460 507 case 10:
yabahiro 51:a0bdbddd08f7 508 switch(g[1]) {
yabahiro 51:a0bdbddd08f7 509 case 98:
yabahiro 51:a0bdbddd08f7 510 motor[TIRE_FR].pwm = normal+55;
yabahiro 51:a0bdbddd08f7 511 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 512 motor[TIRE_FL].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 513 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 514 motor[TIRE_BR].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 515 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 516 motor[TIRE_BL].pwm = normal+45;
yabahiro 51:a0bdbddd08f7 517 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 518 mtc=true;
yabahiro 51:a0bdbddd08f7 519 if(countss>80000) {
yabahiro 51:a0bdbddd08f7 520 cross++;
yabahiro 51:a0bdbddd08f7 521 countss=0;
yabahiro 51:a0bdbddd08f7 522 }
yabahiro 46:68296caae1af 523
yabahiro 51:a0bdbddd08f7 524 if(cross==2) {
yabahiro 51:a0bdbddd08f7 525 fast = 10;
yabahiro 51:a0bdbddd08f7 526 normal = 10;
yabahiro 51:a0bdbddd08f7 527 slow = 5;
yabahiro 51:a0bdbddd08f7 528 }
yabahiro 46:68296caae1af 529
kishibekairohan 45:0cf48a0605cd 530 if(cross==3) {
yabahiro 51:a0bdbddd08f7 531 fast=40;
yabahiro 51:a0bdbddd08f7 532 normal=30;
yabahiro 51:a0bdbddd08f7 533 slow=20;
yabahiro 51:a0bdbddd08f7 534 mode=11;
yabahiro 39:784552c26163 535 countss=0;
yabahiro 39:784552c26163 536 cross=0;
yabahiro 39:784552c26163 537 }
yabahiro 39:784552c26163 538 break;
yabahiro 39:784552c26163 539 case 0:
yabahiro 51:a0bdbddd08f7 540 motor[TIRE_FR].pwm = fast+55;
yabahiro 51:a0bdbddd08f7 541 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 542 motor[TIRE_FL].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 543 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 544 motor[TIRE_BR].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 545 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 546 motor[TIRE_BL].pwm = fast+45;
yabahiro 51:a0bdbddd08f7 547 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 548 mtc=true;
yabahiro 39:784552c26163 549 break;
yabahiro 39:784552c26163 550 case 255:
yabahiro 51:a0bdbddd08f7 551 motor[TIRE_FR].pwm = fast+55;
yabahiro 51:a0bdbddd08f7 552 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 553 motor[TIRE_FL].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 554 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 555 motor[TIRE_BR].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 556 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 557 motor[TIRE_BL].pwm = fast+45;
yabahiro 51:a0bdbddd08f7 558 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 559 mtc=true;
yabahiro 39:784552c26163 560 break;
yabahiro 39:784552c26163 561 case 253:
yabahiro 51:a0bdbddd08f7 562 motor[TIRE_FR].pwm = slow+55;
yabahiro 51:a0bdbddd08f7 563 motor[TIRE_FR].dir = FOR;
yabahiro 39:784552c26163 564 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 565 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 566 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 567 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 568 motor[TIRE_BL].pwm = slow+45;
yabahiro 51:a0bdbddd08f7 569 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 570 mtc=true;
yabahiro 39:784552c26163 571 break;
yabahiro 39:784552c26163 572 case 254:
yabahiro 51:a0bdbddd08f7 573 motor[TIRE_FR].pwm = normal+55;
yabahiro 51:a0bdbddd08f7 574 motor[TIRE_FR].dir = FOR;
yabahiro 39:784552c26163 575 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 576 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 577 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 578 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 579 motor[TIRE_BL].pwm = normal+45;
yabahiro 51:a0bdbddd08f7 580 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 581 mtc=true;
yabahiro 39:784552c26163 582 break;
yabahiro 39:784552c26163 583 case 1:
yabahiro 51:a0bdbddd08f7 584 motor[TIRE_FR].pwm = slow+55;
yabahiro 51:a0bdbddd08f7 585 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 586 motor[TIRE_FL].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 587 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 588 motor[TIRE_BR].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 589 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 590 motor[TIRE_BL].pwm = slow+45;
yabahiro 51:a0bdbddd08f7 591 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 592 mtc=true;
yabahiro 39:784552c26163 593 break;
yabahiro 39:784552c26163 594 case 3:
yabahiro 39:784552c26163 595 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 596 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 597 motor[TIRE_FL].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 598 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 599 motor[TIRE_BR].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 600 motor[TIRE_BR].dir = FOR;
yabahiro 39:784552c26163 601 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 602 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 603 mtc=true;
yabahiro 39:784552c26163 604 break;
yabahiro 39:784552c26163 605 case 2:
yabahiro 39:784552c26163 606 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 607 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 608 motor[TIRE_FL].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 609 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 610 motor[TIRE_BR].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 611 motor[TIRE_BR].dir = FOR;
yabahiro 39:784552c26163 612 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 613 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 614 mtc=true;
yabahiro 39:784552c26163 615 break;
yabahiro 39:784552c26163 616 }
yabahiro 51:a0bdbddd08f7 617 if(g[1]!=98&&mtc==true) {
yabahiro 39:784552c26163 618 switch(g[0]) {
yabahiro 39:784552c26163 619 case 0:
yabahiro 39:784552c26163 620 mtc=false;
yabahiro 39:784552c26163 621 break;
yabahiro 39:784552c26163 622 case 255:
yabahiro 51:a0bdbddd08f7 623 motor[TIRE_FL].pwm += 3;
yabahiro 39:784552c26163 624 mtc=false;
yabahiro 39:784552c26163 625 break;
yabahiro 39:784552c26163 626 case 253:
yabahiro 51:a0bdbddd08f7 627 motor[TIRE_FL].pwm += 6;
yabahiro 39:784552c26163 628 mtc=false;
yabahiro 39:784552c26163 629 break;
yabahiro 39:784552c26163 630 case 254:
yabahiro 51:a0bdbddd08f7 631 motor[TIRE_FL].pwm += 9;
yabahiro 51:a0bdbddd08f7 632 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 633 mtc=false;
yabahiro 39:784552c26163 634 break;
yabahiro 39:784552c26163 635 case 1:
yabahiro 51:a0bdbddd08f7 636 motor[TIRE_FR].pwm += 3;
yabahiro 39:784552c26163 637 mtc=false;
yabahiro 39:784552c26163 638 break;
yabahiro 39:784552c26163 639 case 3:
yabahiro 51:a0bdbddd08f7 640 motor[TIRE_FR].pwm += 6;
yabahiro 39:784552c26163 641 mtc=false;
yabahiro 39:784552c26163 642 break;
yabahiro 39:784552c26163 643 case 2:
yabahiro 51:a0bdbddd08f7 644 motor[TIRE_FR].pwm += 9;
yabahiro 51:a0bdbddd08f7 645 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 646 mtc=false;
yabahiro 39:784552c26163 647 break;
yabahiro 39:784552c26163 648 }
yabahiro 39:784552c26163 649 }
yabahiro 51:a0bdbddd08f7 650 break;
yabahiro 51:a0bdbddd08f7 651 case 11:
yabahiro 51:a0bdbddd08f7 652 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 653 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 654 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 655 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 656 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 657 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 658 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 659 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 660 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 51:a0bdbddd08f7 661 countss=0;
yabahiro 51:a0bdbddd08f7 662 cross=0;
yabahiro 51:a0bdbddd08f7 663 mode=20;
yabahiro 51:a0bdbddd08f7 664 }
yabahiro 51:a0bdbddd08f7 665 break;
yabahiro 51:a0bdbddd08f7 666 case 20:
yabahiro 51:a0bdbddd08f7 667 solenoid.solenoid2= SOLENOID_ON;
yabahiro 51:a0bdbddd08f7 668 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 669 case 98:
yabahiro 51:a0bdbddd08f7 670 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 671 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 672 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 673 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 674 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 675 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 676 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 677 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 678 if(countss>30000) {
yabahiro 51:a0bdbddd08f7 679 cross++;
yabahiro 51:a0bdbddd08f7 680 countss=0;
yabahiro 51:a0bdbddd08f7 681 }
yabahiro 51:a0bdbddd08f7 682 mtc2=true;
yabahiro 51:a0bdbddd08f7 683 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 684 if(cross==1) {
yabahiro 51:a0bdbddd08f7 685 fast=20;
yabahiro 51:a0bdbddd08f7 686 normal=15;
yabahiro 51:a0bdbddd08f7 687 slow=15;
yabahiro 51:a0bdbddd08f7 688 }
yabahiro 51:a0bdbddd08f7 689 if(cross==2) {
yabahiro 51:a0bdbddd08f7 690 mode=21;
yabahiro 51:a0bdbddd08f7 691 countss=0;
yabahiro 51:a0bdbddd08f7 692 cross=0;
yabahiro 51:a0bdbddd08f7 693 }
yabahiro 51:a0bdbddd08f7 694 } else {
yabahiro 51:a0bdbddd08f7 695 if(cross==3) {
yabahiro 51:a0bdbddd08f7 696 mode=21;
yabahiro 51:a0bdbddd08f7 697 countss=0;
yabahiro 51:a0bdbddd08f7 698 cross=0;
yabahiro 51:a0bdbddd08f7 699 }
yabahiro 51:a0bdbddd08f7 700 }
yabahiro 51:a0bdbddd08f7 701 break;
yabahiro 51:a0bdbddd08f7 702 case 0:
yabahiro 51:a0bdbddd08f7 703 motor[TIRE_FR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 704 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 705 motor[TIRE_FL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 706 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 707 motor[TIRE_BR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 708 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 709 motor[TIRE_BL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 710 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 711 mtc2=true;
yabahiro 51:a0bdbddd08f7 712 break;
yabahiro 51:a0bdbddd08f7 713 case 255:
yabahiro 51:a0bdbddd08f7 714 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 715 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 716 motor[TIRE_FL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 717 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 718 motor[TIRE_BR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 719 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 720 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 721 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 722 mtc2=true;
yabahiro 51:a0bdbddd08f7 723 break;
yabahiro 51:a0bdbddd08f7 724 case 253:
yabahiro 51:a0bdbddd08f7 725 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 726 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 727 motor[TIRE_FL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 728 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 729 motor[TIRE_BR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 730 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 731 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 732 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 733 mtc2=true;
yabahiro 51:a0bdbddd08f7 734 break;
yabahiro 51:a0bdbddd08f7 735 case 254:
yabahiro 51:a0bdbddd08f7 736 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 737 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 738 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 739 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 740 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 741 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 742 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 743 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 744 mtc2=true;
yabahiro 51:a0bdbddd08f7 745 break;
yabahiro 51:a0bdbddd08f7 746 case 1:
yabahiro 51:a0bdbddd08f7 747 motor[TIRE_FR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 748 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 749 motor[TIRE_FL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 750 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 751 motor[TIRE_BR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 752 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 753 motor[TIRE_BL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 754 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 755 mtc2=true;
yabahiro 51:a0bdbddd08f7 756 break;
yabahiro 51:a0bdbddd08f7 757 case 3:
yabahiro 51:a0bdbddd08f7 758 motor[TIRE_FR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 759 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 760 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 761 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 762 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 763 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 764 motor[TIRE_BL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 765 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 766 mtc2=true;
yabahiro 51:a0bdbddd08f7 767 break;
yabahiro 51:a0bdbddd08f7 768 case 2:
yabahiro 51:a0bdbddd08f7 769 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 770 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 771 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 772 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 773 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 774 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 775 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 776 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 777 mtc2=true;
yabahiro 51:a0bdbddd08f7 778 break;
yabahiro 51:a0bdbddd08f7 779 }
yabahiro 51:a0bdbddd08f7 780 if(g[2]!=98&&mtc2==true) {
yabahiro 51:a0bdbddd08f7 781 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 782 case 0:
yabahiro 51:a0bdbddd08f7 783 mtc2=false;
yabahiro 51:a0bdbddd08f7 784 break;
yabahiro 51:a0bdbddd08f7 785 case 255:
yabahiro 51:a0bdbddd08f7 786 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 787 mtc2=false;
yabahiro 51:a0bdbddd08f7 788 break;
yabahiro 51:a0bdbddd08f7 789 case 253:
yabahiro 51:a0bdbddd08f7 790 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 791 mtc2=false;
yabahiro 51:a0bdbddd08f7 792 break;
yabahiro 51:a0bdbddd08f7 793 case 254:
yabahiro 51:a0bdbddd08f7 794 motor[TIRE_BL].pwm += 15;
yabahiro 51:a0bdbddd08f7 795 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 796 mtc2=false;
yabahiro 51:a0bdbddd08f7 797 break;
yabahiro 51:a0bdbddd08f7 798 case 1:
yabahiro 51:a0bdbddd08f7 799 motor[TIRE_FL].pwm += 5;
yabahiro 51:a0bdbddd08f7 800 mtc2=false;
yabahiro 51:a0bdbddd08f7 801 break;
yabahiro 51:a0bdbddd08f7 802 case 3:
yabahiro 51:a0bdbddd08f7 803 motor[TIRE_FL].pwm += 10;
yabahiro 51:a0bdbddd08f7 804 mtc2=false;
yabahiro 51:a0bdbddd08f7 805 break;
yabahiro 51:a0bdbddd08f7 806 case 2:
yabahiro 51:a0bdbddd08f7 807 motor[TIRE_FL].pwm += 15;
yabahiro 51:a0bdbddd08f7 808 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 809 mtc2=false;
yabahiro 51:a0bdbddd08f7 810 break;
yabahiro 51:a0bdbddd08f7 811 }
yabahiro 51:a0bdbddd08f7 812 }
yabahiro 51:a0bdbddd08f7 813 break;
yabahiro 51:a0bdbddd08f7 814 case 21:
yabahiro 51:a0bdbddd08f7 815 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 816 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 817 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 818 motor[TIRE_FL].pwm = 20;
yabahiro 51:a0bdbddd08f7 819 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 820 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 821 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 822 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 823 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 824 if(g[3]==98&&countss>=10000) {
yabahiro 51:a0bdbddd08f7 825 mode=22;
yabahiro 51:a0bdbddd08f7 826 countss=0;
yabahiro 51:a0bdbddd08f7 827 fast=60;
yabahiro 51:a0bdbddd08f7 828 normal=40;
yabahiro 51:a0bdbddd08f7 829 slow=20;
yabahiro 51:a0bdbddd08f7 830 }
yabahiro 51:a0bdbddd08f7 831 } else {
yabahiro 51:a0bdbddd08f7 832 motor[TIRE_FR].pwm = 255;
yabahiro 51:a0bdbddd08f7 833 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 834 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 835 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 836 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 837 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 838 motor[TIRE_BL].pwm = 255;
yabahiro 51:a0bdbddd08f7 839 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 840 if(g[0]==0) {
yabahiro 51:a0bdbddd08f7 841 mode=22;
yabahiro 51:a0bdbddd08f7 842 fast=60;
yabahiro 51:a0bdbddd08f7 843 normal=40;
yabahiro 51:a0bdbddd08f7 844 slow=25;
yabahiro 51:a0bdbddd08f7 845 }
yabahiro 51:a0bdbddd08f7 846 }
yabahiro 51:a0bdbddd08f7 847 break;
yabahiro 51:a0bdbddd08f7 848 case 22:
yabahiro 51:a0bdbddd08f7 849 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 850 if(g[4]==3||g[4]==2) {
yabahiro 51:a0bdbddd08f7 851 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 852 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 853 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 854 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 855 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 856 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 857 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 858 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 859 }
yabahiro 51:a0bdbddd08f7 860 if(g[4]==253||g[4]==254) {
yabahiro 51:a0bdbddd08f7 861 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 862 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 863 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 864 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 865 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 866 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 867 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 868 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 869 }
yabahiro 51:a0bdbddd08f7 870 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 871 case 0:
yabahiro 51:a0bdbddd08f7 872 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 873 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 874 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 875 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 876 break;
yabahiro 51:a0bdbddd08f7 877 case 255:
yabahiro 51:a0bdbddd08f7 878 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 879 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 880 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 881 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 882 break;
yabahiro 51:a0bdbddd08f7 883 case 253:
yabahiro 51:a0bdbddd08f7 884 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 885 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 886 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 887 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 888 break;
yabahiro 51:a0bdbddd08f7 889 case 254:
yabahiro 51:a0bdbddd08f7 890 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 891 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 892 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 893 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 894 break;
yabahiro 51:a0bdbddd08f7 895 case 1:
yabahiro 51:a0bdbddd08f7 896 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 897 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 898 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 899 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 900 break;
yabahiro 51:a0bdbddd08f7 901 case 3:
yabahiro 51:a0bdbddd08f7 902 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 903 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 904 motor[TIRE_BR].pwm = 40;
yabahiro 51:a0bdbddd08f7 905 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 906 break;
yabahiro 51:a0bdbddd08f7 907 case 2:
yabahiro 51:a0bdbddd08f7 908 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 909 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 910 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 911 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 912 break;
yabahiro 51:a0bdbddd08f7 913 }
yabahiro 51:a0bdbddd08f7 914 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 915 case 0:
yabahiro 51:a0bdbddd08f7 916 motor[TIRE_FL].pwm = 20;
yabahiro 51:a0bdbddd08f7 917 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 918 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 919 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 920 break;
yabahiro 51:a0bdbddd08f7 921 case 255:
yabahiro 51:a0bdbddd08f7 922 motor[TIRE_FL].pwm = 20;
yabahiro 51:a0bdbddd08f7 923 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 924 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 925 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 926 case 253:
yabahiro 51:a0bdbddd08f7 927 motor[TIRE_FL].pwm = 20;
yabahiro 51:a0bdbddd08f7 928 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 929 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 930 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 931 break;
yabahiro 51:a0bdbddd08f7 932 case 254:
yabahiro 51:a0bdbddd08f7 933 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 934 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 935 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 936 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 937 break;
yabahiro 51:a0bdbddd08f7 938 case 1:
yabahiro 51:a0bdbddd08f7 939 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 940 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 941 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 942 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 943 break;
yabahiro 51:a0bdbddd08f7 944 case 3:
yabahiro 51:a0bdbddd08f7 945 motor[TIRE_FL].pwm = 40;
yabahiro 51:a0bdbddd08f7 946 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 947 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 948 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 949 break;
yabahiro 51:a0bdbddd08f7 950 case 2:
yabahiro 51:a0bdbddd08f7 951 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 952 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 953 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 954 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 955 break;
yabahiro 51:a0bdbddd08f7 956 }
yabahiro 51:a0bdbddd08f7 957 if(g[3]==0&&g[2]==0) {
yabahiro 51:a0bdbddd08f7 958 mode=23;
yabahiro 51:a0bdbddd08f7 959 countss=0;
yabahiro 51:a0bdbddd08f7 960 }
yabahiro 51:a0bdbddd08f7 961 } else {
yabahiro 51:a0bdbddd08f7 962 if(g[0]==98) {
yabahiro 51:a0bdbddd08f7 963 slow=25;
yabahiro 51:a0bdbddd08f7 964 normal=30;
yabahiro 51:a0bdbddd08f7 965 fast=40;
yabahiro 51:a0bdbddd08f7 966 }
yabahiro 51:a0bdbddd08f7 967 if(g[3]==0) {
yabahiro 51:a0bdbddd08f7 968 slow=25;
yabahiro 51:a0bdbddd08f7 969 normal=40;
yabahiro 51:a0bdbddd08f7 970 fast=60;
yabahiro 51:a0bdbddd08f7 971 mode=23;
yabahiro 51:a0bdbddd08f7 972 }
yabahiro 51:a0bdbddd08f7 973 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 974 case 98:
yabahiro 51:a0bdbddd08f7 975 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 51:a0bdbddd08f7 976 fast=40;
yabahiro 51:a0bdbddd08f7 977 normal=30;
yabahiro 51:a0bdbddd08f7 978 slow=25;
yabahiro 51:a0bdbddd08f7 979 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 980 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 981 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 982 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 983 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 984 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 985 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 986 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 987 break;
yabahiro 51:a0bdbddd08f7 988 case 0:
yabahiro 51:a0bdbddd08f7 989 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 990 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 991 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 992 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 993 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 994 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 995 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 996 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 997 mtc=true;
yabahiro 51:a0bdbddd08f7 998 break;
yabahiro 51:a0bdbddd08f7 999 case 255:
yabahiro 51:a0bdbddd08f7 1000 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1001 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1002 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1003 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1004 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1005 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1006 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1007 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1008 mtc=true;
yabahiro 51:a0bdbddd08f7 1009 break;
yabahiro 51:a0bdbddd08f7 1010 case 253:
yabahiro 51:a0bdbddd08f7 1011 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1012 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1013 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1014 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1015 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1016 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1017 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1018 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1019 mtc=true;
yabahiro 51:a0bdbddd08f7 1020 break;
yabahiro 51:a0bdbddd08f7 1021 case 254:
yabahiro 51:a0bdbddd08f7 1022 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1023 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1024 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1025 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1026 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1027 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1028 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1029 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1030 mtc=true;
yabahiro 51:a0bdbddd08f7 1031 break;
yabahiro 51:a0bdbddd08f7 1032 case 1:
yabahiro 51:a0bdbddd08f7 1033 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1034 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1035 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1036 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1037 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1038 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1039 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1040 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1041 mtc=true;
yabahiro 51:a0bdbddd08f7 1042 break;
yabahiro 51:a0bdbddd08f7 1043 case 3:
yabahiro 51:a0bdbddd08f7 1044 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1045 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1046 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1047 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1048 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1049 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1050 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1051 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1052 mtc=true;
yabahiro 51:a0bdbddd08f7 1053 break;
yabahiro 51:a0bdbddd08f7 1054 case 2:
yabahiro 51:a0bdbddd08f7 1055 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1056 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1057 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1058 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1059 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1060 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1061 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1062 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1063 mtc=true;
yabahiro 51:a0bdbddd08f7 1064 break;
yabahiro 51:a0bdbddd08f7 1065 }
yabahiro 51:a0bdbddd08f7 1066 if(g[0]!=98&&mtc==true) {
yabahiro 51:a0bdbddd08f7 1067 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1068 case 0:
yabahiro 51:a0bdbddd08f7 1069 mtc=false;
yabahiro 51:a0bdbddd08f7 1070 break;
yabahiro 51:a0bdbddd08f7 1071 case 255:
yabahiro 51:a0bdbddd08f7 1072 motor[TIRE_BR].pwm += 5;
yabahiro 51:a0bdbddd08f7 1073 mtc=false;
yabahiro 51:a0bdbddd08f7 1074 break;
yabahiro 51:a0bdbddd08f7 1075 case 253:
yabahiro 51:a0bdbddd08f7 1076 motor[TIRE_BR].pwm += 10;
yabahiro 51:a0bdbddd08f7 1077 mtc=false;
yabahiro 51:a0bdbddd08f7 1078 break;
yabahiro 51:a0bdbddd08f7 1079 case 254:
yabahiro 51:a0bdbddd08f7 1080 motor[TIRE_BR].pwm += 20;
yabahiro 51:a0bdbddd08f7 1081 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1082 mtc=false;
yabahiro 51:a0bdbddd08f7 1083 break;
yabahiro 51:a0bdbddd08f7 1084 case 1:
yabahiro 51:a0bdbddd08f7 1085 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1086 mtc=false;
yabahiro 51:a0bdbddd08f7 1087 break;
yabahiro 51:a0bdbddd08f7 1088 case 3:
yabahiro 51:a0bdbddd08f7 1089 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1090 mtc=false;
yabahiro 51:a0bdbddd08f7 1091 break;
yabahiro 51:a0bdbddd08f7 1092 case 2:
yabahiro 51:a0bdbddd08f7 1093 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1094 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1095 mtc=false;
yabahiro 51:a0bdbddd08f7 1096 break;
yabahiro 51:a0bdbddd08f7 1097 }
yabahiro 51:a0bdbddd08f7 1098 }
yabahiro 51:a0bdbddd08f7 1099 }
yabahiro 51:a0bdbddd08f7 1100 break;
yabahiro 51:a0bdbddd08f7 1101 case 23:
yabahiro 51:a0bdbddd08f7 1102 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1103 switch(g[4]) {
yabahiro 51:a0bdbddd08f7 1104 case 98:
yabahiro 51:a0bdbddd08f7 1105 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1106 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1107 motor[TIRE_FL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1108 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1109 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1110 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1111 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1112 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1113 break;
yabahiro 51:a0bdbddd08f7 1114 case 99:
yabahiro 51:a0bdbddd08f7 1115 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1116 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1117 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1118 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1119 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1120 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1121 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1122 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1123 break;
yabahiro 51:a0bdbddd08f7 1124 case 0:
yabahiro 51:a0bdbddd08f7 1125 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1126 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1127 motor[TIRE_FL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1128 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1129 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1130 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1131 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1132 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1133 break;
yabahiro 51:a0bdbddd08f7 1134 case 255:
yabahiro 51:a0bdbddd08f7 1135 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1136 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1137 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1138 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1139 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1140 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1141 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1142 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1143 break;
yabahiro 51:a0bdbddd08f7 1144 case 253:
yabahiro 51:a0bdbddd08f7 1145 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1146 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1147 motor[TIRE_FL].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1148 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1149 motor[TIRE_BR].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1150 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1151 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1152 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1153 break;
yabahiro 51:a0bdbddd08f7 1154 case 254:
yabahiro 51:a0bdbddd08f7 1155 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1156 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1157 motor[TIRE_FL].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1158 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1159 motor[TIRE_BR].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1160 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1161 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1162 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1163 break;
yabahiro 51:a0bdbddd08f7 1164 case 1:
yabahiro 51:a0bdbddd08f7 1165 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1166 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1167 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1168 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1169 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1170 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1171 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1172 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1173 break;
yabahiro 51:a0bdbddd08f7 1174 case 3:
yabahiro 51:a0bdbddd08f7 1175 motor[TIRE_FR].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1176 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1177 motor[TIRE_FL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1178 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1179 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1180 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1181 motor[TIRE_BL].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1182 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1183 break;
yabahiro 51:a0bdbddd08f7 1184 case 2:
yabahiro 51:a0bdbddd08f7 1185 motor[TIRE_FR].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1186 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1187 motor[TIRE_FL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1188 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1189 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1190 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1191 motor[TIRE_BL].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1192 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1193 break;
yabahiro 51:a0bdbddd08f7 1194 }
yabahiro 51:a0bdbddd08f7 1195 if(g[0]==98) {
yabahiro 51:a0bdbddd08f7 1196 fast=20;
yabahiro 51:a0bdbddd08f7 1197 normal=15;
yabahiro 51:a0bdbddd08f7 1198 slow=10;
yabahiro 51:a0bdbddd08f7 1199 }
yabahiro 51:a0bdbddd08f7 1200 if(g[2]==254&&countss>=100000) {
yabahiro 51:a0bdbddd08f7 1201 mode=24;
yabahiro 51:a0bdbddd08f7 1202 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 51:a0bdbddd08f7 1203 countss=0;
yabahiro 51:a0bdbddd08f7 1204 fast=60;
yabahiro 51:a0bdbddd08f7 1205 normal=40;
yabahiro 51:a0bdbddd08f7 1206 slow=20;
yabahiro 51:a0bdbddd08f7 1207 }
yabahiro 51:a0bdbddd08f7 1208 } else {
yabahiro 51:a0bdbddd08f7 1209 if(UPLS==true||DOLS==true) {
yabahiro 51:a0bdbddd08f7 1210 if(UPLS==true||DOLS==true) {
yabahiro 51:a0bdbddd08f7 1211 motor[MOTOR_0].pwm = 200;
yabahiro 51:a0bdbddd08f7 1212 motor[MOTOR_0].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1213 fast=60;
yabahiro 51:a0bdbddd08f7 1214 normal=40;
yabahiro 51:a0bdbddd08f7 1215 slow=20;
yabahiro 51:a0bdbddd08f7 1216 countss=0;
yabahiro 51:a0bdbddd08f7 1217 mode=24;
yabahiro 51:a0bdbddd08f7 1218 }
yabahiro 51:a0bdbddd08f7 1219 } else {
yabahiro 51:a0bdbddd08f7 1220 motor[MOTOR_0].pwm = 100;
yabahiro 51:a0bdbddd08f7 1221 motor[MOTOR_0].dir = BACK;
yabahiro 51:a0bdbddd08f7 1222 }
yabahiro 51:a0bdbddd08f7 1223 motor[TIRE_FR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1224 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1225 motor[TIRE_FL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1226 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1227 motor[TIRE_BR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1228 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1229 motor[TIRE_BL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1230 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1231 }
yabahiro 51:a0bdbddd08f7 1232 break;
yabahiro 51:a0bdbddd08f7 1233 case 24:
yabahiro 51:a0bdbddd08f7 1234 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1235 if(g[4]==3||g[4]==2) {
yabahiro 51:a0bdbddd08f7 1236 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1237 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1238 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1239 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1240 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1241 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1242 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1243 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1244 }
yabahiro 51:a0bdbddd08f7 1245 if(g[4]==253||g[4]==254) {
yabahiro 51:a0bdbddd08f7 1246 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1247 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1248 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1249 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1250 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1251 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1252 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1253 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1254 }
yabahiro 51:a0bdbddd08f7 1255 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 1256 case 0:
yabahiro 51:a0bdbddd08f7 1257 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1258 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1259 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1260 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1261 break;
yabahiro 51:a0bdbddd08f7 1262 case 255:
yabahiro 51:a0bdbddd08f7 1263 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1264 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1265 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1266 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1267 break;
yabahiro 51:a0bdbddd08f7 1268 case 253:
yabahiro 51:a0bdbddd08f7 1269 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1270 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1271 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1272 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1273 break;
yabahiro 51:a0bdbddd08f7 1274 case 254:
yabahiro 51:a0bdbddd08f7 1275 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1276 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1277 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1278 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1279 break;
yabahiro 51:a0bdbddd08f7 1280 case 1:
yabahiro 51:a0bdbddd08f7 1281 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1282 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1283 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1284 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1285 break;
yabahiro 51:a0bdbddd08f7 1286 case 3:
yabahiro 51:a0bdbddd08f7 1287 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1288 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1289 motor[TIRE_BR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1290 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1291 break;
yabahiro 51:a0bdbddd08f7 1292 case 2:
yabahiro 51:a0bdbddd08f7 1293 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1294 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1295 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1296 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1297 break;
yabahiro 51:a0bdbddd08f7 1298 }
yabahiro 51:a0bdbddd08f7 1299 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 1300 case 0:
yabahiro 51:a0bdbddd08f7 1301 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1302 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1303 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1304 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1305 break;
yabahiro 51:a0bdbddd08f7 1306 case 255:
yabahiro 51:a0bdbddd08f7 1307 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1308 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1309 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1310 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1311 case 253:
yabahiro 51:a0bdbddd08f7 1312 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1313 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1314 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1315 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1316 break;
yabahiro 51:a0bdbddd08f7 1317 case 254:
yabahiro 51:a0bdbddd08f7 1318 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1319 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1320 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1321 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1322 break;
yabahiro 51:a0bdbddd08f7 1323 case 1:
yabahiro 51:a0bdbddd08f7 1324 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1325 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1326 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 1327 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1328 break;
yabahiro 51:a0bdbddd08f7 1329 case 3:
yabahiro 51:a0bdbddd08f7 1330 motor[TIRE_FL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1331 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1332 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1333 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1334 break;
yabahiro 51:a0bdbddd08f7 1335 case 2:
yabahiro 51:a0bdbddd08f7 1336 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1337 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1338 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1339 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1340 break;
yabahiro 51:a0bdbddd08f7 1341 }
yabahiro 51:a0bdbddd08f7 1342 if(g[3]==0&&g[2]==0) {
yabahiro 51:a0bdbddd08f7 1343 mode=25;
yabahiro 51:a0bdbddd08f7 1344 }
yabahiro 51:a0bdbddd08f7 1345 } else {
yabahiro 51:a0bdbddd08f7 1346 if(g[0]==98&&countss>=20000) {
yabahiro 51:a0bdbddd08f7 1347 mode=31;
yabahiro 51:a0bdbddd08f7 1348 countss=0;
yabahiro 51:a0bdbddd08f7 1349 }
yabahiro 51:a0bdbddd08f7 1350 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1351 case 98:
yabahiro 51:a0bdbddd08f7 1352 fast=40;
yabahiro 51:a0bdbddd08f7 1353 normal=30;
yabahiro 51:a0bdbddd08f7 1354 slow=25;
yabahiro 51:a0bdbddd08f7 1355 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1356 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1357 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1358 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1359 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1360 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1361 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1362 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1363 break;
yabahiro 51:a0bdbddd08f7 1364 case 0:
yabahiro 51:a0bdbddd08f7 1365 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1366 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1367 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1368 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1369 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1370 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1371 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1372 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1373 mtc=true;
yabahiro 51:a0bdbddd08f7 1374 break;
yabahiro 51:a0bdbddd08f7 1375 case 255:
yabahiro 51:a0bdbddd08f7 1376 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1377 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1378 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1379 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1380 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1381 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1382 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1383 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1384 mtc=true;
yabahiro 51:a0bdbddd08f7 1385 break;
yabahiro 51:a0bdbddd08f7 1386 case 253:
yabahiro 51:a0bdbddd08f7 1387 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1388 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1389 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1390 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1391 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1392 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1393 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1394 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1395 mtc=true;
yabahiro 51:a0bdbddd08f7 1396 break;
yabahiro 51:a0bdbddd08f7 1397 case 254:
yabahiro 51:a0bdbddd08f7 1398 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1399 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1400 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1401 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1402 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1403 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1404 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1405 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1406 mtc=true;
yabahiro 51:a0bdbddd08f7 1407 break;
yabahiro 51:a0bdbddd08f7 1408 case 1:
yabahiro 51:a0bdbddd08f7 1409 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1410 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1411 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1412 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1413 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1414 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1415 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1416 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1417 mtc=true;
yabahiro 51:a0bdbddd08f7 1418 break;
yabahiro 51:a0bdbddd08f7 1419 case 3:
yabahiro 51:a0bdbddd08f7 1420 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1421 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1422 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1423 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1424 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1425 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1426 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1427 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1428 mtc=true;
yabahiro 51:a0bdbddd08f7 1429 break;
yabahiro 51:a0bdbddd08f7 1430 case 2:
yabahiro 51:a0bdbddd08f7 1431 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1432 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1433 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1434 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1435 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1436 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1437 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1438 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1439 mtc=true;
yabahiro 51:a0bdbddd08f7 1440 break;
yabahiro 51:a0bdbddd08f7 1441 }
yabahiro 51:a0bdbddd08f7 1442 if(g[1]!=98&&mtc==true) {
yabahiro 51:a0bdbddd08f7 1443 switch(g[1]) {
yabahiro 51:a0bdbddd08f7 1444 case 0:
yabahiro 51:a0bdbddd08f7 1445 mtc=false;
yabahiro 51:a0bdbddd08f7 1446 break;
yabahiro 51:a0bdbddd08f7 1447 case 255:
yabahiro 51:a0bdbddd08f7 1448 motor[TIRE_BR].pwm += 5;
yabahiro 51:a0bdbddd08f7 1449 mtc=false;
yabahiro 51:a0bdbddd08f7 1450 break;
yabahiro 51:a0bdbddd08f7 1451 case 253:
yabahiro 51:a0bdbddd08f7 1452 motor[TIRE_BR].pwm += 10;
yabahiro 51:a0bdbddd08f7 1453 mtc=false;
yabahiro 51:a0bdbddd08f7 1454 break;
yabahiro 51:a0bdbddd08f7 1455 case 254:
yabahiro 51:a0bdbddd08f7 1456 motor[TIRE_BR].pwm += 20;
yabahiro 51:a0bdbddd08f7 1457 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1458 mtc=false;
yabahiro 51:a0bdbddd08f7 1459 break;
yabahiro 51:a0bdbddd08f7 1460 case 1:
yabahiro 51:a0bdbddd08f7 1461 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1462 mtc=false;
yabahiro 51:a0bdbddd08f7 1463 break;
yabahiro 51:a0bdbddd08f7 1464 case 3:
yabahiro 51:a0bdbddd08f7 1465 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1466 mtc=false;
yabahiro 51:a0bdbddd08f7 1467 break;
yabahiro 51:a0bdbddd08f7 1468 case 2:
yabahiro 51:a0bdbddd08f7 1469 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1470 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1471 mtc=false;
yabahiro 51:a0bdbddd08f7 1472 break;
yabahiro 51:a0bdbddd08f7 1473 }
yabahiro 51:a0bdbddd08f7 1474 }
yabahiro 51:a0bdbddd08f7 1475 }
yabahiro 51:a0bdbddd08f7 1476 break;
yabahiro 51:a0bdbddd08f7 1477 case 25:
yabahiro 51:a0bdbddd08f7 1478 motor[TIRE_FR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1479 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1480 motor[TIRE_FL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1481 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1482 motor[TIRE_BR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1483 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1484 motor[TIRE_BL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1485 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1486 if(DOLS==true||UPLS==true) {
yabahiro 51:a0bdbddd08f7 1487 if(DOLS==true||UPLS==true) {
yabahiro 51:a0bdbddd08f7 1488 motor[MOTOR_0].pwm = 200;
yabahiro 51:a0bdbddd08f7 1489 motor[MOTOR_0].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1490 countss=0;
yabahiro 51:a0bdbddd08f7 1491 mode=26;
yabahiro 51:a0bdbddd08f7 1492 }
yabahiro 51:a0bdbddd08f7 1493 } else {
yabahiro 51:a0bdbddd08f7 1494 motor[MOTOR_0].pwm = 100;
yabahiro 51:a0bdbddd08f7 1495 motor[MOTOR_0].dir = BACK;
yabahiro 51:a0bdbddd08f7 1496 }
yabahiro 51:a0bdbddd08f7 1497 break;
yabahiro 51:a0bdbddd08f7 1498 case 26:
yabahiro 50:87f5fa1bc460 1499 switch(g[4]) {
yabahiro 50:87f5fa1bc460 1500 case 98:
yabahiro 51:a0bdbddd08f7 1501 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1502 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1503 motor[TIRE_FL].pwm = 60;
yabahiro 50:87f5fa1bc460 1504 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1505 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1506 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1507 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1508 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1509 break;
yabahiro 50:87f5fa1bc460 1510 case 99:
yabahiro 50:87f5fa1bc460 1511 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1512 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1513 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1514 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1515 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1516 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1517 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1518 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1519 break;
yabahiro 50:87f5fa1bc460 1520 case 0:
yabahiro 51:a0bdbddd08f7 1521 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1522 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1523 motor[TIRE_FL].pwm = 60;
yabahiro 50:87f5fa1bc460 1524 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1525 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1526 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1527 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1528 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1529 break;
yabahiro 50:87f5fa1bc460 1530 case 255:
yabahiro 50:87f5fa1bc460 1531 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1532 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1533 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1534 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1535 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1536 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1537 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1538 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1539 break;
yabahiro 50:87f5fa1bc460 1540 case 253:
yabahiro 51:a0bdbddd08f7 1541 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1542 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1543 motor[TIRE_FL].pwm = 25;
yabahiro 50:87f5fa1bc460 1544 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1545 motor[TIRE_BR].pwm = 25;
yabahiro 50:87f5fa1bc460 1546 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1547 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1548 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1549 break;
yabahiro 50:87f5fa1bc460 1550 case 254:
yabahiro 51:a0bdbddd08f7 1551 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1552 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1553 motor[TIRE_FL].pwm = 40;
yabahiro 50:87f5fa1bc460 1554 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1555 motor[TIRE_BR].pwm = 40;
yabahiro 50:87f5fa1bc460 1556 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1557 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1558 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1559 break;
yabahiro 50:87f5fa1bc460 1560 case 1:
yabahiro 50:87f5fa1bc460 1561 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1562 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1563 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1564 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1565 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1566 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1567 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1568 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1569 break;
yabahiro 50:87f5fa1bc460 1570 case 3:
yabahiro 51:a0bdbddd08f7 1571 motor[TIRE_FR].pwm = 25;
yabahiro 50:87f5fa1bc460 1572 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1573 motor[TIRE_FL].pwm = 60;
yabahiro 50:87f5fa1bc460 1574 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1575 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1576 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1577 motor[TIRE_BL].pwm = 25;
yabahiro 50:87f5fa1bc460 1578 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1579 break;
yabahiro 50:87f5fa1bc460 1580 case 2:
yabahiro 51:a0bdbddd08f7 1581 motor[TIRE_FR].pwm = 40;
yabahiro 50:87f5fa1bc460 1582 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1583 motor[TIRE_FL].pwm = 60;
yabahiro 50:87f5fa1bc460 1584 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1585 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1586 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1587 motor[TIRE_BL].pwm = 40;
yabahiro 50:87f5fa1bc460 1588 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1589 break;
yabahiro 50:87f5fa1bc460 1590 }
yabahiro 50:87f5fa1bc460 1591 if(g[0]==98) {
yabahiro 51:a0bdbddd08f7 1592 mode=31;
yabahiro 50:87f5fa1bc460 1593 }
yabahiro 51:a0bdbddd08f7 1594 break;
yabahiro 51:a0bdbddd08f7 1595 case 31:
yabahiro 51:a0bdbddd08f7 1596 motor[TIRE_FR].pwm = 45;
yabahiro 51:a0bdbddd08f7 1597 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1598 motor[TIRE_FL].pwm = 255;
kishibekairohan 47:a9cad8502999 1599 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1600 motor[TIRE_BR].pwm = 255;
kishibekairohan 47:a9cad8502999 1601 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1602 motor[TIRE_BL].pwm = 45;
yabahiro 51:a0bdbddd08f7 1603 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1604 if(g[2]==0) {
yabahiro 51:a0bdbddd08f7 1605 cross=0;
yabahiro 51:a0bdbddd08f7 1606 countss=0;
yabahiro 51:a0bdbddd08f7 1607 mode=40;
yabahiro 51:a0bdbddd08f7 1608 }
yabahiro 51:a0bdbddd08f7 1609 break;
yabahiro 51:a0bdbddd08f7 1610 case 40:
yabahiro 51:a0bdbddd08f7 1611 if(LIF||LIB) {
yabahiro 51:a0bdbddd08f7 1612 mode=42;
yabahiro 50:87f5fa1bc460 1613 }
yabahiro 51:a0bdbddd08f7 1614 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 1615 case 98:
yabahiro 51:a0bdbddd08f7 1616 motor[TIRE_FR].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1617 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1618 motor[TIRE_FL].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1619 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1620 motor[TIRE_BR].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1621 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1622 motor[TIRE_BL].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1623 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1624 if(countss>30000) {
yabahiro 51:a0bdbddd08f7 1625 cross++;
yabahiro 51:a0bdbddd08f7 1626 countss=0;
yabahiro 51:a0bdbddd08f7 1627 }
yabahiro 51:a0bdbddd08f7 1628 mtc2=true;
yabahiro 51:a0bdbddd08f7 1629 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1630 if(cross==1) {
yabahiro 51:a0bdbddd08f7 1631 mode=41;
yabahiro 51:a0bdbddd08f7 1632 countss=0;
yabahiro 51:a0bdbddd08f7 1633 cross=0;
yabahiro 51:a0bdbddd08f7 1634 }
yabahiro 51:a0bdbddd08f7 1635 } else {
yabahiro 51:a0bdbddd08f7 1636 if(cross==3) {
yabahiro 51:a0bdbddd08f7 1637 mode=41;
yabahiro 51:a0bdbddd08f7 1638 countss=0;
yabahiro 51:a0bdbddd08f7 1639 cross=0;
yabahiro 51:a0bdbddd08f7 1640 }
yabahiro 51:a0bdbddd08f7 1641 }
yabahiro 51:a0bdbddd08f7 1642 break;
yabahiro 50:87f5fa1bc460 1643 case 0:
yabahiro 51:a0bdbddd08f7 1644 motor[TIRE_FR].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1645 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1646 motor[TIRE_FL].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1647 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1648 motor[TIRE_BR].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1649 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1650 motor[TIRE_BL].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1651 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1652 mtc2=true;
yabahiro 50:87f5fa1bc460 1653 break;
yabahiro 50:87f5fa1bc460 1654 case 255:
yabahiro 51:a0bdbddd08f7 1655 motor[TIRE_FR].pwm = slow+15;
yabahiro 50:87f5fa1bc460 1656 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1657 motor[TIRE_FL].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1658 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1659 motor[TIRE_BR].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1660 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1661 motor[TIRE_BL].pwm = slow+15;
yabahiro 51:a0bdbddd08f7 1662 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1663 mtc2=true;
yabahiro 50:87f5fa1bc460 1664 break;
yabahiro 50:87f5fa1bc460 1665 case 253:
yabahiro 51:a0bdbddd08f7 1666 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1667 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1668 motor[TIRE_FL].pwm = slow+15;
yabahiro 51:a0bdbddd08f7 1669 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1670 motor[TIRE_BR].pwm = slow+15;
yabahiro 51:a0bdbddd08f7 1671 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1672 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1673 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1674 mtc2=true;
yabahiro 50:87f5fa1bc460 1675 break;
yabahiro 50:87f5fa1bc460 1676 case 254:
yabahiro 51:a0bdbddd08f7 1677 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1678 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1679 motor[TIRE_FL].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1680 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1681 motor[TIRE_BR].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1682 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1683 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1684 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1685 mtc2=true;
yabahiro 50:87f5fa1bc460 1686 break;
yabahiro 50:87f5fa1bc460 1687 case 1:
yabahiro 51:a0bdbddd08f7 1688 motor[TIRE_FR].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1689 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1690 motor[TIRE_FL].pwm = slow+15;
yabahiro 51:a0bdbddd08f7 1691 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1692 motor[TIRE_BR].pwm = slow+15;
yabahiro 50:87f5fa1bc460 1693 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1694 motor[TIRE_BL].pwm = fast+15;
yabahiro 51:a0bdbddd08f7 1695 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1696 mtc2=true;
yabahiro 50:87f5fa1bc460 1697 break;
yabahiro 50:87f5fa1bc460 1698 case 3:
yabahiro 51:a0bdbddd08f7 1699 motor[TIRE_FR].pwm = slow+15;
yabahiro 51:a0bdbddd08f7 1700 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1701 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1702 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1703 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1704 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1705 motor[TIRE_BL].pwm = slow+15;
yabahiro 51:a0bdbddd08f7 1706 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1707 mtc2=true;
yabahiro 50:87f5fa1bc460 1708 break;
yabahiro 50:87f5fa1bc460 1709 case 2:
yabahiro 51:a0bdbddd08f7 1710 motor[TIRE_FR].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1711 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1712 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1713 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1714 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1715 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1716 motor[TIRE_BL].pwm = normal+15;
yabahiro 51:a0bdbddd08f7 1717 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1718 mtc2=true;
yabahiro 50:87f5fa1bc460 1719 break;
yabahiro 50:87f5fa1bc460 1720 }
yabahiro 51:a0bdbddd08f7 1721 if(g[2]!=98&&mtc2==true) {
yabahiro 51:a0bdbddd08f7 1722 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 1723 case 0:
yabahiro 51:a0bdbddd08f7 1724 mtc2=false;
yabahiro 51:a0bdbddd08f7 1725 break;
yabahiro 51:a0bdbddd08f7 1726 case 255:
yabahiro 51:a0bdbddd08f7 1727 motor[TIRE_FL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1728 mtc2=false;
yabahiro 51:a0bdbddd08f7 1729 break;
yabahiro 51:a0bdbddd08f7 1730 case 253:
yabahiro 51:a0bdbddd08f7 1731 motor[TIRE_FL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1732 mtc2=false;
yabahiro 51:a0bdbddd08f7 1733 break;
yabahiro 51:a0bdbddd08f7 1734 case 254:
yabahiro 51:a0bdbddd08f7 1735 motor[TIRE_FL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1736 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1737 mtc2=false;
yabahiro 51:a0bdbddd08f7 1738 break;
yabahiro 51:a0bdbddd08f7 1739 case 1:
yabahiro 51:a0bdbddd08f7 1740 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1741 mtc2=false;
yabahiro 51:a0bdbddd08f7 1742 break;
yabahiro 51:a0bdbddd08f7 1743 case 3:
yabahiro 51:a0bdbddd08f7 1744 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1745 mtc2=false;
yabahiro 51:a0bdbddd08f7 1746 break;
yabahiro 51:a0bdbddd08f7 1747 case 2:
yabahiro 51:a0bdbddd08f7 1748 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1749 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1750 mtc2=false;
yabahiro 51:a0bdbddd08f7 1751 break;
yabahiro 51:a0bdbddd08f7 1752 }
yabahiro 51:a0bdbddd08f7 1753 }
yabahiro 51:a0bdbddd08f7 1754 break;
yabahiro 51:a0bdbddd08f7 1755 case 41:
yabahiro 51:a0bdbddd08f7 1756 if(LIF||LIB) {
yabahiro 51:a0bdbddd08f7 1757 mode=42;
yabahiro 51:a0bdbddd08f7 1758 }
yabahiro 51:a0bdbddd08f7 1759 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1760 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1761 motor[TIRE_FL].pwm = 255;
yabahiro 51:a0bdbddd08f7 1762 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1763 motor[TIRE_BR].pwm = 255;
yabahiro 51:a0bdbddd08f7 1764 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1765 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1766 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1767 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 1768 countss=0;
yabahiro 51:a0bdbddd08f7 1769 mode=70;
yabahiro 51:a0bdbddd08f7 1770 normal=80;
yabahiro 51:a0bdbddd08f7 1771 fast=100;
yabahiro 51:a0bdbddd08f7 1772 slow=60;
yabahiro 51:a0bdbddd08f7 1773 }
yabahiro 51:a0bdbddd08f7 1774 break;
yabahiro 51:a0bdbddd08f7 1775 case 42:
yabahiro 51:a0bdbddd08f7 1776 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1777 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1778 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1779 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1780 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1781 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1782 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1783 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1784 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 1785 countss=0;
yabahiro 51:a0bdbddd08f7 1786 mode=70;
yabahiro 51:a0bdbddd08f7 1787 }
yabahiro 51:a0bdbddd08f7 1788 break;
yabahiro 51:a0bdbddd08f7 1789 case 70:
yabahiro 51:a0bdbddd08f7 1790 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1791 case 99:
yabahiro 51:a0bdbddd08f7 1792 if(countss>=100000) {
yabahiro 51:a0bdbddd08f7 1793 mode=100;
yabahiro 51:a0bdbddd08f7 1794 }
yabahiro 50:87f5fa1bc460 1795 break;
yabahiro 39:784552c26163 1796 case 98:
yabahiro 39:784552c26163 1797 motor[TIRE_FR].pwm = normal;
yabahiro 39:784552c26163 1798 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1799 motor[TIRE_FL].pwm = normal;
yabahiro 39:784552c26163 1800 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1801 motor[TIRE_BR].pwm = normal;
yabahiro 39:784552c26163 1802 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1803 motor[TIRE_BL].pwm = normal;
yabahiro 39:784552c26163 1804 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1805 break;
yabahiro 39:784552c26163 1806 case 0:
yabahiro 51:a0bdbddd08f7 1807 motor[TIRE_FR].pwm = 100;
yabahiro 39:784552c26163 1808 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1809 motor[TIRE_FL].pwm = 100;
yabahiro 39:784552c26163 1810 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1811 motor[TIRE_BR].pwm = 100;
yabahiro 39:784552c26163 1812 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1813 motor[TIRE_BL].pwm = 100;
yabahiro 39:784552c26163 1814 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1815 mtc=true;
yabahiro 39:784552c26163 1816 break;
yabahiro 39:784552c26163 1817 case 255:
yabahiro 39:784552c26163 1818 motor[TIRE_FR].pwm = fast;
yabahiro 39:784552c26163 1819 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1820 motor[TIRE_FL].pwm = slow;
yabahiro 39:784552c26163 1821 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1822 motor[TIRE_BR].pwm = slow;
yabahiro 39:784552c26163 1823 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1824 motor[TIRE_BL].pwm = fast;
yabahiro 39:784552c26163 1825 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1826 mtc=true;
yabahiro 39:784552c26163 1827 break;
yabahiro 39:784552c26163 1828 case 253:
yabahiro 39:784552c26163 1829 motor[TIRE_FR].pwm = slow;
yabahiro 39:784552c26163 1830 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1831 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 1832 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 1833 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1834 motor[TIRE_BR].dir = FREE;
yabahiro 39:784552c26163 1835 motor[TIRE_BL].pwm = slow;
yabahiro 39:784552c26163 1836 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1837 mtc=true;
yabahiro 39:784552c26163 1838 break;
yabahiro 39:784552c26163 1839 case 254:
yabahiro 39:784552c26163 1840 motor[TIRE_FR].pwm = normal;
yabahiro 39:784552c26163 1841 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1842 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 1843 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 1844 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1845 motor[TIRE_BR].dir = FREE;
yabahiro 39:784552c26163 1846 motor[TIRE_BL].pwm = normal;
yabahiro 39:784552c26163 1847 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1848 mtc=true;
yabahiro 39:784552c26163 1849 break;
yabahiro 39:784552c26163 1850 case 1:
yabahiro 39:784552c26163 1851 motor[TIRE_FR].pwm = slow;
yabahiro 39:784552c26163 1852 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1853 motor[TIRE_FL].pwm = fast;
yabahiro 39:784552c26163 1854 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1855 motor[TIRE_BR].pwm = fast;
yabahiro 39:784552c26163 1856 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1857 motor[TIRE_BL].pwm = slow;
yabahiro 39:784552c26163 1858 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1859 mtc=true;
yabahiro 39:784552c26163 1860 break;
yabahiro 39:784552c26163 1861 case 3:
yabahiro 39:784552c26163 1862 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 1863 motor[TIRE_FR].dir = FREE;
yabahiro 39:784552c26163 1864 motor[TIRE_FL].pwm = slow;
yabahiro 39:784552c26163 1865 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1866 motor[TIRE_BR].pwm = slow;
yabahiro 39:784552c26163 1867 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1868 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1869 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 1870 mtc=true;
yabahiro 39:784552c26163 1871 break;
yabahiro 39:784552c26163 1872 case 2:
yabahiro 39:784552c26163 1873 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 1874 motor[TIRE_FR].dir = FREE;
yabahiro 39:784552c26163 1875 motor[TIRE_FL].pwm = normal;
yabahiro 39:784552c26163 1876 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1877 motor[TIRE_BR].pwm = normal;
yabahiro 39:784552c26163 1878 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1879 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1880 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 1881 mtc=true;
yabahiro 39:784552c26163 1882 break;
yabahiro 39:784552c26163 1883 }
yabahiro 39:784552c26163 1884 if(g[1]!=98&&mtc==true) {
yabahiro 39:784552c26163 1885 switch(g[1]) {
yabahiro 39:784552c26163 1886 case 0:
yabahiro 39:784552c26163 1887 mtc=false;
yabahiro 39:784552c26163 1888 break;
yabahiro 39:784552c26163 1889 case 255:
yabahiro 39:784552c26163 1890 motor[TIRE_BR].pwm += 5;
yabahiro 39:784552c26163 1891 mtc=false;
yabahiro 39:784552c26163 1892 break;
yabahiro 39:784552c26163 1893 case 253:
yabahiro 39:784552c26163 1894 motor[TIRE_BR].pwm += 10;
yabahiro 39:784552c26163 1895 mtc=false;
yabahiro 39:784552c26163 1896 break;
yabahiro 39:784552c26163 1897 case 254:
yabahiro 39:784552c26163 1898 motor[TIRE_BR].pwm += 20;
yabahiro 39:784552c26163 1899 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1900 mtc=false;
yabahiro 39:784552c26163 1901 break;
yabahiro 39:784552c26163 1902 case 1:
yabahiro 39:784552c26163 1903 motor[TIRE_BL].pwm += 5;
yabahiro 39:784552c26163 1904 mtc=false;
yabahiro 39:784552c26163 1905 break;
yabahiro 39:784552c26163 1906 case 3:
yabahiro 39:784552c26163 1907 motor[TIRE_BL].pwm += 10;
yabahiro 39:784552c26163 1908 mtc=false;
yabahiro 39:784552c26163 1909 break;
yabahiro 39:784552c26163 1910 case 2:
yabahiro 39:784552c26163 1911 motor[TIRE_BL].pwm += 20;
yabahiro 39:784552c26163 1912 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1913 mtc=false;
yabahiro 39:784552c26163 1914 break;
yabahiro 39:784552c26163 1915 }
yabahiro 33:dd598bb23ad1 1916 }
yabahiro 51:a0bdbddd08f7 1917 break;
yabahiro 51:a0bdbddd08f7 1918 case 100:
yabahiro 51:a0bdbddd08f7 1919 motor[TIRE_FR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1920 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1921 motor[TIRE_FL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1922 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1923 motor[TIRE_BR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1924 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1925 motor[TIRE_BL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1926 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1927 break;
yabahiro 51:a0bdbddd08f7 1928 default:
yabahiro 51:a0bdbddd08f7 1929 motor[TIRE_FR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1930 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1931 motor[TIRE_FL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1932 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1933 motor[TIRE_BR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1934 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1935 motor[TIRE_BL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1936 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1937 break;
yabahiro 33:dd598bb23ad1 1938 }
kishibekairohan 13:b6e02d6261d7 1939 }
kishibekairohan 13:b6e02d6261d7 1940 #endif
kishibekairohan 13:b6e02d6261d7 1941
kishibekairohan 13:b6e02d6261d7 1942 #if USE_PROCESS_NUM>3
Ryosei 27:dd9f27fce7d1 1943 static void Process3()
kishibekairohan 13:b6e02d6261d7 1944 {
yabahiro 33:dd598bb23ad1 1945 //Clearly 赤ゾーン
kishibekairohan 35:33c6cdba5630 1946 LED::LED::TapeledMode(3);
yabahiro 33:dd598bb23ad1 1947 countss++;
yabahiro 33:dd598bb23ad1 1948 if(mode==1) {//スタートゾーンから白線検知
yabahiro 33:dd598bb23ad1 1949 fast=40;
yabahiro 33:dd598bb23ad1 1950 normal=30;
yabahiro 33:dd598bb23ad1 1951 slow=20;
kishibekairohan 42:980af34f6fe3 1952 motor[TIRE_FR].pwm = normal+20;
yabahiro 33:dd598bb23ad1 1953 motor[TIRE_FR].dir = BACK;
kishibekairohan 42:980af34f6fe3 1954 motor[TIRE_FL].pwm = normal+20;
yabahiro 33:dd598bb23ad1 1955 motor[TIRE_FL].dir = FOR;
kishibekairohan 42:980af34f6fe3 1956 motor[TIRE_BR].pwm = normal+20;
yabahiro 33:dd598bb23ad1 1957 motor[TIRE_BR].dir = BACK;
kishibekairohan 42:980af34f6fe3 1958 motor[TIRE_BL].pwm = normal+20;
yabahiro 33:dd598bb23ad1 1959 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 1960 if(g[2]==0&&countss>=100000) {
yabahiro 33:dd598bb23ad1 1961 countss=100000;
yabahiro 33:dd598bb23ad1 1962 cross=0;
yabahiro 33:dd598bb23ad1 1963 mode=3;
yabahiro 33:dd598bb23ad1 1964 }
yabahiro 46:68296caae1af 1965 } 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 1966 motor[TIRE_FR].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 1967 motor[TIRE_FR].dir = BRAKE;
kishibekairohan 42:980af34f6fe3 1968 motor[TIRE_FL].pwm = 30;
yabahiro 33:dd598bb23ad1 1969 motor[TIRE_FL].dir = FOR;
kishibekairohan 42:980af34f6fe3 1970 motor[TIRE_BR].pwm = 30;
yabahiro 33:dd598bb23ad1 1971 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 1972 motor[TIRE_BL].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 1973 motor[TIRE_BL].dir = BRAKE;
yabahiro 33:dd598bb23ad1 1974 if(g[0]==0) {
yabahiro 33:dd598bb23ad1 1975 mode=10;
yabahiro 33:dd598bb23ad1 1976 countss=100000;
yabahiro 33:dd598bb23ad1 1977 }
yabahiro 46:68296caae1af 1978 } else if(mode==10) { //縦ライントレース
yabahiro 33:dd598bb23ad1 1979 switch(g[0]) {
yabahiro 33:dd598bb23ad1 1980 case 98:
kishibekairohan 44:2aff0da5ebdb 1981 motor[TIRE_FR].pwm = normal+50;
yabahiro 33:dd598bb23ad1 1982 motor[TIRE_FR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 1983 motor[TIRE_FL].pwm = normal+50;
yabahiro 33:dd598bb23ad1 1984 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 1985 motor[TIRE_BR].pwm = normal+50;
yabahiro 33:dd598bb23ad1 1986 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 1987 motor[TIRE_BL].pwm = normal+50;
yabahiro 33:dd598bb23ad1 1988 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 1989 mtc=true;
yabahiro 33:dd598bb23ad1 1990 if(countss>80000) {
yabahiro 33:dd598bb23ad1 1991 cross++;
yabahiro 33:dd598bb23ad1 1992 countss=0;
yabahiro 33:dd598bb23ad1 1993 }
yabahiro 46:68296caae1af 1994 if(cross==2) {
yabahiro 46:68296caae1af 1995 fast = 10;
yabahiro 46:68296caae1af 1996 normal = 10;
kishibekairohan 44:2aff0da5ebdb 1997 slow = 5;
yabahiro 46:68296caae1af 1998 }
yabahiro 46:68296caae1af 1999
yabahiro 38:40e7fdf3c694 2000 if(cross==3) {
kishibekairohan 44:2aff0da5ebdb 2001 fast=40;
kishibekairohan 44:2aff0da5ebdb 2002 normal=30;
kishibekairohan 44:2aff0da5ebdb 2003 slow=20;
yabahiro 33:dd598bb23ad1 2004 mode=11;
yabahiro 33:dd598bb23ad1 2005 countss=0;
yabahiro 33:dd598bb23ad1 2006 cross=0;
yabahiro 46:68296caae1af 2007
yabahiro 33:dd598bb23ad1 2008 }
yabahiro 33:dd598bb23ad1 2009 break;
yabahiro 33:dd598bb23ad1 2010 case 0:
kishibekairohan 44:2aff0da5ebdb 2011 motor[TIRE_FR].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2012 motor[TIRE_FR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2013 motor[TIRE_FL].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2014 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2015 motor[TIRE_BR].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2016 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2017 motor[TIRE_BL].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2018 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 2019 mtc=true;
yabahiro 33:dd598bb23ad1 2020 break;
yabahiro 33:dd598bb23ad1 2021 case 255:
kishibekairohan 44:2aff0da5ebdb 2022 motor[TIRE_FR].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2023 motor[TIRE_FR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2024 motor[TIRE_FL].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2025 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2026 motor[TIRE_BR].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2027 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2028 motor[TIRE_BL].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2029 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 2030 mtc=true;
yabahiro 33:dd598bb23ad1 2031 break;
yabahiro 33:dd598bb23ad1 2032 case 253:
kishibekairohan 44:2aff0da5ebdb 2033 motor[TIRE_FR].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2034 motor[TIRE_FR].dir = BACK;
yabahiro 33:dd598bb23ad1 2035 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 2036 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 2037 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 2038 motor[TIRE_BR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2039 motor[TIRE_BL].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2040 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 2041 mtc=true;
yabahiro 33:dd598bb23ad1 2042 break;
yabahiro 33:dd598bb23ad1 2043 case 254:
kishibekairohan 44:2aff0da5ebdb 2044 motor[TIRE_FR].pwm = normal+50;
yabahiro 33:dd598bb23ad1 2045 motor[TIRE_FR].dir = BACK;
yabahiro 33:dd598bb23ad1 2046 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 2047 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 2048 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 2049 motor[TIRE_BR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2050 motor[TIRE_BL].pwm = normal+50;
yabahiro 33:dd598bb23ad1 2051 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 2052 mtc=true;
yabahiro 33:dd598bb23ad1 2053 break;
yabahiro 33:dd598bb23ad1 2054 case 1:
kishibekairohan 44:2aff0da5ebdb 2055 motor[TIRE_FR].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2056 motor[TIRE_FR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2057 motor[TIRE_FL].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2058 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2059 motor[TIRE_BR].pwm = fast+50;
yabahiro 33:dd598bb23ad1 2060 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2061 motor[TIRE_BL].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2062 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 2063 mtc=true;
yabahiro 33:dd598bb23ad1 2064 break;
yabahiro 33:dd598bb23ad1 2065 case 3:
yabahiro 33:dd598bb23ad1 2066 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 2067 motor[TIRE_FR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2068 motor[TIRE_FL].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2069 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2070 motor[TIRE_BR].pwm = slow+50;
yabahiro 33:dd598bb23ad1 2071 motor[TIRE_BR].dir = BACK;
yabahiro 33:dd598bb23ad1 2072 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 2073 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 2074 mtc=true;
yabahiro 33:dd598bb23ad1 2075 break;
yabahiro 33:dd598bb23ad1 2076 case 2:
yabahiro 33:dd598bb23ad1 2077 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 2078 motor[TIRE_FR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2079 motor[TIRE_FL].pwm = normal+50;
yabahiro 33:dd598bb23ad1 2080 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2081 motor[TIRE_BR].pwm = normal+50;
yabahiro 33:dd598bb23ad1 2082 motor[TIRE_BR].dir = BACK;
yabahiro 33:dd598bb23ad1 2083 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 2084 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 2085 mtc=true;
yabahiro 33:dd598bb23ad1 2086 break;
yabahiro 33:dd598bb23ad1 2087 }
yabahiro 33:dd598bb23ad1 2088 if(g[0]!=98&&mtc==true) {
yabahiro 33:dd598bb23ad1 2089 switch(g[1]) {
yabahiro 33:dd598bb23ad1 2090 case 0:
yabahiro 33:dd598bb23ad1 2091 mtc=false;
yabahiro 33:dd598bb23ad1 2092 break;
yabahiro 33:dd598bb23ad1 2093 case 255:
kishibekairohan 44:2aff0da5ebdb 2094 motor[TIRE_BR].pwm += 3;
yabahiro 33:dd598bb23ad1 2095 mtc=false;
yabahiro 33:dd598bb23ad1 2096 break;
yabahiro 33:dd598bb23ad1 2097 case 253:
kishibekairohan 44:2aff0da5ebdb 2098 motor[TIRE_BR].pwm += 6;
yabahiro 33:dd598bb23ad1 2099 mtc=false;
yabahiro 33:dd598bb23ad1 2100 break;
yabahiro 33:dd598bb23ad1 2101 case 254:
kishibekairohan 44:2aff0da5ebdb 2102 motor[TIRE_BR].pwm += 9;
yabahiro 33:dd598bb23ad1 2103 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 2104 mtc=false;
yabahiro 33:dd598bb23ad1 2105 break;
yabahiro 33:dd598bb23ad1 2106 case 1:
kishibekairohan 44:2aff0da5ebdb 2107 motor[TIRE_BL].pwm += 3;
yabahiro 33:dd598bb23ad1 2108 mtc=false;
yabahiro 33:dd598bb23ad1 2109 break;
yabahiro 33:dd598bb23ad1 2110 case 3:
kishibekairohan 44:2aff0da5ebdb 2111 motor[TIRE_BL].pwm += 6;
yabahiro 33:dd598bb23ad1 2112 mtc=false;
yabahiro 33:dd598bb23ad1 2113 break;
yabahiro 33:dd598bb23ad1 2114 case 2:
kishibekairohan 44:2aff0da5ebdb 2115 motor[TIRE_BL].pwm += 9;
yabahiro 33:dd598bb23ad1 2116 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 2117 mtc=false;
yabahiro 33:dd598bb23ad1 2118 break;
yabahiro 33:dd598bb23ad1 2119 }
yabahiro 33:dd598bb23ad1 2120 }
yabahiro 46:68296caae1af 2121 } else if(mode==11) {
kishibekairohan 44:2aff0da5ebdb 2122 motor[TIRE_FR].pwm = 25;
kishibekairohan 44:2aff0da5ebdb 2123 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 2124 motor[TIRE_FL].pwm = normal;
yabahiro 33:dd598bb23ad1 2125 motor[TIRE_FL].dir = FOR;
yabahiro 33:dd598bb23ad1 2126 motor[TIRE_BR].pwm = normal;
yabahiro 33:dd598bb23ad1 2127 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2128 motor[TIRE_BL].pwm = 25;
kishibekairohan 44:2aff0da5ebdb 2129 motor[TIRE_BL].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2130 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 33:dd598bb23ad1 2131 countss=0;
yabahiro 33:dd598bb23ad1 2132 cross=0;
yabahiro 33:dd598bb23ad1 2133 mode=20;
yabahiro 33:dd598bb23ad1 2134 }
yabahiro 46:68296caae1af 2135 } else if(mode==20) {
yabahiro 38:40e7fdf3c694 2136 solenoid.solenoid4= SOLENOID_ON;
yabahiro 33:dd598bb23ad1 2137 switch(g[2]) {
yabahiro 33:dd598bb23ad1 2138 case 98:
kishibekairohan 44:2aff0da5ebdb 2139 motor[TIRE_FR].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2140 motor[TIRE_FR].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2141 motor[TIRE_FL].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2142 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2143 motor[TIRE_BR].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2144 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2145 motor[TIRE_BL].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2146 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 2147 if(countss>30000) {
yabahiro 33:dd598bb23ad1 2148 cross++;
yabahiro 33:dd598bb23ad1 2149 countss=0;
yabahiro 33:dd598bb23ad1 2150 }
yabahiro 33:dd598bb23ad1 2151 mtc2=true;
yabahiro 46:68296caae1af 2152
kishibekairohan 44:2aff0da5ebdb 2153 if(YELLOW) {
kishibekairohan 44:2aff0da5ebdb 2154 if(cross==1) {
yabahiro 46:68296caae1af 2155 fast=20;
yabahiro 46:68296caae1af 2156 normal=15;
yabahiro 46:68296caae1af 2157 slow=15;
yabahiro 46:68296caae1af 2158 } else if(cross==2) {
yabahiro 38:40e7fdf3c694 2159 mode=21;
yabahiro 38:40e7fdf3c694 2160 countss=0;
yabahiro 38:40e7fdf3c694 2161 cross=0;
yabahiro 38:40e7fdf3c694 2162 }
yabahiro 38:40e7fdf3c694 2163 } else {
yabahiro 40:ed2409e0ce6b 2164 if(cross==3) {
yabahiro 38:40e7fdf3c694 2165 mode=21;
yabahiro 38:40e7fdf3c694 2166 countss=0;
yabahiro 38:40e7fdf3c694 2167 cross=0;
yabahiro 38:40e7fdf3c694 2168 }
yabahiro 38:40e7fdf3c694 2169 }
yabahiro 33:dd598bb23ad1 2170 break;
yabahiro 33:dd598bb23ad1 2171 case 0:
kishibekairohan 44:2aff0da5ebdb 2172 motor[TIRE_FR].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2173 motor[TIRE_FR].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2174 motor[TIRE_FL].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2175 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2176 motor[TIRE_BR].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2177 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2178 motor[TIRE_BL].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2179 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 2180 mtc2=true;
yabahiro 33:dd598bb23ad1 2181 break;
yabahiro 33:dd598bb23ad1 2182 case 255:
kishibekairohan 44:2aff0da5ebdb 2183 motor[TIRE_FR].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2184 motor[TIRE_FR].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2185 motor[TIRE_FL].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2186 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2187 motor[TIRE_BR].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2188 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2189 motor[TIRE_BL].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2190 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 2191 mtc2=true;
yabahiro 33:dd598bb23ad1 2192 break;
yabahiro 33:dd598bb23ad1 2193 case 253:
yabahiro 33:dd598bb23ad1 2194 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 2195 motor[TIRE_FR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2196 motor[TIRE_FL].pwm = slow+20;
yabahiro 33:dd598bb23ad1 2197 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2198 motor[TIRE_BR].pwm = slow+20;
yabahiro 33:dd598bb23ad1 2199 motor[TIRE_BR].dir = BACK;
yabahiro 33:dd598bb23ad1 2200 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 2201 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 2202 mtc2=true;
yabahiro 33:dd598bb23ad1 2203 break;
yabahiro 33:dd598bb23ad1 2204 case 254:
yabahiro 33:dd598bb23ad1 2205 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 2206 motor[TIRE_FR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2207 motor[TIRE_FL].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2208 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2209 motor[TIRE_BR].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2210 motor[TIRE_BR].dir = BACK;
yabahiro 33:dd598bb23ad1 2211 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 2212 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 2213 mtc2=true;
yabahiro 33:dd598bb23ad1 2214 break;
yabahiro 33:dd598bb23ad1 2215 case 1:
kishibekairohan 44:2aff0da5ebdb 2216 motor[TIRE_FR].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2217 motor[TIRE_FR].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2218 motor[TIRE_FL].pwm = slow+20;
yabahiro 33:dd598bb23ad1 2219 motor[TIRE_FL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2220 motor[TIRE_BR].pwm = slow+20;
yabahiro 33:dd598bb23ad1 2221 motor[TIRE_BR].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 2222 motor[TIRE_BL].pwm = fast+20;
yabahiro 33:dd598bb23ad1 2223 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 2224 mtc2=true;
yabahiro 33:dd598bb23ad1 2225 break;
yabahiro 33:dd598bb23ad1 2226 case 3:
kishibekairohan 44:2aff0da5ebdb 2227 motor[TIRE_FR].pwm = slow+20;
yabahiro 33:dd598bb23ad1 2228 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 2229 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 2230 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 2231 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 2232 motor[TIRE_BR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2233 motor[TIRE_BL].pwm = slow+20;
yabahiro 33:dd598bb23ad1 2234 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 2235 mtc2=true;
yabahiro 33:dd598bb23ad1 2236 break;
yabahiro 33:dd598bb23ad1 2237 case 2:
kishibekairohan 44:2aff0da5ebdb 2238 motor[TIRE_FR].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2239 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 2240 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 2241 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 2242 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 2243 motor[TIRE_BR].dir = FREE;
kishibekairohan 44:2aff0da5ebdb 2244 motor[TIRE_BL].pwm = normal+20;
yabahiro 33:dd598bb23ad1 2245 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 2246 mtc2=true;
yabahiro 33:dd598bb23ad1 2247 break;
yabahiro 33:dd598bb23ad1 2248 }
yabahiro 33:dd598bb23ad1 2249 if(g[2]!=98&&mtc2==true) {
yabahiro 33:dd598bb23ad1 2250 switch(g[3]) {
yabahiro 33:dd598bb23ad1 2251 case 0:
yabahiro 33:dd598bb23ad1 2252 mtc2=false;
yabahiro 33:dd598bb23ad1 2253 break;
yabahiro 33:dd598bb23ad1 2254 case 255:
yabahiro 33:dd598bb23ad1 2255 motor[TIRE_BL].pwm += 5;
yabahiro 33:dd598bb23ad1 2256 mtc2=false;
yabahiro 33:dd598bb23ad1 2257 break;
yabahiro 33:dd598bb23ad1 2258 case 253:
yabahiro 33:dd598bb23ad1 2259 motor[TIRE_BL].pwm += 10;
yabahiro 33:dd598bb23ad1 2260 mtc2=false;
yabahiro 33:dd598bb23ad1 2261 break;
yabahiro 33:dd598bb23ad1 2262 case 254:
kishibekairohan 44:2aff0da5ebdb 2263 motor[TIRE_BL].pwm += 15;
yabahiro 33:dd598bb23ad1 2264 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 2265 mtc2=false;
yabahiro 33:dd598bb23ad1 2266 break;
yabahiro 33:dd598bb23ad1 2267 case 1:
yabahiro 33:dd598bb23ad1 2268 motor[TIRE_FL].pwm += 5;
yabahiro 33:dd598bb23ad1 2269 mtc2=false;
yabahiro 33:dd598bb23ad1 2270 break;
yabahiro 33:dd598bb23ad1 2271 case 3:
yabahiro 33:dd598bb23ad1 2272 motor[TIRE_FL].pwm += 10;
yabahiro 33:dd598bb23ad1 2273 mtc2=false;
yabahiro 33:dd598bb23ad1 2274 break;
yabahiro 33:dd598bb23ad1 2275 case 2:
kishibekairohan 44:2aff0da5ebdb 2276 motor[TIRE_FL].pwm += 15;
yabahiro 33:dd598bb23ad1 2277 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 2278 mtc2=false;
yabahiro 33:dd598bb23ad1 2279 break;
yabahiro 33:dd598bb23ad1 2280 }
yabahiro 33:dd598bb23ad1 2281 }
yabahiro 33:dd598bb23ad1 2282 }
yabahiro 38:40e7fdf3c694 2283 if(YELLOW) {
yabahiro 38:40e7fdf3c694 2284 if(mode==21) {
yabahiro 33:dd598bb23ad1 2285 motor[TIRE_FR].pwm = 20;
yabahiro 33:dd598bb23ad1 2286 motor[TIRE_FR].dir = BACK;
yabahiro 33:dd598bb23ad1 2287 motor[TIRE_FL].pwm = 20;
yabahiro 33:dd598bb23ad1 2288 motor[TIRE_FL].dir = BACK;
yabahiro 33:dd598bb23ad1 2289 motor[TIRE_BR].pwm = 20;
yabahiro 33:dd598bb23ad1 2290 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 2291 motor[TIRE_BL].pwm = 20;
yabahiro 33:dd598bb23ad1 2292 motor[TIRE_BL].dir = FOR;
yabahiro 38:40e7fdf3c694 2293 if(g[3]==98&&countss>=10000) {
yabahiro 38:40e7fdf3c694 2294 mode=22;
yabahiro 33:dd598bb23ad1 2295 countss=0;
yabahiro 38:40e7fdf3c694 2296 fast=60;
yabahiro 38:40e7fdf3c694 2297 normal=40;
yabahiro 38:40e7fdf3c694 2298 slow=20;
yabahiro 38:40e7fdf3c694 2299 }
yabahiro 46:68296caae1af 2300 } else if(mode==22) {
yabahiro 38:40e7fdf3c694 2301 if(g[4]==3||g[4]==2) {
yabahiro 38:40e7fdf3c694 2302 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2303 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2304 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2305 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2306 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2307 motor[TIRE_BR].dir = BACK;
yabahiro 38:40e7fdf3c694 2308 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2309 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2310 }
yabahiro 38:40e7fdf3c694 2311 if(g[4]==253||g[4]==254) {
yabahiro 38:40e7fdf3c694 2312 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2313 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2314 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2315 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2316 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2317 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2318 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2319 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 2320 }
yabahiro 38:40e7fdf3c694 2321 switch(g[2]) {
yabahiro 38:40e7fdf3c694 2322 case 0:
yabahiro 38:40e7fdf3c694 2323 motor[TIRE_FR].pwm = 20;
yabahiro 38:40e7fdf3c694 2324 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2325 motor[TIRE_BR].pwm = 20;
yabahiro 38:40e7fdf3c694 2326 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2327 break;
yabahiro 38:40e7fdf3c694 2328 case 255:
yabahiro 38:40e7fdf3c694 2329 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2330 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2331 motor[TIRE_BR].pwm = 20;
yabahiro 38:40e7fdf3c694 2332 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2333 break;
yabahiro 38:40e7fdf3c694 2334 case 253:
yabahiro 38:40e7fdf3c694 2335 motor[TIRE_FR].pwm = 40;
yabahiro 38:40e7fdf3c694 2336 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2337 motor[TIRE_BR].pwm = 20;
yabahiro 38:40e7fdf3c694 2338 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2339 break;
yabahiro 38:40e7fdf3c694 2340 case 254:
yabahiro 38:40e7fdf3c694 2341 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2342 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2343 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2344 motor[TIRE_BR].dir = BACK;
yabahiro 38:40e7fdf3c694 2345 break;
yabahiro 38:40e7fdf3c694 2346 case 1:
yabahiro 38:40e7fdf3c694 2347 motor[TIRE_FR].pwm = 20;
yabahiro 38:40e7fdf3c694 2348 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2349 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2350 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2351 break;
yabahiro 38:40e7fdf3c694 2352 case 3:
yabahiro 38:40e7fdf3c694 2353 motor[TIRE_FR].pwm = 20;
yabahiro 38:40e7fdf3c694 2354 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2355 motor[TIRE_BR].pwm = 40;
yabahiro 38:40e7fdf3c694 2356 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2357 break;
yabahiro 38:40e7fdf3c694 2358 case 2:
yabahiro 38:40e7fdf3c694 2359 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2360 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2361 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2362 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2363 break;
yabahiro 38:40e7fdf3c694 2364 }
yabahiro 38:40e7fdf3c694 2365 switch(g[3]) {
yabahiro 38:40e7fdf3c694 2366 case 0:
yabahiro 38:40e7fdf3c694 2367 motor[TIRE_FL].pwm = 20;
yabahiro 38:40e7fdf3c694 2368 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2369 motor[TIRE_BL].pwm = 20;
yabahiro 38:40e7fdf3c694 2370 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2371 break;
yabahiro 38:40e7fdf3c694 2372 case 255:
yabahiro 38:40e7fdf3c694 2373 motor[TIRE_FL].pwm = 20;
yabahiro 38:40e7fdf3c694 2374 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2375 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2376 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2377 case 253:
yabahiro 38:40e7fdf3c694 2378 motor[TIRE_FL].pwm = 20;
yabahiro 38:40e7fdf3c694 2379 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2380 motor[TIRE_BL].pwm = 40;
yabahiro 38:40e7fdf3c694 2381 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2382 break;
yabahiro 38:40e7fdf3c694 2383 case 254:
yabahiro 38:40e7fdf3c694 2384 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2385 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2386 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2387 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2388 break;
yabahiro 38:40e7fdf3c694 2389 case 1:
yabahiro 38:40e7fdf3c694 2390 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2391 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2392 motor[TIRE_BL].pwm = 20;
yabahiro 38:40e7fdf3c694 2393 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2394 break;
yabahiro 38:40e7fdf3c694 2395 case 3:
yabahiro 38:40e7fdf3c694 2396 motor[TIRE_FL].pwm = 40;
yabahiro 38:40e7fdf3c694 2397 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2398 motor[TIRE_BL].pwm = 20;
yabahiro 38:40e7fdf3c694 2399 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2400 break;
yabahiro 38:40e7fdf3c694 2401 case 2:
yabahiro 38:40e7fdf3c694 2402 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2403 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2404 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2405 motor[TIRE_BL].dir = FOR;
yabahiro 38:40e7fdf3c694 2406 break;
yabahiro 38:40e7fdf3c694 2407 }
yabahiro 38:40e7fdf3c694 2408 if(g[3]==0&&g[2]==0) {
yabahiro 38:40e7fdf3c694 2409 mode=23;
yabahiro 33:dd598bb23ad1 2410 countss=0;
yabahiro 33:dd598bb23ad1 2411 }
yabahiro 46:68296caae1af 2412 } else if(mode==23) {
yabahiro 38:40e7fdf3c694 2413 switch(g[4]) {
yabahiro 38:40e7fdf3c694 2414 case 98:
kishibekairohan 41:99a1158f3eca 2415 motor[TIRE_FR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2416 motor[TIRE_FR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2417 motor[TIRE_FL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2418 motor[TIRE_FL].dir = BACK;
kishibekairohan 41:99a1158f3eca 2419 motor[TIRE_BR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2420 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2421 motor[TIRE_BL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2422 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2423 break;
yabahiro 38:40e7fdf3c694 2424 case 99:
yabahiro 38:40e7fdf3c694 2425 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2426 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2427 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2428 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2429 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2430 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2431 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2432 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2433 break;
yabahiro 38:40e7fdf3c694 2434 case 0:
kishibekairohan 41:99a1158f3eca 2435 motor[TIRE_FR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2436 motor[TIRE_FR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2437 motor[TIRE_FL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2438 motor[TIRE_FL].dir = BACK;
kishibekairohan 41:99a1158f3eca 2439 motor[TIRE_BR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2440 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2441 motor[TIRE_BL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2442 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2443 break;
yabahiro 38:40e7fdf3c694 2444 case 255:
yabahiro 38:40e7fdf3c694 2445 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2446 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2447 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2448 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2449 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2450 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2451 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2452 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2453 break;
yabahiro 38:40e7fdf3c694 2454 case 253:
yabahiro 46:68296caae1af 2455 motor[TIRE_FR].pwm = slow+5;
yabahiro 38:40e7fdf3c694 2456 motor[TIRE_FR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2457 motor[TIRE_FL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2458 motor[TIRE_FL].dir = BACK;
kishibekairohan 41:99a1158f3eca 2459 motor[TIRE_BR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2460 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 2461 motor[TIRE_BL].pwm = slow+5;
yabahiro 38:40e7fdf3c694 2462 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2463 break;
yabahiro 38:40e7fdf3c694 2464 case 254:
yabahiro 46:68296caae1af 2465 motor[TIRE_FR].pwm = normal+5;
yabahiro 38:40e7fdf3c694 2466 motor[TIRE_FR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2467 motor[TIRE_FL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2468 motor[TIRE_FL].dir = BACK;
kishibekairohan 41:99a1158f3eca 2469 motor[TIRE_BR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2470 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 2471 motor[TIRE_BL].pwm = normal+5;
yabahiro 38:40e7fdf3c694 2472 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2473 break;
yabahiro 38:40e7fdf3c694 2474 case 1:
yabahiro 38:40e7fdf3c694 2475 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2476 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2477 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2478 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2479 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2480 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2481 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2482 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2483 break;
yabahiro 38:40e7fdf3c694 2484 case 3:
kishibekairohan 41:99a1158f3eca 2485 motor[TIRE_FR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2486 motor[TIRE_FR].dir = FOR;
yabahiro 46:68296caae1af 2487 motor[TIRE_FL].pwm = slow+5;
yabahiro 38:40e7fdf3c694 2488 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 2489 motor[TIRE_BR].pwm = slow+5;
yabahiro 38:40e7fdf3c694 2490 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2491 motor[TIRE_BL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2492 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2493 break;
yabahiro 38:40e7fdf3c694 2494 case 2:
kishibekairohan 41:99a1158f3eca 2495 motor[TIRE_FR].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2496 motor[TIRE_FR].dir = FOR;
yabahiro 46:68296caae1af 2497 motor[TIRE_FL].pwm = normal+5;
yabahiro 38:40e7fdf3c694 2498 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 2499 motor[TIRE_BR].pwm = normal+5;
yabahiro 38:40e7fdf3c694 2500 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2501 motor[TIRE_BL].pwm = fast-5;
yabahiro 38:40e7fdf3c694 2502 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2503 break;
yabahiro 33:dd598bb23ad1 2504 }
yabahiro 38:40e7fdf3c694 2505 if(g[1]==98) {
kishibekairohan 42:980af34f6fe3 2506 fast=20;
kishibekairohan 42:980af34f6fe3 2507 normal=15;
kishibekairohan 42:980af34f6fe3 2508 slow=10;
yabahiro 38:40e7fdf3c694 2509 }
yabahiro 38:40e7fdf3c694 2510 if(g[3]==254&&countss>=100000) {
yabahiro 38:40e7fdf3c694 2511 mode=24;
yabahiro 38:40e7fdf3c694 2512 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 2513 countss=0;
yabahiro 38:40e7fdf3c694 2514 fast=60;
yabahiro 38:40e7fdf3c694 2515 normal=40;
kishibekairohan 42:980af34f6fe3 2516 slow=20;
yabahiro 33:dd598bb23ad1 2517 }
yabahiro 46:68296caae1af 2518 } else if(mode==24) {
yabahiro 38:40e7fdf3c694 2519 if(g[4]==3||g[4]==2) {
yabahiro 38:40e7fdf3c694 2520 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2521 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2522 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2523 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2524 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2525 motor[TIRE_BR].dir = BACK;
yabahiro 38:40e7fdf3c694 2526 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2527 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2528 }
yabahiro 38:40e7fdf3c694 2529 if(g[4]==253||g[4]==254) {
yabahiro 38:40e7fdf3c694 2530 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2531 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2532 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2533 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2534 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2535 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2536 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2537 motor[TIRE_BL].dir = FOR;
yabahiro 38:40e7fdf3c694 2538 }
yabahiro 38:40e7fdf3c694 2539 switch(g[2]) {
yabahiro 38:40e7fdf3c694 2540 case 0:
yabahiro 46:68296caae1af 2541 motor[TIRE_FR].pwm = 25;
yabahiro 38:40e7fdf3c694 2542 motor[TIRE_FR].dir = FREE;
yabahiro 46:68296caae1af 2543 motor[TIRE_BR].pwm = 25;
yabahiro 38:40e7fdf3c694 2544 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2545 break;
yabahiro 38:40e7fdf3c694 2546 case 255:
yabahiro 38:40e7fdf3c694 2547 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2548 motor[TIRE_FR].dir = BACK;
yabahiro 46:68296caae1af 2549 motor[TIRE_BR].pwm = 25;
yabahiro 38:40e7fdf3c694 2550 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2551 break;
yabahiro 38:40e7fdf3c694 2552 case 253:
yabahiro 38:40e7fdf3c694 2553 motor[TIRE_FR].pwm = 40;
yabahiro 38:40e7fdf3c694 2554 motor[TIRE_FR].dir = BACK;
yabahiro 46:68296caae1af 2555 motor[TIRE_BR].pwm = 25;
yabahiro 38:40e7fdf3c694 2556 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2557 break;
yabahiro 38:40e7fdf3c694 2558 case 254:
yabahiro 38:40e7fdf3c694 2559 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2560 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2561 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2562 motor[TIRE_BR].dir = BACK;
yabahiro 38:40e7fdf3c694 2563 break;
yabahiro 38:40e7fdf3c694 2564 case 1:
yabahiro 46:68296caae1af 2565 motor[TIRE_FR].pwm = 25;
yabahiro 38:40e7fdf3c694 2566 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2567 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2568 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2569 break;
yabahiro 38:40e7fdf3c694 2570 case 3:
yabahiro 46:68296caae1af 2571 motor[TIRE_FR].pwm = 25;
yabahiro 38:40e7fdf3c694 2572 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2573 motor[TIRE_BR].pwm = 40;
yabahiro 38:40e7fdf3c694 2574 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2575 break;
yabahiro 38:40e7fdf3c694 2576 case 2:
yabahiro 38:40e7fdf3c694 2577 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2578 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2579 motor[TIRE_BR].pwm = 30;
yabahiro 38:40e7fdf3c694 2580 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2581 break;
yabahiro 38:40e7fdf3c694 2582 }
yabahiro 38:40e7fdf3c694 2583 switch(g[3]) {
yabahiro 38:40e7fdf3c694 2584 case 0:
yabahiro 46:68296caae1af 2585 motor[TIRE_FL].pwm = 25;
yabahiro 38:40e7fdf3c694 2586 motor[TIRE_FL].dir = FREE;
yabahiro 46:68296caae1af 2587 motor[TIRE_BL].pwm = 25;
yabahiro 38:40e7fdf3c694 2588 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2589 break;
yabahiro 38:40e7fdf3c694 2590 case 255:
yabahiro 46:68296caae1af 2591 motor[TIRE_FL].pwm = 25;
yabahiro 38:40e7fdf3c694 2592 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2593 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2594 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2595 case 253:
yabahiro 46:68296caae1af 2596 motor[TIRE_FL].pwm = 25;
yabahiro 38:40e7fdf3c694 2597 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2598 motor[TIRE_BL].pwm = 40;
yabahiro 38:40e7fdf3c694 2599 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2600 break;
yabahiro 38:40e7fdf3c694 2601 case 254:
yabahiro 38:40e7fdf3c694 2602 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2603 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2604 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2605 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2606 break;
yabahiro 38:40e7fdf3c694 2607 case 1:
yabahiro 38:40e7fdf3c694 2608 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2609 motor[TIRE_FL].dir = FOR;
yabahiro 46:68296caae1af 2610 motor[TIRE_BL].pwm = 25;
yabahiro 38:40e7fdf3c694 2611 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2612 break;
yabahiro 38:40e7fdf3c694 2613 case 3:
yabahiro 38:40e7fdf3c694 2614 motor[TIRE_FL].pwm = 40;
yabahiro 38:40e7fdf3c694 2615 motor[TIRE_FL].dir = FOR;
yabahiro 46:68296caae1af 2616 motor[TIRE_BL].pwm = 25;
yabahiro 38:40e7fdf3c694 2617 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2618 break;
yabahiro 38:40e7fdf3c694 2619 case 2:
yabahiro 38:40e7fdf3c694 2620 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2621 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2622 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2623 motor[TIRE_BL].dir = FOR;
yabahiro 38:40e7fdf3c694 2624 break;
yabahiro 38:40e7fdf3c694 2625 }
yabahiro 38:40e7fdf3c694 2626 if(g[3]==0&&g[2]==0) {
yabahiro 46:68296caae1af 2627 mode=25;
yabahiro 38:40e7fdf3c694 2628 }
yabahiro 46:68296caae1af 2629 } else if(mode==25) {
kishibekairohan 47:a9cad8502999 2630 motor[TIRE_FR].pwm = 100;
kishibekairohan 47:a9cad8502999 2631 motor[TIRE_FR].dir = BRAKE;
kishibekairohan 47:a9cad8502999 2632 motor[TIRE_FL].pwm = 100;
kishibekairohan 47:a9cad8502999 2633 motor[TIRE_FL].dir = BRAKE;
kishibekairohan 47:a9cad8502999 2634 motor[TIRE_BR].pwm = 100;
kishibekairohan 47:a9cad8502999 2635 motor[TIRE_BR].dir = BRAKE;
kishibekairohan 47:a9cad8502999 2636 motor[TIRE_BL].pwm = 100;
kishibekairohan 47:a9cad8502999 2637 motor[TIRE_BL].dir = BRAKE;
yabahiro 46:68296caae1af 2638 if(UPLS==true||DOLS==true) {
yabahiro 46:68296caae1af 2639 motor[MOTOR_0].pwm = 200;
yabahiro 46:68296caae1af 2640 motor[MOTOR_0].dir = BRAKE;
yabahiro 46:68296caae1af 2641 mode=26;
yabahiro 46:68296caae1af 2642 } else {
yabahiro 46:68296caae1af 2643 motor[MOTOR_0].pwm = 100;
yabahiro 46:68296caae1af 2644 motor[MOTOR_0].dir = BACK;
yabahiro 46:68296caae1af 2645 }
yabahiro 46:68296caae1af 2646 } else if(mode==26) {
yabahiro 38:40e7fdf3c694 2647 switch(g[4]) {
yabahiro 38:40e7fdf3c694 2648 case 98:
yabahiro 38:40e7fdf3c694 2649 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 2650 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2651 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 2652 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2653 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 2654 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2655 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 2656 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2657 break;
yabahiro 38:40e7fdf3c694 2658 case 99:
yabahiro 38:40e7fdf3c694 2659 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2660 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2661 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2662 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2663 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2664 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2665 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2666 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2667 break;
yabahiro 38:40e7fdf3c694 2668 case 0:
yabahiro 38:40e7fdf3c694 2669 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 2670 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2671 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 2672 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2673 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 2674 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2675 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 2676 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2677 break;
yabahiro 38:40e7fdf3c694 2678 case 255:
yabahiro 38:40e7fdf3c694 2679 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2680 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2681 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2682 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2683 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2684 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2685 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2686 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2687 break;
yabahiro 38:40e7fdf3c694 2688 case 253:
yabahiro 46:68296caae1af 2689 motor[TIRE_FR].pwm = 25;
yabahiro 38:40e7fdf3c694 2690 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2691 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 2692 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2693 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 2694 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 2695 motor[TIRE_BL].pwm = 25;
yabahiro 38:40e7fdf3c694 2696 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2697 break;
yabahiro 38:40e7fdf3c694 2698 case 254:
yabahiro 38:40e7fdf3c694 2699 motor[TIRE_FR].pwm = 40;
yabahiro 38:40e7fdf3c694 2700 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2701 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 2702 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2703 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 2704 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2705 motor[TIRE_BL].pwm = 40;
yabahiro 38:40e7fdf3c694 2706 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2707 break;
yabahiro 38:40e7fdf3c694 2708 case 1:
yabahiro 38:40e7fdf3c694 2709 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2710 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2711 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2712 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2713 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2714 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2715 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2716 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2717 break;
yabahiro 38:40e7fdf3c694 2718 case 3:
yabahiro 38:40e7fdf3c694 2719 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 2720 motor[TIRE_FR].dir = FOR;
yabahiro 46:68296caae1af 2721 motor[TIRE_FL].pwm = 25;
yabahiro 38:40e7fdf3c694 2722 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 2723 motor[TIRE_BR].pwm = 25;
yabahiro 38:40e7fdf3c694 2724 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2725 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 2726 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2727 break;
yabahiro 38:40e7fdf3c694 2728 case 2:
yabahiro 38:40e7fdf3c694 2729 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 2730 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2731 motor[TIRE_FL].pwm = 40;
yabahiro 38:40e7fdf3c694 2732 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2733 motor[TIRE_BR].pwm = 40;
yabahiro 38:40e7fdf3c694 2734 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 2735 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 2736 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2737 break;
yabahiro 38:40e7fdf3c694 2738 }
yabahiro 38:40e7fdf3c694 2739 if(g[1]==98) {
kishibekairohan 45:0cf48a0605cd 2740 mode=31;
yabahiro 33:dd598bb23ad1 2741 }
yabahiro 33:dd598bb23ad1 2742 }
yabahiro 46:68296caae1af 2743 } else {
yabahiro 38:40e7fdf3c694 2744 if(mode==21) {
yabahiro 38:40e7fdf3c694 2745 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2746 motor[TIRE_FR].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 2747 motor[TIRE_FL].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 2748 motor[TIRE_FL].dir = BRAKE;
kishibekairohan 44:2aff0da5ebdb 2749 motor[TIRE_BR].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 2750 motor[TIRE_BR].dir = BRAKE;
yabahiro 38:40e7fdf3c694 2751 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2752 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2753 if(g[1]==0) {
yabahiro 38:40e7fdf3c694 2754 mode=22;
yabahiro 38:40e7fdf3c694 2755 fast=60;
yabahiro 38:40e7fdf3c694 2756 normal=40;
yabahiro 46:68296caae1af 2757 slow=25;
yabahiro 38:40e7fdf3c694 2758 }
yabahiro 46:68296caae1af 2759 } else if(mode==22) {
yabahiro 40:ed2409e0ce6b 2760 if(g[1]==98) {
yabahiro 46:68296caae1af 2761 slow=25;
kishibekairohan 44:2aff0da5ebdb 2762 normal=30;
kishibekairohan 44:2aff0da5ebdb 2763 fast=40;
yabahiro 40:ed2409e0ce6b 2764 }
yabahiro 46:68296caae1af 2765 if(g[3]==0) {
yabahiro 46:68296caae1af 2766 slow=25;
yabahiro 40:ed2409e0ce6b 2767 normal=40;
yabahiro 40:ed2409e0ce6b 2768 fast=60;
yabahiro 38:40e7fdf3c694 2769 mode=23;
yabahiro 46:68296caae1af 2770 }
yabahiro 38:40e7fdf3c694 2771 switch(g[1]) {
yabahiro 38:40e7fdf3c694 2772 case 98:
yabahiro 38:40e7fdf3c694 2773 solenoid.solenoid4 = SOLENOID_OFF;
kishibekairohan 44:2aff0da5ebdb 2774 fast=40;
kishibekairohan 44:2aff0da5ebdb 2775 normal=30;
yabahiro 46:68296caae1af 2776 slow=25;
yabahiro 38:40e7fdf3c694 2777 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 2778 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2779 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 2780 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2781 motor[TIRE_BR].pwm = normal;
yabahiro 38:40e7fdf3c694 2782 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2783 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 2784 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2785 break;
yabahiro 38:40e7fdf3c694 2786 case 0:
yabahiro 38:40e7fdf3c694 2787 motor[TIRE_FR].pwm = fast;
yabahiro 38:40e7fdf3c694 2788 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2789 motor[TIRE_FL].pwm = fast;
yabahiro 38:40e7fdf3c694 2790 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2791 motor[TIRE_BR].pwm = fast;
yabahiro 38:40e7fdf3c694 2792 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2793 motor[TIRE_BL].pwm = fast;
yabahiro 38:40e7fdf3c694 2794 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2795 mtc=true;
yabahiro 38:40e7fdf3c694 2796 break;
yabahiro 38:40e7fdf3c694 2797 case 255:
yabahiro 38:40e7fdf3c694 2798 motor[TIRE_FR].pwm = fast;
yabahiro 38:40e7fdf3c694 2799 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2800 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 2801 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2802 motor[TIRE_BR].pwm = slow;
yabahiro 38:40e7fdf3c694 2803 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2804 motor[TIRE_BL].pwm = fast;
yabahiro 38:40e7fdf3c694 2805 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2806 mtc=true;
yabahiro 38:40e7fdf3c694 2807 break;
yabahiro 38:40e7fdf3c694 2808 case 253:
yabahiro 38:40e7fdf3c694 2809 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 2810 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2811 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2812 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2813 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2814 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2815 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 2816 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2817 mtc=true;
yabahiro 38:40e7fdf3c694 2818 break;
yabahiro 38:40e7fdf3c694 2819 case 254:
yabahiro 38:40e7fdf3c694 2820 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 2821 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2822 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2823 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2824 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2825 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2826 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 2827 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2828 mtc=true;
yabahiro 38:40e7fdf3c694 2829 break;
yabahiro 38:40e7fdf3c694 2830 case 1:
yabahiro 38:40e7fdf3c694 2831 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 2832 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2833 motor[TIRE_FL].pwm = fast;
yabahiro 38:40e7fdf3c694 2834 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2835 motor[TIRE_BR].pwm = fast;
yabahiro 38:40e7fdf3c694 2836 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2837 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 2838 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2839 mtc=true;
yabahiro 38:40e7fdf3c694 2840 break;
yabahiro 38:40e7fdf3c694 2841 case 3:
yabahiro 38:40e7fdf3c694 2842 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2843 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2844 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 2845 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2846 motor[TIRE_BR].pwm = slow;
yabahiro 38:40e7fdf3c694 2847 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2848 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2849 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2850 mtc=true;
yabahiro 38:40e7fdf3c694 2851 break;
yabahiro 38:40e7fdf3c694 2852 case 2:
yabahiro 38:40e7fdf3c694 2853 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2854 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2855 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 2856 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2857 motor[TIRE_BR].pwm = normal;
yabahiro 38:40e7fdf3c694 2858 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2859 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 2860 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 2861 mtc=true;
yabahiro 38:40e7fdf3c694 2862 break;
yabahiro 38:40e7fdf3c694 2863 }
yabahiro 38:40e7fdf3c694 2864 if(g[1]!=98&&mtc==true) {
yabahiro 38:40e7fdf3c694 2865 switch(g[0]) {
yabahiro 38:40e7fdf3c694 2866 case 0:
yabahiro 38:40e7fdf3c694 2867 mtc=false;
yabahiro 38:40e7fdf3c694 2868 break;
yabahiro 38:40e7fdf3c694 2869 case 255:
kishibekairohan 44:2aff0da5ebdb 2870 motor[TIRE_FL].pwm += 3;
yabahiro 38:40e7fdf3c694 2871 mtc=false;
yabahiro 38:40e7fdf3c694 2872 break;
yabahiro 38:40e7fdf3c694 2873 case 253:
kishibekairohan 44:2aff0da5ebdb 2874 motor[TIRE_FL].pwm += 6;
yabahiro 38:40e7fdf3c694 2875 mtc=false;
yabahiro 38:40e7fdf3c694 2876 break;
yabahiro 38:40e7fdf3c694 2877 case 254:
kishibekairohan 44:2aff0da5ebdb 2878 motor[TIRE_FL].pwm += 9;
yabahiro 38:40e7fdf3c694 2879 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2880 mtc=false;
yabahiro 38:40e7fdf3c694 2881 break;
yabahiro 38:40e7fdf3c694 2882 case 1:
kishibekairohan 44:2aff0da5ebdb 2883 motor[TIRE_FR].pwm += 3;
yabahiro 38:40e7fdf3c694 2884 mtc=false;
yabahiro 38:40e7fdf3c694 2885 break;
yabahiro 38:40e7fdf3c694 2886 case 3:
kishibekairohan 44:2aff0da5ebdb 2887 motor[TIRE_FR].pwm += 6;
yabahiro 38:40e7fdf3c694 2888 mtc=false;
yabahiro 38:40e7fdf3c694 2889 break;
yabahiro 38:40e7fdf3c694 2890 case 2:
kishibekairohan 44:2aff0da5ebdb 2891 motor[TIRE_FR].pwm += 9;
yabahiro 38:40e7fdf3c694 2892 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2893 mtc=false;
yabahiro 38:40e7fdf3c694 2894 break;
yabahiro 38:40e7fdf3c694 2895 }
yabahiro 38:40e7fdf3c694 2896 }
yabahiro 46:68296caae1af 2897 } else if(mode==23) {
yabahiro 46:68296caae1af 2898 if(UPLS||DOLS) {
yabahiro 46:68296caae1af 2899 if(UPLS||DOLS) {
yabahiro 46:68296caae1af 2900 motor[MOTOR_0].pwm = 200;
yabahiro 46:68296caae1af 2901 motor[MOTOR_0].dir = BRAKE;
yabahiro 46:68296caae1af 2902 fast=60;
yabahiro 46:68296caae1af 2903 normal=40;
yabahiro 46:68296caae1af 2904 slow=25;
yabahiro 46:68296caae1af 2905 countss=0;
yabahiro 46:68296caae1af 2906 mode=24;
yabahiro 46:68296caae1af 2907 }
yabahiro 46:68296caae1af 2908 } else {
yabahiro 38:40e7fdf3c694 2909 motor[MOTOR_0].pwm = 100;
yabahiro 38:40e7fdf3c694 2910 motor[MOTOR_0].dir = BACK;
yabahiro 38:40e7fdf3c694 2911 }
yabahiro 40:ed2409e0ce6b 2912 motor[TIRE_FR].pwm = 100;
yabahiro 40:ed2409e0ce6b 2913 motor[TIRE_FR].dir = BRAKE;
yabahiro 40:ed2409e0ce6b 2914 motor[TIRE_FL].pwm = 100;
yabahiro 40:ed2409e0ce6b 2915 motor[TIRE_FL].dir = BRAKE;
yabahiro 40:ed2409e0ce6b 2916 motor[TIRE_BR].pwm = 100;
yabahiro 40:ed2409e0ce6b 2917 motor[TIRE_BR].dir = BRAKE;
yabahiro 40:ed2409e0ce6b 2918 motor[TIRE_BL].pwm = 100;
yabahiro 40:ed2409e0ce6b 2919 motor[TIRE_BL].dir = BRAKE;
yabahiro 46:68296caae1af 2920 } else if(mode==24) {
yabahiro 38:40e7fdf3c694 2921 if(g[1]==98&&countss>=40000) {
kishibekairohan 45:0cf48a0605cd 2922 mode=31;
yabahiro 38:40e7fdf3c694 2923 countss=0;
yabahiro 38:40e7fdf3c694 2924 }
yabahiro 38:40e7fdf3c694 2925 switch(g[1]) {
yabahiro 38:40e7fdf3c694 2926 case 98:
kishibekairohan 44:2aff0da5ebdb 2927 fast=40;
kishibekairohan 44:2aff0da5ebdb 2928 normal=30;
yabahiro 46:68296caae1af 2929 slow=25;
yabahiro 38:40e7fdf3c694 2930 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 2931 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2932 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 2933 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2934 motor[TIRE_BR].pwm = normal;
yabahiro 38:40e7fdf3c694 2935 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2936 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 2937 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2938 break;
yabahiro 38:40e7fdf3c694 2939 case 0:
yabahiro 38:40e7fdf3c694 2940 motor[TIRE_FR].pwm = fast;
yabahiro 38:40e7fdf3c694 2941 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2942 motor[TIRE_FL].pwm = fast;
yabahiro 38:40e7fdf3c694 2943 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2944 motor[TIRE_BR].pwm = fast;
yabahiro 38:40e7fdf3c694 2945 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2946 motor[TIRE_BL].pwm = fast;
yabahiro 38:40e7fdf3c694 2947 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2948 mtc=true;
yabahiro 38:40e7fdf3c694 2949 break;
yabahiro 38:40e7fdf3c694 2950 case 255:
yabahiro 38:40e7fdf3c694 2951 motor[TIRE_FR].pwm = fast;
yabahiro 38:40e7fdf3c694 2952 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2953 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 2954 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2955 motor[TIRE_BR].pwm = slow;
yabahiro 38:40e7fdf3c694 2956 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2957 motor[TIRE_BL].pwm = fast;
yabahiro 38:40e7fdf3c694 2958 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2959 mtc=true;
yabahiro 38:40e7fdf3c694 2960 break;
yabahiro 38:40e7fdf3c694 2961 case 253:
yabahiro 38:40e7fdf3c694 2962 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 2963 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2964 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2965 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2966 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2967 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2968 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 2969 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2970 mtc=true;
yabahiro 38:40e7fdf3c694 2971 break;
yabahiro 38:40e7fdf3c694 2972 case 254:
yabahiro 38:40e7fdf3c694 2973 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 2974 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2975 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2976 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2977 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2978 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 2979 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 2980 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2981 mtc=true;
yabahiro 38:40e7fdf3c694 2982 break;
yabahiro 38:40e7fdf3c694 2983 case 1:
yabahiro 38:40e7fdf3c694 2984 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 2985 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2986 motor[TIRE_FL].pwm = fast;
yabahiro 38:40e7fdf3c694 2987 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2988 motor[TIRE_BR].pwm = fast;
yabahiro 38:40e7fdf3c694 2989 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2990 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 2991 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 2992 mtc=true;
yabahiro 38:40e7fdf3c694 2993 break;
yabahiro 38:40e7fdf3c694 2994 case 3:
yabahiro 38:40e7fdf3c694 2995 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 2996 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 2997 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 2998 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 2999 motor[TIRE_BR].pwm = slow;
yabahiro 38:40e7fdf3c694 3000 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3001 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3002 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3003 mtc=true;
yabahiro 38:40e7fdf3c694 3004 break;
yabahiro 38:40e7fdf3c694 3005 case 2:
yabahiro 38:40e7fdf3c694 3006 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3007 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3008 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 3009 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3010 motor[TIRE_BR].pwm = normal;
yabahiro 38:40e7fdf3c694 3011 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3012 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3013 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3014 mtc=true;
yabahiro 38:40e7fdf3c694 3015 break;
yabahiro 38:40e7fdf3c694 3016 }
yabahiro 38:40e7fdf3c694 3017 if(g[1]!=98&&mtc==true) {
yabahiro 38:40e7fdf3c694 3018 switch(g[0]) {
yabahiro 38:40e7fdf3c694 3019 case 0:
yabahiro 38:40e7fdf3c694 3020 mtc=false;
yabahiro 38:40e7fdf3c694 3021 break;
yabahiro 38:40e7fdf3c694 3022 case 255:
kishibekairohan 44:2aff0da5ebdb 3023 motor[TIRE_FL].pwm += 3;
yabahiro 38:40e7fdf3c694 3024 mtc=false;
yabahiro 38:40e7fdf3c694 3025 break;
yabahiro 38:40e7fdf3c694 3026 case 253:
kishibekairohan 44:2aff0da5ebdb 3027 motor[TIRE_FL].pwm += 6;
yabahiro 38:40e7fdf3c694 3028 mtc=false;
yabahiro 38:40e7fdf3c694 3029 break;
yabahiro 38:40e7fdf3c694 3030 case 254:
kishibekairohan 44:2aff0da5ebdb 3031 motor[TIRE_FL].pwm += 9;
yabahiro 38:40e7fdf3c694 3032 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3033 mtc=false;
yabahiro 38:40e7fdf3c694 3034 break;
yabahiro 38:40e7fdf3c694 3035 case 1:
kishibekairohan 44:2aff0da5ebdb 3036 motor[TIRE_FR].pwm += 3;
yabahiro 38:40e7fdf3c694 3037 mtc=false;
yabahiro 38:40e7fdf3c694 3038 break;
yabahiro 38:40e7fdf3c694 3039 case 3:
kishibekairohan 44:2aff0da5ebdb 3040 motor[TIRE_FR].pwm += 6;
yabahiro 38:40e7fdf3c694 3041 mtc=false;
yabahiro 38:40e7fdf3c694 3042 break;
yabahiro 38:40e7fdf3c694 3043 case 2:
kishibekairohan 44:2aff0da5ebdb 3044 motor[TIRE_FR].pwm += 9;
yabahiro 38:40e7fdf3c694 3045 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3046 mtc=false;
yabahiro 38:40e7fdf3c694 3047 break;
yabahiro 38:40e7fdf3c694 3048 }
yabahiro 33:dd598bb23ad1 3049 }
yabahiro 33:dd598bb23ad1 3050 }
yabahiro 33:dd598bb23ad1 3051 }
yabahiro 46:68296caae1af 3052
kishibekairohan 44:2aff0da5ebdb 3053 /*
yabahiro 38:40e7fdf3c694 3054 if(mode==31) {
yabahiro 33:dd598bb23ad1 3055 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 3056 motor[TIRE_FR].dir = FREE;
yabahiro 33:dd598bb23ad1 3057 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 3058 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 3059 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 3060 motor[TIRE_BR].dir = FREE;
yabahiro 33:dd598bb23ad1 3061 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 3062 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 3063 if(countss>=5000) {
yabahiro 33:dd598bb23ad1 3064 countss=0;
yabahiro 33:dd598bb23ad1 3065 mode=32;
yabahiro 33:dd598bb23ad1 3066 }
yabahiro 33:dd598bb23ad1 3067 } else if(mode==32) {
yabahiro 33:dd598bb23ad1 3068 motor[TIRE_FR].pwm = 10;
yabahiro 33:dd598bb23ad1 3069 motor[TIRE_FR].dir = BRAKE;
yabahiro 33:dd598bb23ad1 3070 motor[TIRE_FL].pwm = 10;
yabahiro 33:dd598bb23ad1 3071 motor[TIRE_FL].dir = BRAKE;
yabahiro 33:dd598bb23ad1 3072 motor[TIRE_BR].pwm = 10;
yabahiro 33:dd598bb23ad1 3073 motor[TIRE_BR].dir = BRAKE;
yabahiro 33:dd598bb23ad1 3074 motor[TIRE_BL].pwm = 10;
yabahiro 33:dd598bb23ad1 3075 motor[TIRE_BL].dir = BRAKE;
yabahiro 33:dd598bb23ad1 3076 if(countss>=40000) {
yabahiro 33:dd598bb23ad1 3077 mode=33;
yabahiro 33:dd598bb23ad1 3078 countss=0;
yabahiro 33:dd598bb23ad1 3079 }
yabahiro 46:68296caae1af 3080 }
kishibekairohan 44:2aff0da5ebdb 3081 */
kishibekairohan 45:0cf48a0605cd 3082 if(mode==31) {
kishibekairohan 44:2aff0da5ebdb 3083 motor[TIRE_FR].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 3084 motor[TIRE_FR].dir = BRAKE;
kishibekairohan 44:2aff0da5ebdb 3085 motor[TIRE_FL].pwm = 45;
yabahiro 38:40e7fdf3c694 3086 motor[TIRE_FL].dir = BACK;
kishibekairohan 44:2aff0da5ebdb 3087 motor[TIRE_BR].pwm = 45;
yabahiro 38:40e7fdf3c694 3088 motor[TIRE_BR].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 3089 motor[TIRE_BL].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 3090 motor[TIRE_BL].dir = BRAKE;
kishibekairohan 44:2aff0da5ebdb 3091 if(g[2]==0) {
yabahiro 38:40e7fdf3c694 3092 cross=0;
yabahiro 33:dd598bb23ad1 3093 countss=0;
yabahiro 33:dd598bb23ad1 3094 mode=40;
yabahiro 33:dd598bb23ad1 3095 }
yabahiro 46:68296caae1af 3096 } else if(mode==40) {
yabahiro 33:dd598bb23ad1 3097 switch(g[3]) {
yabahiro 33:dd598bb23ad1 3098 case 98:
yabahiro 46:68296caae1af 3099 motor[TIRE_FR].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3100 motor[TIRE_FR].dir = BACK;
yabahiro 46:68296caae1af 3101 motor[TIRE_FL].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3102 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3103 motor[TIRE_BR].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3104 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 3105 motor[TIRE_BL].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3106 motor[TIRE_BL].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 3107 if(countss>30000) {
yabahiro 33:dd598bb23ad1 3108 cross++;
yabahiro 33:dd598bb23ad1 3109 countss=0;
yabahiro 33:dd598bb23ad1 3110 }
yabahiro 33:dd598bb23ad1 3111 mtc2=true;
yabahiro 33:dd598bb23ad1 3112 break;
yabahiro 33:dd598bb23ad1 3113 case 0:
yabahiro 46:68296caae1af 3114 motor[TIRE_FR].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3115 motor[TIRE_FR].dir = BACK;
yabahiro 46:68296caae1af 3116 motor[TIRE_FL].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3117 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3118 motor[TIRE_BR].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3119 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 3120 motor[TIRE_BL].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3121 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 3122 mtc2=true;
yabahiro 33:dd598bb23ad1 3123 break;
yabahiro 33:dd598bb23ad1 3124 case 255:
yabahiro 46:68296caae1af 3125 motor[TIRE_FR].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3126 motor[TIRE_FR].dir = BACK;
yabahiro 46:68296caae1af 3127 motor[TIRE_FL].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3128 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3129 motor[TIRE_BR].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3130 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 3131 motor[TIRE_BL].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3132 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 3133 mtc2=true;
yabahiro 33:dd598bb23ad1 3134 break;
yabahiro 33:dd598bb23ad1 3135 case 253:
yabahiro 33:dd598bb23ad1 3136 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 3137 motor[TIRE_FR].dir = FREE;
yabahiro 46:68296caae1af 3138 motor[TIRE_FL].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3139 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3140 motor[TIRE_BR].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3141 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 3142 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 3143 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 3144 mtc2=true;
yabahiro 33:dd598bb23ad1 3145 break;
yabahiro 33:dd598bb23ad1 3146 case 254:
yabahiro 33:dd598bb23ad1 3147 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 3148 motor[TIRE_FR].dir = FREE;
yabahiro 46:68296caae1af 3149 motor[TIRE_FL].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3150 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3151 motor[TIRE_BR].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3152 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 3153 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 3154 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 3155 mtc2=true;
yabahiro 33:dd598bb23ad1 3156 break;
yabahiro 33:dd598bb23ad1 3157 case 1:
yabahiro 46:68296caae1af 3158 motor[TIRE_FR].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3159 motor[TIRE_FR].dir = BACK;
yabahiro 46:68296caae1af 3160 motor[TIRE_FL].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3161 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3162 motor[TIRE_BR].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3163 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 3164 motor[TIRE_BL].pwm = fast+15;
yabahiro 33:dd598bb23ad1 3165 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 3166 mtc2=true;
yabahiro 33:dd598bb23ad1 3167 break;
yabahiro 33:dd598bb23ad1 3168 case 3:
yabahiro 46:68296caae1af 3169 motor[TIRE_FR].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3170 motor[TIRE_FR].dir = BACK;
yabahiro 33:dd598bb23ad1 3171 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 3172 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 3173 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 3174 motor[TIRE_BR].dir = FREE;
yabahiro 46:68296caae1af 3175 motor[TIRE_BL].pwm = slow+15;
yabahiro 33:dd598bb23ad1 3176 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 3177 mtc2=true;
yabahiro 33:dd598bb23ad1 3178 break;
yabahiro 33:dd598bb23ad1 3179 case 2:
yabahiro 46:68296caae1af 3180 motor[TIRE_FR].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3181 motor[TIRE_FR].dir = BACK;
yabahiro 33:dd598bb23ad1 3182 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 3183 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 3184 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 3185 motor[TIRE_BR].dir = FREE;
yabahiro 46:68296caae1af 3186 motor[TIRE_BL].pwm = normal+15;
yabahiro 33:dd598bb23ad1 3187 motor[TIRE_BL].dir = FOR;
yabahiro 33:dd598bb23ad1 3188 mtc2=true;
yabahiro 33:dd598bb23ad1 3189 break;
yabahiro 33:dd598bb23ad1 3190 }
yabahiro 33:dd598bb23ad1 3191 if(g[2]!=98&&mtc2==true) {
yabahiro 33:dd598bb23ad1 3192 switch(g[2]) {
yabahiro 33:dd598bb23ad1 3193 case 0:
yabahiro 33:dd598bb23ad1 3194 mtc2=false;
yabahiro 33:dd598bb23ad1 3195 break;
yabahiro 33:dd598bb23ad1 3196 case 255:
kishibekairohan 44:2aff0da5ebdb 3197 motor[TIRE_FR].pwm += 3;
yabahiro 33:dd598bb23ad1 3198 mtc2=false;
yabahiro 33:dd598bb23ad1 3199 break;
yabahiro 33:dd598bb23ad1 3200 case 253:
kishibekairohan 44:2aff0da5ebdb 3201 motor[TIRE_FR].pwm += 6;
yabahiro 33:dd598bb23ad1 3202 mtc2=false;
yabahiro 33:dd598bb23ad1 3203 break;
yabahiro 33:dd598bb23ad1 3204 case 254:
kishibekairohan 44:2aff0da5ebdb 3205 motor[TIRE_FR].pwm += 9;
kishibekairohan 44:2aff0da5ebdb 3206 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 3207 mtc2=false;
yabahiro 33:dd598bb23ad1 3208 break;
yabahiro 33:dd598bb23ad1 3209 case 1:
kishibekairohan 44:2aff0da5ebdb 3210 motor[TIRE_BR].pwm += 3;
yabahiro 33:dd598bb23ad1 3211 mtc2=false;
yabahiro 33:dd598bb23ad1 3212 break;
yabahiro 33:dd598bb23ad1 3213 case 3:
kishibekairohan 44:2aff0da5ebdb 3214 motor[TIRE_BR].pwm += 6;
yabahiro 33:dd598bb23ad1 3215 mtc2=false;
yabahiro 33:dd598bb23ad1 3216 break;
yabahiro 33:dd598bb23ad1 3217 case 2:
kishibekairohan 44:2aff0da5ebdb 3218 motor[TIRE_BR].pwm += 9;
kishibekairohan 44:2aff0da5ebdb 3219 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 3220 mtc2=false;
yabahiro 33:dd598bb23ad1 3221 break;
yabahiro 33:dd598bb23ad1 3222 }
yabahiro 33:dd598bb23ad1 3223 }
yabahiro 46:68296caae1af 3224
kishibekairohan 42:980af34f6fe3 3225 if(YELLOW) {
kishibekairohan 42:980af34f6fe3 3226 if(cross==1) {
kishibekairohan 42:980af34f6fe3 3227 mode=41;
kishibekairohan 42:980af34f6fe3 3228 countss=0;
kishibekairohan 42:980af34f6fe3 3229 cross=0;
kishibekairohan 42:980af34f6fe3 3230 }
yabahiro 46:68296caae1af 3231 } else {
kishibekairohan 42:980af34f6fe3 3232 if(cross==3) {
kishibekairohan 42:980af34f6fe3 3233 mode=41;
kishibekairohan 42:980af34f6fe3 3234 countss=0;
kishibekairohan 42:980af34f6fe3 3235 cross=0;
kishibekairohan 42:980af34f6fe3 3236 }
kishibekairohan 42:980af34f6fe3 3237 }
yabahiro 46:68296caae1af 3238 if(LIF||LIB) {
yabahiro 46:68296caae1af 3239 mode=42;
yabahiro 46:68296caae1af 3240 }
yabahiro 46:68296caae1af 3241
yabahiro 46:68296caae1af 3242 } else if(mode==41) {
yabahiro 33:dd598bb23ad1 3243 if(LIF||LIB) {
yabahiro 33:dd598bb23ad1 3244 mode=42;
yabahiro 33:dd598bb23ad1 3245 }
kishibekairohan 44:2aff0da5ebdb 3246 motor[TIRE_FR].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 3247 motor[TIRE_FR].dir = BRAKE;
kishibekairohan 42:980af34f6fe3 3248 motor[TIRE_FL].pwm = 40;
yabahiro 33:dd598bb23ad1 3249 motor[TIRE_FL].dir = BACK;
kishibekairohan 42:980af34f6fe3 3250 motor[TIRE_BR].pwm = 40;
yabahiro 33:dd598bb23ad1 3251 motor[TIRE_BR].dir = FOR;
kishibekairohan 44:2aff0da5ebdb 3252 motor[TIRE_BL].pwm = 255;
kishibekairohan 44:2aff0da5ebdb 3253 motor[TIRE_BL].dir = BRAKE;
yabahiro 33:dd598bb23ad1 3254 if(g[1]==0) {
yabahiro 33:dd598bb23ad1 3255 countss=0;
yabahiro 33:dd598bb23ad1 3256 mode=70;
kishibekairohan 42:980af34f6fe3 3257 normal=80;
kishibekairohan 42:980af34f6fe3 3258 fast=100;
kishibekairohan 42:980af34f6fe3 3259 slow=60;
yabahiro 33:dd598bb23ad1 3260 }
yabahiro 46:68296caae1af 3261 } else if(mode==42) {
kishibekairohan 42:980af34f6fe3 3262 motor[TIRE_FR].pwm = 40;
yabahiro 33:dd598bb23ad1 3263 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 3264 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 3265 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 3266 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 3267 motor[TIRE_BR].dir = FREE;
kishibekairohan 42:980af34f6fe3 3268 motor[TIRE_BL].pwm = 40;
yabahiro 33:dd598bb23ad1 3269 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 3270 if(g[1]==0) {
yabahiro 33:dd598bb23ad1 3271 countss=0;
yabahiro 33:dd598bb23ad1 3272 mode=70;
yabahiro 33:dd598bb23ad1 3273 }
yabahiro 46:68296caae1af 3274 } else if(mode==70) {
yabahiro 33:dd598bb23ad1 3275 switch(g[1]) {
yabahiro 33:dd598bb23ad1 3276 case 99:
yabahiro 33:dd598bb23ad1 3277 if(countss>=100000) {
yabahiro 33:dd598bb23ad1 3278 mode=100;
yabahiro 33:dd598bb23ad1 3279 }
yabahiro 33:dd598bb23ad1 3280 break;
yabahiro 33:dd598bb23ad1 3281 case 98:
yabahiro 33:dd598bb23ad1 3282 motor[TIRE_FR].pwm = normal;
yabahiro 33:dd598bb23ad1 3283 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 3284 motor[TIRE_FL].pwm = normal;
yabahiro 33:dd598bb23ad1 3285 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3286 motor[TIRE_BR].pwm = normal+5;
yabahiro 33:dd598bb23ad1 3287 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 3288 motor[TIRE_BL].pwm = normal;
yabahiro 33:dd598bb23ad1 3289 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 3290 break;
yabahiro 33:dd598bb23ad1 3291 case 0:
kishibekairohan 42:980af34f6fe3 3292 motor[TIRE_FR].pwm = 100;
yabahiro 33:dd598bb23ad1 3293 motor[TIRE_FR].dir = FOR;
kishibekairohan 42:980af34f6fe3 3294 motor[TIRE_FL].pwm = 100;
yabahiro 33:dd598bb23ad1 3295 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3296 motor[TIRE_BR].pwm = 105;
yabahiro 33:dd598bb23ad1 3297 motor[TIRE_BR].dir = FOR;
kishibekairohan 42:980af34f6fe3 3298 motor[TIRE_BL].pwm = 100;
yabahiro 33:dd598bb23ad1 3299 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 3300 mtc=true;
yabahiro 33:dd598bb23ad1 3301 break;
yabahiro 33:dd598bb23ad1 3302 case 255:
yabahiro 33:dd598bb23ad1 3303 motor[TIRE_FR].pwm = fast;
yabahiro 33:dd598bb23ad1 3304 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 3305 motor[TIRE_FL].pwm = slow;
yabahiro 33:dd598bb23ad1 3306 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3307 motor[TIRE_BR].pwm = slow+5;
yabahiro 33:dd598bb23ad1 3308 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 3309 motor[TIRE_BL].pwm = fast;
yabahiro 33:dd598bb23ad1 3310 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 3311 mtc=true;
yabahiro 33:dd598bb23ad1 3312 break;
yabahiro 33:dd598bb23ad1 3313 case 253:
yabahiro 33:dd598bb23ad1 3314 motor[TIRE_FR].pwm = slow;
yabahiro 33:dd598bb23ad1 3315 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 3316 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 3317 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 3318 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 3319 motor[TIRE_BR].dir = FREE;
yabahiro 33:dd598bb23ad1 3320 motor[TIRE_BL].pwm = slow;
yabahiro 33:dd598bb23ad1 3321 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 3322 mtc=true;
yabahiro 33:dd598bb23ad1 3323 break;
yabahiro 33:dd598bb23ad1 3324 case 254:
yabahiro 33:dd598bb23ad1 3325 motor[TIRE_FR].pwm = normal;
yabahiro 33:dd598bb23ad1 3326 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 3327 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 3328 motor[TIRE_FL].dir = FREE;
yabahiro 33:dd598bb23ad1 3329 motor[TIRE_BR].pwm = 0;
yabahiro 33:dd598bb23ad1 3330 motor[TIRE_BR].dir = FREE;
yabahiro 33:dd598bb23ad1 3331 motor[TIRE_BL].pwm = normal;
yabahiro 33:dd598bb23ad1 3332 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 3333 mtc=true;
yabahiro 33:dd598bb23ad1 3334 break;
yabahiro 33:dd598bb23ad1 3335 case 1:
yabahiro 33:dd598bb23ad1 3336 motor[TIRE_FR].pwm = slow;
yabahiro 33:dd598bb23ad1 3337 motor[TIRE_FR].dir = FOR;
yabahiro 33:dd598bb23ad1 3338 motor[TIRE_FL].pwm = fast;
yabahiro 33:dd598bb23ad1 3339 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3340 motor[TIRE_BR].pwm = fast+5;
yabahiro 33:dd598bb23ad1 3341 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 3342 motor[TIRE_BL].pwm = slow;
yabahiro 33:dd598bb23ad1 3343 motor[TIRE_BL].dir = BACK;
yabahiro 33:dd598bb23ad1 3344 mtc=true;
yabahiro 33:dd598bb23ad1 3345 break;
yabahiro 33:dd598bb23ad1 3346 case 3:
yabahiro 33:dd598bb23ad1 3347 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 3348 motor[TIRE_FR].dir = FREE;
yabahiro 33:dd598bb23ad1 3349 motor[TIRE_FL].pwm = slow;
yabahiro 33:dd598bb23ad1 3350 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3351 motor[TIRE_BR].pwm = slow+5;
yabahiro 33:dd598bb23ad1 3352 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 3353 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 3354 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 3355 mtc=true;
yabahiro 33:dd598bb23ad1 3356 break;
yabahiro 33:dd598bb23ad1 3357 case 2:
yabahiro 33:dd598bb23ad1 3358 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 3359 motor[TIRE_FR].dir = FREE;
yabahiro 33:dd598bb23ad1 3360 motor[TIRE_FL].pwm = normal;
yabahiro 33:dd598bb23ad1 3361 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3362 motor[TIRE_BR].pwm = normal+5;
yabahiro 33:dd598bb23ad1 3363 motor[TIRE_BR].dir = FOR;
yabahiro 33:dd598bb23ad1 3364 motor[TIRE_BL].pwm = 0;
yabahiro 33:dd598bb23ad1 3365 motor[TIRE_BL].dir = FREE;
yabahiro 33:dd598bb23ad1 3366 mtc=true;
yabahiro 33:dd598bb23ad1 3367 break;
yabahiro 33:dd598bb23ad1 3368 }
yabahiro 33:dd598bb23ad1 3369 if(g[1]!=98&&mtc==true) {
yabahiro 33:dd598bb23ad1 3370 switch(g[0]) {
yabahiro 33:dd598bb23ad1 3371 case 0:
yabahiro 33:dd598bb23ad1 3372 mtc=false;
yabahiro 33:dd598bb23ad1 3373 break;
yabahiro 33:dd598bb23ad1 3374 case 255:
kishibekairohan 44:2aff0da5ebdb 3375 motor[TIRE_FL].pwm += 3;
yabahiro 33:dd598bb23ad1 3376 mtc=false;
yabahiro 33:dd598bb23ad1 3377 break;
yabahiro 33:dd598bb23ad1 3378 case 253:
kishibekairohan 44:2aff0da5ebdb 3379 motor[TIRE_FL].pwm += 6;
yabahiro 33:dd598bb23ad1 3380 mtc=false;
yabahiro 33:dd598bb23ad1 3381 break;
yabahiro 33:dd598bb23ad1 3382 case 254:
kishibekairohan 44:2aff0da5ebdb 3383 motor[TIRE_FL].pwm += 9;
yabahiro 33:dd598bb23ad1 3384 motor[TIRE_FR].pwm = 0;
yabahiro 33:dd598bb23ad1 3385 mtc=false;
yabahiro 33:dd598bb23ad1 3386 break;
yabahiro 33:dd598bb23ad1 3387 case 1:
kishibekairohan 44:2aff0da5ebdb 3388 motor[TIRE_FR].pwm += 3;
yabahiro 33:dd598bb23ad1 3389 mtc=false;
yabahiro 33:dd598bb23ad1 3390 break;
yabahiro 33:dd598bb23ad1 3391 case 3:
kishibekairohan 44:2aff0da5ebdb 3392 motor[TIRE_FR].pwm += 6;
yabahiro 33:dd598bb23ad1 3393 mtc=false;
yabahiro 33:dd598bb23ad1 3394 break;
yabahiro 33:dd598bb23ad1 3395 case 2:
kishibekairohan 44:2aff0da5ebdb 3396 motor[TIRE_FR].pwm += 9;
yabahiro 33:dd598bb23ad1 3397 motor[TIRE_FL].pwm = 0;
yabahiro 33:dd598bb23ad1 3398 mtc=false;
yabahiro 33:dd598bb23ad1 3399 break;
yabahiro 33:dd598bb23ad1 3400 }
yabahiro 33:dd598bb23ad1 3401 }
yabahiro 46:68296caae1af 3402 } else if(mode==100) {
kishibekairohan 42:980af34f6fe3 3403 motor[TIRE_FR].pwm = 50;
yabahiro 33:dd598bb23ad1 3404 motor[TIRE_FR].dir = FOR;
yabahiro 46:68296caae1af 3405 motor[TIRE_FL].pwm = 55;
yabahiro 33:dd598bb23ad1 3406 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3407 motor[TIRE_BR].pwm = 60;
yabahiro 33:dd598bb23ad1 3408 motor[TIRE_BR].dir = FOR;
kishibekairohan 42:980af34f6fe3 3409 motor[TIRE_BL].pwm = 50;
yabahiro 33:dd598bb23ad1 3410 motor[TIRE_BL].dir = BACK;
yabahiro 46:68296caae1af 3411 }
yabahiro 46:68296caae1af 3412
kishibekairohan 13:b6e02d6261d7 3413 }
kishibekairohan 13:b6e02d6261d7 3414 #endif
kishibekairohan 13:b6e02d6261d7 3415
kishibekairohan 13:b6e02d6261d7 3416 #if USE_PROCESS_NUM>4
Ryosei 27:dd9f27fce7d1 3417 static void Process4()
M_souta 22:7d93f79a3686 3418 {
yabahiro 48:5562a99479e5 3419 //Oh So 決勝青ゾーン
yabahiro 48:5562a99479e5 3420 LED::LED::TapeledMode(2);
yabahiro 48:5562a99479e5 3421 countss++;
yabahiro 48:5562a99479e5 3422 if(mode==1) {//スタートゾーンから白線検知
yabahiro 48:5562a99479e5 3423 fast=40;
yabahiro 48:5562a99479e5 3424 normal=30;
yabahiro 48:5562a99479e5 3425 slow=20;
yabahiro 48:5562a99479e5 3426 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3427 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3428 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3429 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3430 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3431 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3432 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3433 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3434 if(g[2]==0&&countss>=100000) {
yabahiro 48:5562a99479e5 3435 countss=100000;
yabahiro 48:5562a99479e5 3436 cross=0;
yabahiro 48:5562a99479e5 3437 mode=3;
yabahiro 48:5562a99479e5 3438 }
yabahiro 48:5562a99479e5 3439 } 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 3440 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3441 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3442 motor[TIRE_FL].pwm = 255;
yabahiro 48:5562a99479e5 3443 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 3444 motor[TIRE_BR].pwm = 255;
yabahiro 48:5562a99479e5 3445 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 3446 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3447 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3448 if(g[1]==0) {
yabahiro 48:5562a99479e5 3449 mode=10;
yabahiro 48:5562a99479e5 3450 countss=100000;
yabahiro 48:5562a99479e5 3451 }
yabahiro 48:5562a99479e5 3452 } else if(mode==10) { //縦ライントレース
yabahiro 48:5562a99479e5 3453 switch(g[1]) {
yabahiro 48:5562a99479e5 3454 case 98:
yabahiro 48:5562a99479e5 3455 motor[TIRE_FR].pwm = normal+50;
yabahiro 48:5562a99479e5 3456 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3457 motor[TIRE_FL].pwm = normal+50;
yabahiro 48:5562a99479e5 3458 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3459 motor[TIRE_BR].pwm = normal+50;
yabahiro 48:5562a99479e5 3460 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3461 motor[TIRE_BL].pwm = normal+50;
yabahiro 48:5562a99479e5 3462 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3463 mtc=true;
yabahiro 49:697b4e9ce884 3464 if(YELLOW) {
yabahiro 49:697b4e9ce884 3465 if(countss>80000) {
yabahiro 49:697b4e9ce884 3466 cross++;
yabahiro 49:697b4e9ce884 3467 countss=0;
yabahiro 49:697b4e9ce884 3468 }
yabahiro 48:5562a99479e5 3469
yabahiro 49:697b4e9ce884 3470 if(cross==2) {
yabahiro 49:697b4e9ce884 3471 fast = 10;
yabahiro 49:697b4e9ce884 3472 normal = 10;
yabahiro 49:697b4e9ce884 3473 slow = 5;
yabahiro 49:697b4e9ce884 3474 }
yabahiro 48:5562a99479e5 3475
yabahiro 49:697b4e9ce884 3476 if(cross==3) {
yabahiro 49:697b4e9ce884 3477 fast=40;
yabahiro 49:697b4e9ce884 3478 normal=30;
yabahiro 49:697b4e9ce884 3479 slow=20;
yabahiro 49:697b4e9ce884 3480 mode=11;
yabahiro 49:697b4e9ce884 3481 countss=0;
yabahiro 49:697b4e9ce884 3482 cross=0;
yabahiro 49:697b4e9ce884 3483 }
yabahiro 49:697b4e9ce884 3484 } else {
yabahiro 48:5562a99479e5 3485 mode=11;
yabahiro 48:5562a99479e5 3486 }
yabahiro 48:5562a99479e5 3487 break;
yabahiro 48:5562a99479e5 3488 case 0:
yabahiro 48:5562a99479e5 3489 motor[TIRE_FR].pwm = fast+50;
yabahiro 48:5562a99479e5 3490 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3491 motor[TIRE_FL].pwm = fast+50;
yabahiro 48:5562a99479e5 3492 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3493 motor[TIRE_BR].pwm = fast+50;
yabahiro 48:5562a99479e5 3494 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3495 motor[TIRE_BL].pwm = fast+50;
yabahiro 48:5562a99479e5 3496 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3497 mtc=true;
yabahiro 48:5562a99479e5 3498 break;
yabahiro 48:5562a99479e5 3499 case 255:
yabahiro 48:5562a99479e5 3500 motor[TIRE_FR].pwm = fast+50;
yabahiro 48:5562a99479e5 3501 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3502 motor[TIRE_FL].pwm = slow+50;
yabahiro 48:5562a99479e5 3503 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3504 motor[TIRE_BR].pwm = slow+50;
yabahiro 48:5562a99479e5 3505 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3506 motor[TIRE_BL].pwm = fast+50;
yabahiro 48:5562a99479e5 3507 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3508 mtc=true;
yabahiro 48:5562a99479e5 3509 break;
yabahiro 48:5562a99479e5 3510 case 253:
yabahiro 48:5562a99479e5 3511 motor[TIRE_FR].pwm = slow+50;
yabahiro 48:5562a99479e5 3512 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3513 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3514 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3515 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3516 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3517 motor[TIRE_BL].pwm = slow+50;
yabahiro 48:5562a99479e5 3518 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3519 mtc=true;
yabahiro 48:5562a99479e5 3520 break;
yabahiro 48:5562a99479e5 3521 case 254:
yabahiro 48:5562a99479e5 3522 motor[TIRE_FR].pwm = normal+50;
yabahiro 48:5562a99479e5 3523 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3524 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3525 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3526 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3527 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3528 motor[TIRE_BL].pwm = normal+50;
yabahiro 48:5562a99479e5 3529 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3530 mtc=true;
yabahiro 48:5562a99479e5 3531 break;
yabahiro 48:5562a99479e5 3532 case 1:
yabahiro 48:5562a99479e5 3533 motor[TIRE_FR].pwm = slow+50;
yabahiro 48:5562a99479e5 3534 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3535 motor[TIRE_FL].pwm = fast+50;
yabahiro 48:5562a99479e5 3536 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3537 motor[TIRE_BR].pwm = fast+50;
yabahiro 48:5562a99479e5 3538 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3539 motor[TIRE_BL].pwm = slow+50;
yabahiro 48:5562a99479e5 3540 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3541 mtc=true;
yabahiro 48:5562a99479e5 3542 break;
yabahiro 48:5562a99479e5 3543 case 3:
yabahiro 48:5562a99479e5 3544 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3545 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3546 motor[TIRE_FL].pwm = slow+50;
yabahiro 48:5562a99479e5 3547 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3548 motor[TIRE_BR].pwm = slow+50;
yabahiro 48:5562a99479e5 3549 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3550 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3551 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3552 mtc=true;
yabahiro 48:5562a99479e5 3553 break;
yabahiro 48:5562a99479e5 3554 case 2:
yabahiro 48:5562a99479e5 3555 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3556 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3557 motor[TIRE_FL].pwm = normal+50;
yabahiro 48:5562a99479e5 3558 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3559 motor[TIRE_BR].pwm = normal+50;
yabahiro 48:5562a99479e5 3560 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3561 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3562 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3563 mtc=true;
yabahiro 48:5562a99479e5 3564 break;
yabahiro 48:5562a99479e5 3565 }
yabahiro 48:5562a99479e5 3566 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 3567 switch(g[0]) {
yabahiro 48:5562a99479e5 3568 case 0:
yabahiro 48:5562a99479e5 3569 mtc=false;
yabahiro 48:5562a99479e5 3570 break;
yabahiro 48:5562a99479e5 3571 case 255:
yabahiro 48:5562a99479e5 3572 motor[TIRE_FL].pwm += 3;
yabahiro 48:5562a99479e5 3573 mtc=false;
yabahiro 48:5562a99479e5 3574 break;
yabahiro 48:5562a99479e5 3575 case 253:
yabahiro 48:5562a99479e5 3576 motor[TIRE_FL].pwm += 6;
yabahiro 48:5562a99479e5 3577 mtc=false;
yabahiro 48:5562a99479e5 3578 break;
yabahiro 48:5562a99479e5 3579 case 254:
yabahiro 48:5562a99479e5 3580 motor[TIRE_FL].pwm += 9;
yabahiro 48:5562a99479e5 3581 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3582 mtc=false;
yabahiro 48:5562a99479e5 3583 break;
yabahiro 48:5562a99479e5 3584 case 1:
yabahiro 48:5562a99479e5 3585 motor[TIRE_FR].pwm += 3;
yabahiro 48:5562a99479e5 3586 mtc=false;
yabahiro 48:5562a99479e5 3587 break;
yabahiro 48:5562a99479e5 3588 case 3:
yabahiro 48:5562a99479e5 3589 motor[TIRE_FR].pwm += 6;
yabahiro 48:5562a99479e5 3590 mtc=false;
yabahiro 48:5562a99479e5 3591 break;
yabahiro 48:5562a99479e5 3592 case 2:
yabahiro 48:5562a99479e5 3593 motor[TIRE_FR].pwm += 9;
yabahiro 48:5562a99479e5 3594 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3595 mtc=false;
yabahiro 48:5562a99479e5 3596 break;
yabahiro 48:5562a99479e5 3597 }
yabahiro 48:5562a99479e5 3598 }
yabahiro 48:5562a99479e5 3599 } else if(mode==11) {
yabahiro 48:5562a99479e5 3600 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 3601 motor[TIRE_FR].dir = FOR;
yabahiro 49:697b4e9ce884 3602 motor[TIRE_FL].pwm = 50;
yabahiro 49:697b4e9ce884 3603 motor[TIRE_FL].dir = BRAKE;
yabahiro 49:697b4e9ce884 3604 motor[TIRE_BR].pwm = 50;
yabahiro 49:697b4e9ce884 3605 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 3606 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 3607 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3608 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 48:5562a99479e5 3609 countss=0;
yabahiro 48:5562a99479e5 3610 cross=0;
yabahiro 48:5562a99479e5 3611 mode=20;
yabahiro 48:5562a99479e5 3612 }
yabahiro 48:5562a99479e5 3613 } else if(mode==20) {
yabahiro 48:5562a99479e5 3614 switch(g[2]) {
yabahiro 48:5562a99479e5 3615 case 98:
yabahiro 48:5562a99479e5 3616 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3617 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3618 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3619 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3620 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3621 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3622 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3623 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3624 if(countss>30000) {
yabahiro 48:5562a99479e5 3625 cross++;
yabahiro 48:5562a99479e5 3626 countss=0;
yabahiro 48:5562a99479e5 3627 }
yabahiro 48:5562a99479e5 3628 mtc2=true;
yabahiro 48:5562a99479e5 3629
yabahiro 48:5562a99479e5 3630 if(YELLOW) {
yabahiro 49:697b4e9ce884 3631 solenoid.solenoid4= SOLENOID_ON;
yabahiro 48:5562a99479e5 3632 if(cross==1) {
yabahiro 48:5562a99479e5 3633 fast=20;
yabahiro 48:5562a99479e5 3634 normal=15;
yabahiro 48:5562a99479e5 3635 slow=15;
yabahiro 48:5562a99479e5 3636 } else if(cross==2) {
yabahiro 48:5562a99479e5 3637 mode=21;
yabahiro 48:5562a99479e5 3638 countss=0;
yabahiro 48:5562a99479e5 3639 cross=0;
yabahiro 48:5562a99479e5 3640 }
yabahiro 48:5562a99479e5 3641 } else {
yabahiro 49:697b4e9ce884 3642 if(cross==2) {
yabahiro 49:697b4e9ce884 3643 fast=20;
yabahiro 49:697b4e9ce884 3644 normal=15;
yabahiro 49:697b4e9ce884 3645 slow=15;
yabahiro 49:697b4e9ce884 3646 }
yabahiro 48:5562a99479e5 3647 if(cross==3) {
yabahiro 48:5562a99479e5 3648 mode=21;
yabahiro 48:5562a99479e5 3649 countss=0;
yabahiro 48:5562a99479e5 3650 cross=0;
yabahiro 48:5562a99479e5 3651 }
yabahiro 48:5562a99479e5 3652 }
yabahiro 48:5562a99479e5 3653 break;
yabahiro 48:5562a99479e5 3654 case 0:
yabahiro 48:5562a99479e5 3655 motor[TIRE_FR].pwm = fast+20;
yabahiro 48:5562a99479e5 3656 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3657 motor[TIRE_FL].pwm = fast+20;
yabahiro 48:5562a99479e5 3658 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3659 motor[TIRE_BR].pwm = fast+20;
yabahiro 48:5562a99479e5 3660 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3661 motor[TIRE_BL].pwm = fast+20;
yabahiro 48:5562a99479e5 3662 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3663 mtc2=true;
yabahiro 48:5562a99479e5 3664 break;
yabahiro 48:5562a99479e5 3665 case 255:
yabahiro 48:5562a99479e5 3666 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3667 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3668 motor[TIRE_FL].pwm = fast+20;
yabahiro 48:5562a99479e5 3669 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3670 motor[TIRE_BR].pwm = fast+20;
yabahiro 48:5562a99479e5 3671 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3672 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3673 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3674 mtc2=true;
yabahiro 48:5562a99479e5 3675 break;
yabahiro 48:5562a99479e5 3676 case 253:
yabahiro 48:5562a99479e5 3677 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3678 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3679 motor[TIRE_FL].pwm = slow+20;
yabahiro 48:5562a99479e5 3680 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3681 motor[TIRE_BR].pwm = slow+20;
yabahiro 48:5562a99479e5 3682 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3683 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3684 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3685 mtc2=true;
yabahiro 48:5562a99479e5 3686 break;
yabahiro 48:5562a99479e5 3687 case 254:
yabahiro 48:5562a99479e5 3688 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3689 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3690 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3691 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3692 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3693 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3694 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3695 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3696 mtc2=true;
yabahiro 48:5562a99479e5 3697 break;
yabahiro 48:5562a99479e5 3698 case 1:
yabahiro 48:5562a99479e5 3699 motor[TIRE_FR].pwm = fast+20;
yabahiro 48:5562a99479e5 3700 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3701 motor[TIRE_FL].pwm = slow+20;
yabahiro 48:5562a99479e5 3702 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3703 motor[TIRE_BR].pwm = slow+20;
yabahiro 48:5562a99479e5 3704 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3705 motor[TIRE_BL].pwm = fast+20;
yabahiro 48:5562a99479e5 3706 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3707 mtc2=true;
yabahiro 48:5562a99479e5 3708 break;
yabahiro 48:5562a99479e5 3709 case 3:
yabahiro 48:5562a99479e5 3710 motor[TIRE_FR].pwm = slow+20;
yabahiro 48:5562a99479e5 3711 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3712 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3713 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3714 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3715 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3716 motor[TIRE_BL].pwm = slow+20;
yabahiro 48:5562a99479e5 3717 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3718 mtc2=true;
yabahiro 48:5562a99479e5 3719 break;
yabahiro 48:5562a99479e5 3720 case 2:
yabahiro 48:5562a99479e5 3721 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3722 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3723 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3724 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3725 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3726 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3727 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3728 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3729 mtc2=true;
yabahiro 48:5562a99479e5 3730 break;
yabahiro 48:5562a99479e5 3731 }
yabahiro 48:5562a99479e5 3732 if(g[2]!=98&&mtc2==true) {
yabahiro 48:5562a99479e5 3733 switch(g[3]) {
yabahiro 48:5562a99479e5 3734 case 0:
yabahiro 48:5562a99479e5 3735 mtc2=false;
yabahiro 48:5562a99479e5 3736 break;
yabahiro 48:5562a99479e5 3737 case 255:
yabahiro 48:5562a99479e5 3738 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 3739 mtc2=false;
yabahiro 48:5562a99479e5 3740 break;
yabahiro 48:5562a99479e5 3741 case 253:
yabahiro 48:5562a99479e5 3742 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 3743 mtc2=false;
yabahiro 48:5562a99479e5 3744 break;
yabahiro 48:5562a99479e5 3745 case 254:
yabahiro 48:5562a99479e5 3746 motor[TIRE_BL].pwm += 15;
yabahiro 48:5562a99479e5 3747 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3748 mtc2=false;
yabahiro 48:5562a99479e5 3749 break;
yabahiro 48:5562a99479e5 3750 case 1:
yabahiro 48:5562a99479e5 3751 motor[TIRE_FL].pwm += 5;
yabahiro 48:5562a99479e5 3752 mtc2=false;
yabahiro 48:5562a99479e5 3753 break;
yabahiro 48:5562a99479e5 3754 case 3:
yabahiro 48:5562a99479e5 3755 motor[TIRE_FL].pwm += 10;
yabahiro 48:5562a99479e5 3756 mtc2=false;
yabahiro 48:5562a99479e5 3757 break;
yabahiro 48:5562a99479e5 3758 case 2:
yabahiro 48:5562a99479e5 3759 motor[TIRE_FL].pwm += 15;
yabahiro 48:5562a99479e5 3760 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3761 mtc2=false;
yabahiro 48:5562a99479e5 3762 break;
yabahiro 48:5562a99479e5 3763 }
yabahiro 48:5562a99479e5 3764 }
yabahiro 48:5562a99479e5 3765 }
yabahiro 48:5562a99479e5 3766 if(YELLOW) {
yabahiro 48:5562a99479e5 3767 if(mode==21) {
yabahiro 48:5562a99479e5 3768 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3769 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3770 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3771 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3772 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3773 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3774 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3775 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3776 if(g[3]==98&&countss>=10000) {
yabahiro 48:5562a99479e5 3777 mode=22;
yabahiro 48:5562a99479e5 3778 countss=0;
yabahiro 48:5562a99479e5 3779 fast=60;
yabahiro 48:5562a99479e5 3780 normal=40;
yabahiro 48:5562a99479e5 3781 slow=20;
yabahiro 48:5562a99479e5 3782 }
yabahiro 48:5562a99479e5 3783 } else if(mode==22) {
yabahiro 48:5562a99479e5 3784 if(g[4]==3||g[4]==2) {
yabahiro 48:5562a99479e5 3785 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3786 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3787 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3788 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3789 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3790 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3791 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3792 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3793 }
yabahiro 48:5562a99479e5 3794 if(g[4]==253||g[4]==254) {
yabahiro 48:5562a99479e5 3795 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3796 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3797 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3798 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3799 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3800 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3801 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3802 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3803 }
yabahiro 48:5562a99479e5 3804 switch(g[2]) {
yabahiro 48:5562a99479e5 3805 case 0:
yabahiro 48:5562a99479e5 3806 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3807 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3808 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3809 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3810 break;
yabahiro 48:5562a99479e5 3811 case 255:
yabahiro 48:5562a99479e5 3812 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3813 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3814 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3815 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3816 break;
yabahiro 48:5562a99479e5 3817 case 253:
yabahiro 48:5562a99479e5 3818 motor[TIRE_FR].pwm = 40;
yabahiro 48:5562a99479e5 3819 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3820 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3821 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3822 break;
yabahiro 48:5562a99479e5 3823 case 254:
yabahiro 48:5562a99479e5 3824 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3825 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3826 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3827 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3828 break;
yabahiro 48:5562a99479e5 3829 case 1:
yabahiro 48:5562a99479e5 3830 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3831 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3832 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3833 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3834 break;
yabahiro 48:5562a99479e5 3835 case 3:
yabahiro 48:5562a99479e5 3836 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3837 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3838 motor[TIRE_BR].pwm = 40;
yabahiro 48:5562a99479e5 3839 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3840 break;
yabahiro 48:5562a99479e5 3841 case 2:
yabahiro 48:5562a99479e5 3842 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3843 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3844 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3845 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3846 break;
yabahiro 48:5562a99479e5 3847 }
yabahiro 48:5562a99479e5 3848 switch(g[3]) {
yabahiro 48:5562a99479e5 3849 case 0:
yabahiro 48:5562a99479e5 3850 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3851 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3852 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3853 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3854 break;
yabahiro 48:5562a99479e5 3855 case 255:
yabahiro 48:5562a99479e5 3856 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3857 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3858 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3859 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3860 case 253:
yabahiro 48:5562a99479e5 3861 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3862 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3863 motor[TIRE_BL].pwm = 40;
yabahiro 48:5562a99479e5 3864 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3865 break;
yabahiro 48:5562a99479e5 3866 case 254:
yabahiro 48:5562a99479e5 3867 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3868 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3869 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3870 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3871 break;
yabahiro 48:5562a99479e5 3872 case 1:
yabahiro 48:5562a99479e5 3873 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3874 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3875 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3876 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3877 break;
yabahiro 48:5562a99479e5 3878 case 3:
yabahiro 48:5562a99479e5 3879 motor[TIRE_FL].pwm = 40;
yabahiro 48:5562a99479e5 3880 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3881 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3882 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3883 break;
yabahiro 48:5562a99479e5 3884 case 2:
yabahiro 48:5562a99479e5 3885 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3886 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3887 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3888 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3889 break;
yabahiro 48:5562a99479e5 3890 }
yabahiro 48:5562a99479e5 3891 if(g[3]==0&&g[2]==0) {
yabahiro 48:5562a99479e5 3892 mode=23;
yabahiro 48:5562a99479e5 3893 countss=0;
yabahiro 48:5562a99479e5 3894 }
yabahiro 48:5562a99479e5 3895 } else if(mode==23) {
yabahiro 48:5562a99479e5 3896 switch(g[4]) {
yabahiro 48:5562a99479e5 3897 case 98:
yabahiro 48:5562a99479e5 3898 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 3899 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3900 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 3901 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3902 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 3903 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3904 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 3905 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3906 break;
yabahiro 48:5562a99479e5 3907 case 99:
yabahiro 48:5562a99479e5 3908 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3909 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3910 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3911 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3912 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3913 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3914 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3915 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3916 break;
yabahiro 48:5562a99479e5 3917 case 0:
yabahiro 48:5562a99479e5 3918 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 3919 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3920 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 3921 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3922 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 3923 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3924 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 3925 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3926 break;
yabahiro 48:5562a99479e5 3927 case 255:
yabahiro 48:5562a99479e5 3928 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3929 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3930 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3931 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3932 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3933 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3934 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3935 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3936 break;
yabahiro 48:5562a99479e5 3937 case 253:
yabahiro 48:5562a99479e5 3938 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 3939 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3940 motor[TIRE_FL].pwm = slow-5;
yabahiro 48:5562a99479e5 3941 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3942 motor[TIRE_BR].pwm = slow-5;
yabahiro 48:5562a99479e5 3943 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3944 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 3945 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3946 break;
yabahiro 48:5562a99479e5 3947 case 254:
yabahiro 48:5562a99479e5 3948 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 3949 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3950 motor[TIRE_FL].pwm = normal-5;
yabahiro 48:5562a99479e5 3951 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3952 motor[TIRE_BR].pwm = normal-5;
yabahiro 48:5562a99479e5 3953 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3954 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 3955 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3956 break;
yabahiro 48:5562a99479e5 3957 case 1:
yabahiro 48:5562a99479e5 3958 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3959 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3960 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3961 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3962 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3963 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3964 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3965 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3966 break;
yabahiro 48:5562a99479e5 3967 case 3:
yabahiro 48:5562a99479e5 3968 motor[TIRE_FR].pwm = slow-5;
yabahiro 48:5562a99479e5 3969 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3970 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 3971 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3972 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 3973 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3974 motor[TIRE_BL].pwm = slow-5;
yabahiro 48:5562a99479e5 3975 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3976 break;
yabahiro 48:5562a99479e5 3977 case 2:
yabahiro 48:5562a99479e5 3978 motor[TIRE_FR].pwm = normal-5;
yabahiro 48:5562a99479e5 3979 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3980 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 3981 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3982 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 3983 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3984 motor[TIRE_BL].pwm = normal-5;
yabahiro 48:5562a99479e5 3985 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3986 break;
yabahiro 48:5562a99479e5 3987 }
yabahiro 48:5562a99479e5 3988 if(g[2]==254&&countss>=100000) {
yabahiro 48:5562a99479e5 3989 mode=24;
yabahiro 48:5562a99479e5 3990 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 48:5562a99479e5 3991 countss=0;
yabahiro 48:5562a99479e5 3992 fast=60;
yabahiro 48:5562a99479e5 3993 normal=40;
yabahiro 48:5562a99479e5 3994 slow=20;
yabahiro 48:5562a99479e5 3995 }
yabahiro 48:5562a99479e5 3996 } else if(mode==24) {
yabahiro 48:5562a99479e5 3997 motor[TIRE_FR].pwm = 60;
yabahiro 48:5562a99479e5 3998 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3999 motor[TIRE_FL].pwm = 60;
yabahiro 48:5562a99479e5 4000 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4001 motor[TIRE_BR].pwm = 60;
yabahiro 48:5562a99479e5 4002 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4003 motor[TIRE_BL].pwm = 60;
yabahiro 48:5562a99479e5 4004 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4005 if(g[0]==0) {
yabahiro 48:5562a99479e5 4006 mode=25;
yabahiro 48:5562a99479e5 4007 }
yabahiro 48:5562a99479e5 4008 } else if(mode==25) {
yabahiro 48:5562a99479e5 4009 motor[TIRE_FR].pwm = 100;
yabahiro 48:5562a99479e5 4010 motor[TIRE_FR].dir = BRAKE;
yabahiro 48:5562a99479e5 4011 motor[TIRE_FL].pwm = 100;
yabahiro 48:5562a99479e5 4012 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4013 motor[TIRE_BR].pwm = 100;
yabahiro 48:5562a99479e5 4014 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4015 motor[TIRE_BL].pwm = 100;
yabahiro 48:5562a99479e5 4016 motor[TIRE_BL].dir = BRAKE;
yabahiro 48:5562a99479e5 4017 if(DOLS==true||UPLS==true) {
yabahiro 48:5562a99479e5 4018 motor[MOTOR_0].pwm = 200;
yabahiro 48:5562a99479e5 4019 motor[MOTOR_0].dir = BRAKE;
yabahiro 48:5562a99479e5 4020 mode=26;
yabahiro 48:5562a99479e5 4021 countss=0;
yabahiro 48:5562a99479e5 4022 } else {
yabahiro 48:5562a99479e5 4023 motor[MOTOR_0].pwm = 100;
yabahiro 48:5562a99479e5 4024 motor[MOTOR_0].dir = BACK;
yabahiro 48:5562a99479e5 4025 }
yabahiro 48:5562a99479e5 4026 } else if(mode==26) {
yabahiro 48:5562a99479e5 4027 if(g[0]==98&&countss>=40000) {
yabahiro 48:5562a99479e5 4028 mode=31;
yabahiro 48:5562a99479e5 4029 countss=0;
yabahiro 48:5562a99479e5 4030 }
yabahiro 48:5562a99479e5 4031 switch(g[0]) {
yabahiro 48:5562a99479e5 4032 case 98:
yabahiro 48:5562a99479e5 4033 fast=40;
yabahiro 48:5562a99479e5 4034 normal=30;
yabahiro 48:5562a99479e5 4035 slow=25;
yabahiro 48:5562a99479e5 4036 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4037 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4038 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4039 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4040 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4041 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4042 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4043 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4044 break;
yabahiro 48:5562a99479e5 4045 case 0:
yabahiro 48:5562a99479e5 4046 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4047 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4048 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4049 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4050 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4051 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4052 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4053 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4054 mtc=true;
yabahiro 48:5562a99479e5 4055 break;
yabahiro 48:5562a99479e5 4056 case 255:
yabahiro 48:5562a99479e5 4057 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4058 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4059 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4060 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4061 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4062 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4063 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4064 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4065 mtc=true;
yabahiro 48:5562a99479e5 4066 break;
yabahiro 48:5562a99479e5 4067 case 253:
yabahiro 48:5562a99479e5 4068 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4069 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4070 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4071 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4072 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4073 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4074 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4075 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4076 mtc=true;
yabahiro 48:5562a99479e5 4077 break;
yabahiro 48:5562a99479e5 4078 case 254:
yabahiro 48:5562a99479e5 4079 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4080 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4081 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4082 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4083 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4084 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4085 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4086 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4087 mtc=true;
yabahiro 48:5562a99479e5 4088 break;
yabahiro 48:5562a99479e5 4089 case 1:
yabahiro 48:5562a99479e5 4090 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4091 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4092 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4093 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4094 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4095 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4096 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4097 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4098 mtc=true;
yabahiro 48:5562a99479e5 4099 break;
yabahiro 48:5562a99479e5 4100 case 3:
yabahiro 48:5562a99479e5 4101 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4102 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4103 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4104 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4105 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4106 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4107 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4108 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4109 mtc=true;
yabahiro 48:5562a99479e5 4110 break;
yabahiro 48:5562a99479e5 4111 case 2:
yabahiro 48:5562a99479e5 4112 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4113 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4114 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4115 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4116 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4117 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4118 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4119 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4120 mtc=true;
yabahiro 48:5562a99479e5 4121 break;
yabahiro 48:5562a99479e5 4122 }
yabahiro 48:5562a99479e5 4123 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4124 switch(g[1]) {
yabahiro 48:5562a99479e5 4125 case 0:
yabahiro 48:5562a99479e5 4126 mtc=false;
yabahiro 48:5562a99479e5 4127 break;
yabahiro 48:5562a99479e5 4128 case 255:
yabahiro 48:5562a99479e5 4129 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4130 mtc=false;
yabahiro 48:5562a99479e5 4131 break;
yabahiro 48:5562a99479e5 4132 case 253:
yabahiro 48:5562a99479e5 4133 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4134 mtc=false;
yabahiro 48:5562a99479e5 4135 break;
yabahiro 48:5562a99479e5 4136 case 254:
yabahiro 48:5562a99479e5 4137 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4138 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4139 mtc=false;
yabahiro 48:5562a99479e5 4140 break;
yabahiro 48:5562a99479e5 4141 case 1:
yabahiro 48:5562a99479e5 4142 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4143 mtc=false;
yabahiro 48:5562a99479e5 4144 break;
yabahiro 48:5562a99479e5 4145 case 3:
yabahiro 48:5562a99479e5 4146 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4147 mtc=false;
yabahiro 48:5562a99479e5 4148 break;
yabahiro 48:5562a99479e5 4149 case 2:
yabahiro 48:5562a99479e5 4150 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4151 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4152 mtc=false;
yabahiro 48:5562a99479e5 4153 break;
yabahiro 48:5562a99479e5 4154 }
yabahiro 48:5562a99479e5 4155 }
yabahiro 48:5562a99479e5 4156 }
yabahiro 48:5562a99479e5 4157 } else {
yabahiro 48:5562a99479e5 4158 if(mode==21) {
yabahiro 49:697b4e9ce884 4159 if(g[0]==98&&countss>=40000) {
yabahiro 48:5562a99479e5 4160 fast=60;
yabahiro 48:5562a99479e5 4161 normal=30;
yabahiro 48:5562a99479e5 4162 slow=25;
yabahiro 48:5562a99479e5 4163 mode=31;
yabahiro 48:5562a99479e5 4164 countss=0;
yabahiro 48:5562a99479e5 4165 }
yabahiro 48:5562a99479e5 4166 switch(g[0]) {
yabahiro 48:5562a99479e5 4167 case 98:
yabahiro 48:5562a99479e5 4168 fast=40;
yabahiro 48:5562a99479e5 4169 normal=30;
yabahiro 48:5562a99479e5 4170 slow=25;
yabahiro 48:5562a99479e5 4171 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4172 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4173 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4174 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4175 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4176 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4177 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4178 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4179 break;
yabahiro 48:5562a99479e5 4180 case 0:
yabahiro 48:5562a99479e5 4181 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4182 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4183 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4184 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4185 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4186 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4187 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4188 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4189 mtc=true;
yabahiro 48:5562a99479e5 4190 break;
yabahiro 48:5562a99479e5 4191 case 255:
yabahiro 48:5562a99479e5 4192 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4193 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4194 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4195 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4196 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4197 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4198 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4199 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4200 mtc=true;
yabahiro 48:5562a99479e5 4201 break;
yabahiro 48:5562a99479e5 4202 case 253:
yabahiro 48:5562a99479e5 4203 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4204 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4205 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4206 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4207 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4208 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4209 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4210 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4211 mtc=true;
yabahiro 48:5562a99479e5 4212 break;
yabahiro 48:5562a99479e5 4213 case 254:
yabahiro 48:5562a99479e5 4214 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4215 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4216 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4217 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4218 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4219 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4220 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4221 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4222 mtc=true;
yabahiro 48:5562a99479e5 4223 break;
yabahiro 48:5562a99479e5 4224 case 1:
yabahiro 48:5562a99479e5 4225 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4226 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4227 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4228 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4229 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4230 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4231 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4232 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4233 mtc=true;
yabahiro 48:5562a99479e5 4234 break;
yabahiro 48:5562a99479e5 4235 case 3:
yabahiro 48:5562a99479e5 4236 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4237 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4238 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4239 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4240 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4241 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4242 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4243 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4244 mtc=true;
yabahiro 48:5562a99479e5 4245 break;
yabahiro 48:5562a99479e5 4246 case 2:
yabahiro 48:5562a99479e5 4247 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4248 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4249 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4250 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4251 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4252 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4253 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4254 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4255 mtc=true;
yabahiro 48:5562a99479e5 4256 break;
yabahiro 48:5562a99479e5 4257 }
yabahiro 48:5562a99479e5 4258 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4259 switch(g[1]) {
yabahiro 48:5562a99479e5 4260 case 0:
yabahiro 48:5562a99479e5 4261 mtc=false;
yabahiro 48:5562a99479e5 4262 break;
yabahiro 48:5562a99479e5 4263 case 255:
yabahiro 48:5562a99479e5 4264 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4265 mtc=false;
yabahiro 48:5562a99479e5 4266 break;
yabahiro 48:5562a99479e5 4267 case 253:
yabahiro 48:5562a99479e5 4268 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4269 mtc=false;
yabahiro 48:5562a99479e5 4270 break;
yabahiro 48:5562a99479e5 4271 case 254:
yabahiro 48:5562a99479e5 4272 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4273 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4274 mtc=false;
yabahiro 48:5562a99479e5 4275 break;
yabahiro 48:5562a99479e5 4276 case 1:
yabahiro 48:5562a99479e5 4277 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4278 mtc=false;
yabahiro 48:5562a99479e5 4279 break;
yabahiro 48:5562a99479e5 4280 case 3:
yabahiro 48:5562a99479e5 4281 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4282 mtc=false;
yabahiro 48:5562a99479e5 4283 break;
yabahiro 48:5562a99479e5 4284 case 2:
yabahiro 48:5562a99479e5 4285 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4286 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4287 mtc=false;
yabahiro 48:5562a99479e5 4288 break;
yabahiro 48:5562a99479e5 4289 }
yabahiro 48:5562a99479e5 4290 }
yabahiro 48:5562a99479e5 4291 }
yabahiro 48:5562a99479e5 4292 }
yabahiro 48:5562a99479e5 4293
yabahiro 48:5562a99479e5 4294 /*
yabahiro 48:5562a99479e5 4295 if(mode==31) {
yabahiro 48:5562a99479e5 4296 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4297 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4298 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4299 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4300 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4301 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4302 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4303 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4304 if(countss>=5000) {
yabahiro 48:5562a99479e5 4305 countss=0;
yabahiro 48:5562a99479e5 4306 mode=33;
yabahiro 48:5562a99479e5 4307 }
yabahiro 48:5562a99479e5 4308 } else if(mode==33) {
yabahiro 48:5562a99479e5 4309 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 4310 motor[TIRE_FR].dir = BACK;
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 = 30;
yabahiro 48:5562a99479e5 4316 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4317 if(g[3]==0) {
yabahiro 48:5562a99479e5 4318 cross=0;
yabahiro 48:5562a99479e5 4319 countss=0;
yabahiro 48:5562a99479e5 4320 mode=40;
yabahiro 48:5562a99479e5 4321 }
yabahiro 48:5562a99479e5 4322 } else
yabahiro 48:5562a99479e5 4323 */
yabahiro 48:5562a99479e5 4324 if(mode==31) {
yabahiro 48:5562a99479e5 4325 motor[TIRE_FR].pwm = 45;
yabahiro 48:5562a99479e5 4326 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4327 motor[TIRE_FL].pwm = 255;
yabahiro 48:5562a99479e5 4328 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4329 motor[TIRE_BR].pwm = 255;
yabahiro 48:5562a99479e5 4330 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4331 motor[TIRE_BL].pwm = 45;
yabahiro 48:5562a99479e5 4332 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4333 if(g[3]==0) {
yabahiro 48:5562a99479e5 4334 cross=0;
yabahiro 48:5562a99479e5 4335 countss=0;
yabahiro 48:5562a99479e5 4336 mode=40;
yabahiro 48:5562a99479e5 4337 }
yabahiro 48:5562a99479e5 4338 } else if(mode==40) {
yabahiro 48:5562a99479e5 4339 switch(g[3]) {
yabahiro 48:5562a99479e5 4340 case 98:
yabahiro 48:5562a99479e5 4341 motor[TIRE_FR].pwm = normal+15;
yabahiro 48:5562a99479e5 4342 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4343 motor[TIRE_FL].pwm = normal+15;
yabahiro 48:5562a99479e5 4344 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4345 motor[TIRE_BR].pwm = normal+15;
yabahiro 48:5562a99479e5 4346 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4347 motor[TIRE_BL].pwm = normal+15;
yabahiro 48:5562a99479e5 4348 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4349 if(countss>10000) {
yabahiro 48:5562a99479e5 4350 cross++;
yabahiro 48:5562a99479e5 4351 countss=0;
yabahiro 48:5562a99479e5 4352 }
yabahiro 48:5562a99479e5 4353 mtc2=true;
yabahiro 48:5562a99479e5 4354 if(cross==1) {
yabahiro 48:5562a99479e5 4355 mode=41;
yabahiro 48:5562a99479e5 4356 countss=0;
yabahiro 48:5562a99479e5 4357 cross=0;
yabahiro 48:5562a99479e5 4358 }
yabahiro 48:5562a99479e5 4359 break;
yabahiro 48:5562a99479e5 4360 case 0:
yabahiro 48:5562a99479e5 4361 motor[TIRE_FR].pwm = fast+15;
yabahiro 48:5562a99479e5 4362 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4363 motor[TIRE_FL].pwm = fast+15;
yabahiro 48:5562a99479e5 4364 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4365 motor[TIRE_BR].pwm = fast+15;
yabahiro 48:5562a99479e5 4366 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4367 motor[TIRE_BL].pwm = fast+15;
yabahiro 48:5562a99479e5 4368 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4369 mtc2=true;
yabahiro 48:5562a99479e5 4370 break;
yabahiro 48:5562a99479e5 4371 case 255:
yabahiro 48:5562a99479e5 4372 motor[TIRE_FR].pwm = slow+15;
yabahiro 48:5562a99479e5 4373 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4374 motor[TIRE_FL].pwm = fast+15;
yabahiro 48:5562a99479e5 4375 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4376 motor[TIRE_BR].pwm = fast+15;
yabahiro 48:5562a99479e5 4377 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4378 motor[TIRE_BL].pwm = slow+15;
yabahiro 48:5562a99479e5 4379 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4380 mtc2=true;
yabahiro 48:5562a99479e5 4381 break;
yabahiro 48:5562a99479e5 4382 case 253:
yabahiro 48:5562a99479e5 4383 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4384 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4385 motor[TIRE_FL].pwm = slow+15;
yabahiro 48:5562a99479e5 4386 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4387 motor[TIRE_BR].pwm = slow+15;
yabahiro 48:5562a99479e5 4388 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4389 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4390 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4391 mtc2=true;
yabahiro 48:5562a99479e5 4392 break;
yabahiro 48:5562a99479e5 4393 case 254:
yabahiro 48:5562a99479e5 4394 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4395 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4396 motor[TIRE_FL].pwm = normal+15;
yabahiro 48:5562a99479e5 4397 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4398 motor[TIRE_BR].pwm = normal+15;
yabahiro 48:5562a99479e5 4399 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4400 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4401 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4402 mtc2=true;
yabahiro 48:5562a99479e5 4403 break;
yabahiro 48:5562a99479e5 4404 case 1:
yabahiro 48:5562a99479e5 4405 motor[TIRE_FR].pwm = fast+15;
yabahiro 48:5562a99479e5 4406 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4407 motor[TIRE_FL].pwm = slow+15;
yabahiro 48:5562a99479e5 4408 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4409 motor[TIRE_BR].pwm = slow+15;
yabahiro 48:5562a99479e5 4410 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4411 motor[TIRE_BL].pwm = fast+15;
yabahiro 48:5562a99479e5 4412 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4413 mtc2=true;
yabahiro 48:5562a99479e5 4414 break;
yabahiro 48:5562a99479e5 4415 case 3:
yabahiro 48:5562a99479e5 4416 motor[TIRE_FR].pwm = slow+15;
yabahiro 48:5562a99479e5 4417 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4418 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4419 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4420 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4421 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4422 motor[TIRE_BL].pwm = slow+15;
yabahiro 48:5562a99479e5 4423 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4424 mtc2=true;
yabahiro 48:5562a99479e5 4425 break;
yabahiro 48:5562a99479e5 4426 case 2:
yabahiro 48:5562a99479e5 4427 motor[TIRE_FR].pwm = normal+15;
yabahiro 48:5562a99479e5 4428 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4429 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4430 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4431 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4432 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4433 motor[TIRE_BL].pwm = normal+15;
yabahiro 48:5562a99479e5 4434 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4435 mtc2=true;
yabahiro 48:5562a99479e5 4436 break;
yabahiro 48:5562a99479e5 4437 }
yabahiro 48:5562a99479e5 4438 if(g[2]!=98&&mtc2==true) {
yabahiro 48:5562a99479e5 4439 switch(g[2]) {
yabahiro 48:5562a99479e5 4440 case 0:
yabahiro 48:5562a99479e5 4441 mtc2=false;
yabahiro 48:5562a99479e5 4442 break;
yabahiro 48:5562a99479e5 4443 case 255:
yabahiro 48:5562a99479e5 4444 motor[TIRE_FL].pwm += 5;
yabahiro 48:5562a99479e5 4445 mtc2=false;
yabahiro 48:5562a99479e5 4446 break;
yabahiro 48:5562a99479e5 4447 case 253:
yabahiro 48:5562a99479e5 4448 motor[TIRE_FL].pwm += 10;
yabahiro 48:5562a99479e5 4449 mtc2=false;
yabahiro 48:5562a99479e5 4450 break;
yabahiro 48:5562a99479e5 4451 case 254:
yabahiro 48:5562a99479e5 4452 motor[TIRE_FL].pwm += 20;
yabahiro 48:5562a99479e5 4453 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4454 mtc2=false;
yabahiro 48:5562a99479e5 4455 break;
yabahiro 48:5562a99479e5 4456 case 1:
yabahiro 48:5562a99479e5 4457 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4458 mtc2=false;
yabahiro 48:5562a99479e5 4459 break;
yabahiro 48:5562a99479e5 4460 case 3:
yabahiro 48:5562a99479e5 4461 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4462 mtc2=false;
yabahiro 48:5562a99479e5 4463 break;
yabahiro 48:5562a99479e5 4464 case 2:
yabahiro 48:5562a99479e5 4465 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4466 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4467 mtc2=false;
yabahiro 48:5562a99479e5 4468 break;
yabahiro 48:5562a99479e5 4469 }
yabahiro 48:5562a99479e5 4470 }
yabahiro 48:5562a99479e5 4471 } else if(mode==41) {
yabahiro 48:5562a99479e5 4472 if(LIF||LIB) {
yabahiro 48:5562a99479e5 4473 mode=42;
yabahiro 48:5562a99479e5 4474 }
yabahiro 48:5562a99479e5 4475 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 4476 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4477 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4478 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4479 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4480 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4481 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 4482 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4483 if(g[1]==0) {
yabahiro 48:5562a99479e5 4484 countss=0;
yabahiro 48:5562a99479e5 4485 mode=70;
yabahiro 48:5562a99479e5 4486 normal=60;
yabahiro 48:5562a99479e5 4487 fast=70;
yabahiro 48:5562a99479e5 4488 slow=40;
yabahiro 48:5562a99479e5 4489 }
yabahiro 48:5562a99479e5 4490 } else if(mode==42) {
yabahiro 48:5562a99479e5 4491 motor[TIRE_FR].pwm = 40;
yabahiro 48:5562a99479e5 4492 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 4493 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4494 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4495 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4496 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4497 motor[TIRE_BL].pwm = 40;
yabahiro 48:5562a99479e5 4498 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 4499 if(g[1]==0) {
yabahiro 48:5562a99479e5 4500 countss=0;
yabahiro 48:5562a99479e5 4501 mode=70;
yabahiro 48:5562a99479e5 4502 }
yabahiro 48:5562a99479e5 4503 } else if(mode==70) {
yabahiro 48:5562a99479e5 4504 switch(g[0]) {
yabahiro 48:5562a99479e5 4505 case 99:
yabahiro 48:5562a99479e5 4506 if(countss>=100000) {
yabahiro 48:5562a99479e5 4507 mode=100;
yabahiro 48:5562a99479e5 4508 }
yabahiro 48:5562a99479e5 4509 break;
yabahiro 48:5562a99479e5 4510 case 98:
yabahiro 48:5562a99479e5 4511 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4512 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4513 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4514 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4515 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4516 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4517 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4518 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4519 break;
yabahiro 48:5562a99479e5 4520 case 0:
yabahiro 48:5562a99479e5 4521 motor[TIRE_FR].pwm = 80;
yabahiro 48:5562a99479e5 4522 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4523 motor[TIRE_FL].pwm = 80;
yabahiro 48:5562a99479e5 4524 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4525 motor[TIRE_BR].pwm = 80;
yabahiro 48:5562a99479e5 4526 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4527 motor[TIRE_BL].pwm = 80;
yabahiro 48:5562a99479e5 4528 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4529 mtc=true;
yabahiro 48:5562a99479e5 4530 break;
yabahiro 48:5562a99479e5 4531 case 255:
yabahiro 48:5562a99479e5 4532 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4533 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4534 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4535 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4536 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4537 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4538 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4539 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4540 mtc=true;
yabahiro 48:5562a99479e5 4541 break;
yabahiro 48:5562a99479e5 4542 case 253:
yabahiro 48:5562a99479e5 4543 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4544 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4545 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4546 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4547 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4548 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4549 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4550 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4551 mtc=true;
yabahiro 48:5562a99479e5 4552 break;
yabahiro 48:5562a99479e5 4553 case 254:
yabahiro 48:5562a99479e5 4554 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4555 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4556 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4557 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4558 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4559 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4560 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4561 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4562 mtc=true;
yabahiro 48:5562a99479e5 4563 break;
yabahiro 48:5562a99479e5 4564 case 1:
yabahiro 48:5562a99479e5 4565 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4566 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4567 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4568 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4569 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4570 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4571 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4572 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4573 mtc=true;
yabahiro 48:5562a99479e5 4574 break;
yabahiro 48:5562a99479e5 4575 case 3:
yabahiro 48:5562a99479e5 4576 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4577 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4578 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4579 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4580 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4581 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4582 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4583 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4584 mtc=true;
yabahiro 48:5562a99479e5 4585 break;
yabahiro 48:5562a99479e5 4586 case 2:
yabahiro 48:5562a99479e5 4587 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4588 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4589 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4590 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4591 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4592 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4593 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4594 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4595 mtc=true;
yabahiro 48:5562a99479e5 4596 break;
yabahiro 48:5562a99479e5 4597 }
yabahiro 48:5562a99479e5 4598 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4599 switch(g[1]) {
yabahiro 48:5562a99479e5 4600 case 0:
yabahiro 48:5562a99479e5 4601 mtc=false;
yabahiro 48:5562a99479e5 4602 break;
yabahiro 48:5562a99479e5 4603 case 255:
yabahiro 48:5562a99479e5 4604 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4605 mtc=false;
yabahiro 48:5562a99479e5 4606 break;
yabahiro 48:5562a99479e5 4607 case 253:
yabahiro 48:5562a99479e5 4608 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4609 mtc=false;
yabahiro 48:5562a99479e5 4610 break;
yabahiro 48:5562a99479e5 4611 case 254:
yabahiro 48:5562a99479e5 4612 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4613 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4614 mtc=false;
yabahiro 48:5562a99479e5 4615 break;
yabahiro 48:5562a99479e5 4616 case 1:
yabahiro 48:5562a99479e5 4617 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4618 mtc=false;
yabahiro 48:5562a99479e5 4619 break;
yabahiro 48:5562a99479e5 4620 case 3:
yabahiro 48:5562a99479e5 4621 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4622 mtc=false;
yabahiro 48:5562a99479e5 4623 break;
yabahiro 48:5562a99479e5 4624 case 2:
yabahiro 48:5562a99479e5 4625 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4626 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4627 mtc=false;
yabahiro 48:5562a99479e5 4628 break;
yabahiro 48:5562a99479e5 4629 }
yabahiro 48:5562a99479e5 4630 }
yabahiro 48:5562a99479e5 4631 } else if(mode==100) {
yabahiro 48:5562a99479e5 4632 motor[TIRE_FR].pwm = 50;
yabahiro 48:5562a99479e5 4633 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4634 motor[TIRE_FL].pwm = 50;
yabahiro 48:5562a99479e5 4635 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4636 motor[TIRE_BR].pwm = 50;
yabahiro 48:5562a99479e5 4637 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4638 motor[TIRE_BL].pwm = 50;
yabahiro 48:5562a99479e5 4639 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4640 } else {
yabahiro 48:5562a99479e5 4641 }
yabahiro 33:dd598bb23ad1 4642
kishibekairohan 13:b6e02d6261d7 4643 }
kishibekairohan 13:b6e02d6261d7 4644 #endif
kishibekairohan 13:b6e02d6261d7 4645
kishibekairohan 13:b6e02d6261d7 4646 #if USE_PROCESS_NUM>5
Ryosei 27:dd9f27fce7d1 4647 static void Process5()
Ryosei 27:dd9f27fce7d1 4648 {
yabahiro 46:68296caae1af 4649
kishibekairohan 13:b6e02d6261d7 4650 }
kishibekairohan 13:b6e02d6261d7 4651 #endif
kishibekairohan 13:b6e02d6261d7 4652
kishibekairohan 13:b6e02d6261d7 4653 #if USE_PROCESS_NUM>6
Ryosei 27:dd9f27fce7d1 4654 static void Process6()
kishibekairohan 13:b6e02d6261d7 4655 {
Ryosei 27:dd9f27fce7d1 4656
kishibekairohan 13:b6e02d6261d7 4657 }
kishibekairohan 13:b6e02d6261d7 4658 #endif
kishibekairohan 13:b6e02d6261d7 4659
kishibekairohan 13:b6e02d6261d7 4660 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 4661 static void Process7()
kishibekairohan 13:b6e02d6261d7 4662 {
yabahiro 33:dd598bb23ad1 4663
kishibekairohan 12:c09b3e08a316 4664 }
kishibekairohan 12:c09b3e08a316 4665 #endif
kishibekairohan 12:c09b3e08a316 4666
Ryosei 27:dd9f27fce7d1 4667 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 4668 static void Process8()
kishibekairohan 12:c09b3e08a316 4669 {
yabahiro 33:dd598bb23ad1 4670
kishibekairohan 12:c09b3e08a316 4671 }
kishibekairohan 12:c09b3e08a316 4672 #endif
kishibekairohan 12:c09b3e08a316 4673
kishibekairohan 13:b6e02d6261d7 4674 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 4675 static void Process9()
kishibekairohan 12:c09b3e08a316 4676 {
Ryosei 27:dd9f27fce7d1 4677
t_yamamoto 0:669ef71cba68 4678 }
t_yamamoto 0:669ef71cba68 4679 #endif
t_yamamoto 0:669ef71cba68 4680 #endif
t_yamamoto 0:669ef71cba68 4681 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 4682
t_yamamoto 0:669ef71cba68 4683 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 4684 {
yabahiro 33:dd598bb23ad1 4685 #ifdef USE_SOLENOID
yabahiro 33:dd598bb23ad1 4686 solenoid.all = ALL_SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 4687 #endif
yabahiro 33:dd598bb23ad1 4688
yabahiro 33:dd598bb23ad1 4689 #ifdef USE_MOTOR
yabahiro 33:dd598bb23ad1 4690 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro 33:dd598bb23ad1 4691 motor[i].dir = FREE;
yabahiro 33:dd598bb23ad1 4692 motor[i].pwm = 0;
yabahiro 33:dd598bb23ad1 4693 }
yabahiro 33:dd598bb23ad1 4694 #endif
t_yamamoto 0:669ef71cba68 4695 }
t_yamamoto 0:669ef71cba68 4696
kishibekairohan 16:3f2c2d89372b 4697 #pragma region USER-DEFINED-FUNCTIONS
M_souta 29:44d5454ce8fa 4698
M_souta 29:44d5454ce8fa 4699 uint8_t SetStatus(int pwmVal)
Ryosei 27:dd9f27fce7d1 4700 {
M_souta 29:44d5454ce8fa 4701 if (pwmVal < 0) return BACK;
M_souta 29:44d5454ce8fa 4702 else if (pwmVal > 0) return FOR;
M_souta 29:44d5454ce8fa 4703 else if (pwmVal == 0) return BRAKE;
M_souta 29:44d5454ce8fa 4704 else return BRAKE;
M_souta 22:7d93f79a3686 4705 }
kishibekairohan 16:3f2c2d89372b 4706
M_souta 29:44d5454ce8fa 4707 uint8_t SetPWM(int pwmVal)
Ryosei 27:dd9f27fce7d1 4708 {
M_souta 29:44d5454ce8fa 4709 if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
M_souta 29:44d5454ce8fa 4710 else return abs(pwmVal);
M_souta 22:7d93f79a3686 4711 }
kishibekairohan 16:3f2c2d89372b 4712
t_yamamoto 0:669ef71cba68 4713 #pragma endregion