大季 矢花 / Mbed 2 deprecated MB2019_main_alltimes_1123

aa

Dependencies:   mbed

System/Process/Process.cpp@57:ccfd26b94d8a, 2019-11-19 (annotated)

Committer:
yabahiro
Date:
Tue Nov 19 14:21:38 2019 +0000
Revision:
57:ccfd26b94d8a
Parent:
56:61ebd4b759b4
Child:
58:bfc38c43dadb
aa;

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 55:844ac0974740 92 int num=0;
yabahiro 33:dd598bb23ad1 93
yabahiro 33:dd598bb23ad1 94 ///*********PWM調整用*********///
kishibekairohan 41:99a1158f3eca 95
kishibekairohan 42:980af34f6fe3 96 int fast = 60;
yabahiro 33:dd598bb23ad1 97 int normal = 40;
yabahiro 46:68296caae1af 98 int slow = 25;
yabahiro 33:dd598bb23ad1 99
yabahiro 55:844ac0974740 100 /*
yabahiro 55:844ac0974740 101 void Count();
yabahiro 55:844ac0974740 102 Ticker bunzin;
yabahiro 55:844ac0974740 103 */
yabahiro 55:844ac0974740 104
yabahiro 56:61ebd4b759b4 105 Timer aime;
yabahiro 56:61ebd4b759b4 106 int value;
yabahiro 55:844ac0974740 107
t_yamamoto 0:669ef71cba68 108 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 109
t_yamamoto 0:669ef71cba68 110 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 111 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 112 static void Process0(void);
t_yamamoto 0:669ef71cba68 113 #endif
t_yamamoto 0:669ef71cba68 114 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 115 static void Process1(void);
t_yamamoto 0:669ef71cba68 116 #endif
t_yamamoto 0:669ef71cba68 117 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 118 static void Process2(void);
t_yamamoto 0:669ef71cba68 119 #endif
t_yamamoto 0:669ef71cba68 120 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 121 static void Process3(void);
t_yamamoto 0:669ef71cba68 122 #endif
t_yamamoto 0:669ef71cba68 123 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 124 static void Process4(void);
t_yamamoto 0:669ef71cba68 125 #endif
t_yamamoto 0:669ef71cba68 126 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 127 static void Process5(void);
t_yamamoto 0:669ef71cba68 128 #endif
t_yamamoto 0:669ef71cba68 129 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 130 static void Process6(void);
t_yamamoto 0:669ef71cba68 131 #endif
t_yamamoto 0:669ef71cba68 132 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 133 static void Process7(void);
t_yamamoto 0:669ef71cba68 134 #endif
t_yamamoto 0:669ef71cba68 135 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 136 static void Process8(void);
t_yamamoto 0:669ef71cba68 137 #endif
t_yamamoto 0:669ef71cba68 138 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 139 static void Process9(void);
t_yamamoto 0:669ef71cba68 140 #endif
t_yamamoto 0:669ef71cba68 141 #endif
t_yamamoto 0:669ef71cba68 142
t_yamamoto 0:669ef71cba68 143 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 144 {
Ryosei 27:dd9f27fce7d1 145 #pragma region USER-DEFINED_VARIABLE_INIT
Ryosei 27:dd9f27fce7d1 146 /*Replace here with the initialization code of your variables.*/
yabahiro 55:844ac0974740 147 //bunzin.attach(Count,0.001);
Ryosei 27:dd9f27fce7d1 148
Ryosei 27:dd9f27fce7d1 149 #pragma endregion USER-DEFINED_VARIABLE_INIT
Ryosei 27:dd9f27fce7d1 150
Ryosei 27:dd9f27fce7d1 151 lock = true;
Ryosei 27:dd9f27fce7d1 152 processChangeComp = true;
Ryosei 27:dd9f27fce7d1 153 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 154
Ryosei 27:dd9f27fce7d1 155 #ifdef USE_SUBPROCESS
Ryosei 27:dd9f27fce7d1 156 #if USE_PROCESS_NUM>0
Ryosei 27:dd9f27fce7d1 157 Process[0] = Process0;
Ryosei 27:dd9f27fce7d1 158 #endif
Ryosei 27:dd9f27fce7d1 159 #if USE_PROCESS_NUM>1
Ryosei 27:dd9f27fce7d1 160 Process[1] = Process1;
Ryosei 27:dd9f27fce7d1 161 #endif
Ryosei 27:dd9f27fce7d1 162 #if USE_PROCESS_NUM>2
Ryosei 27:dd9f27fce7d1 163 Process[2] = Process2;
Ryosei 27:dd9f27fce7d1 164 #endif
Ryosei 27:dd9f27fce7d1 165 #if USE_PROCESS_NUM>3
Ryosei 27:dd9f27fce7d1 166 Process[3] = Process3;
Ryosei 27:dd9f27fce7d1 167 #endif
Ryosei 27:dd9f27fce7d1 168 #if USE_PROCESS_NUM>4
Ryosei 27:dd9f27fce7d1 169 Process[4] = Process4;
Ryosei 27:dd9f27fce7d1 170 #endif
Ryosei 27:dd9f27fce7d1 171 #if USE_PROCESS_NUM>5
Ryosei 27:dd9f27fce7d1 172 Process[5] = Process5;
Ryosei 27:dd9f27fce7d1 173 #endif
Ryosei 27:dd9f27fce7d1 174 #if USE_PROCESS_NUM>6
Ryosei 27:dd9f27fce7d1 175 Process[6] = Process6;
Ryosei 27:dd9f27fce7d1 176 #endif
Ryosei 27:dd9f27fce7d1 177 #if USE_PROCESS_NUM>7
Ryosei 27:dd9f27fce7d1 178 Process[7] = Process7;
Ryosei 27:dd9f27fce7d1 179 #endif
Ryosei 27:dd9f27fce7d1 180 #if USE_PROCESS_NUM>8
Ryosei 27:dd9f27fce7d1 181 Process[8] = Process8;
Ryosei 27:dd9f27fce7d1 182 #endif
Ryosei 27:dd9f27fce7d1 183 #if USE_PROCESS_NUM>9
Ryosei 27:dd9f27fce7d1 184 Process[9] = Process9;
Ryosei 27:dd9f27fce7d1 185 #endif
Ryosei 27:dd9f27fce7d1 186 #endif
t_yamamoto 0:669ef71cba68 187 }
t_yamamoto 0:669ef71cba68 188
t_yamamoto 0:669ef71cba68 189 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 190 {
Ryosei 27:dd9f27fce7d1 191 #ifdef USE_SUBPROCESS
Ryosei 27:dd9f27fce7d1 192 if(controller->Button.HOME) lock = false;
Ryosei 27:dd9f27fce7d1 193
Ryosei 27:dd9f27fce7d1 194 if(controller->Button.START && processChangeComp) {
Ryosei 27:dd9f27fce7d1 195 current++;
Ryosei 27:dd9f27fce7d1 196 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
Ryosei 27:dd9f27fce7d1 197 processChangeComp = false;
Ryosei 27:dd9f27fce7d1 198 } else if(controller->Button.SELECT && processChangeComp) {
Ryosei 27:dd9f27fce7d1 199 current--;
Ryosei 27:dd9f27fce7d1 200 if (current < 0) current = 0;
Ryosei 27:dd9f27fce7d1 201 processChangeComp = false;
Ryosei 27:dd9f27fce7d1 202 } else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
Ryosei 27:dd9f27fce7d1 203 #endif
Ryosei 27:dd9f27fce7d1 204
Ryosei 27:dd9f27fce7d1 205 #ifdef USE_MOTOR
Ryosei 27:dd9f27fce7d1 206 ACTUATORHUB::MOTOR::Motor::Update(motor);
Ryosei 27:dd9f27fce7d1 207 #endif
Ryosei 27:dd9f27fce7d1 208
Ryosei 27:dd9f27fce7d1 209 #ifdef USE_SOLENOID
Ryosei 27:dd9f27fce7d1 210 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
Ryosei 27:dd9f27fce7d1 211 #endif
Ryosei 27:dd9f27fce7d1 212
Ryosei 27:dd9f27fce7d1 213 #ifdef USE_RS485
Ryosei 27:dd9f27fce7d1 214 ACTUATORHUB::ActuatorHub::Update();
Ryosei 27:dd9f27fce7d1 215 //LINEHUB::LineHub::Update();
Ryosei 27:dd9f27fce7d1 216 #endif
Ryosei 27:dd9f27fce7d1 217
Ryosei 27:dd9f27fce7d1 218 }
Ryosei 27:dd9f27fce7d1 219
yabahiro 39:784552c26163 220 int point1;
Ryosei 27:dd9f27fce7d1 221 void SystemProcess()
Ryosei 27:dd9f27fce7d1 222 {
yabahiro 56:61ebd4b759b4 223
Ryosei 27:dd9f27fce7d1 224 SystemProcessInitialize();
yabahiro 33:dd598bb23ad1 225
Ryosei 27:dd9f27fce7d1 226 while(1) {
yabahiro 53:694dbd7dfa0e 227 //pc.printf("3:%d\n\r",g[3]);
yabahiro 46:68296caae1af 228
yabahiro 33:dd598bb23ad1 229 if(EMC==0) {
yabahiro 33:dd598bb23ad1 230 fast=40;
yabahiro 33:dd598bb23ad1 231 normal=30;
yabahiro 33:dd598bb23ad1 232 slow=20;
yabahiro 33:dd598bb23ad1 233 cross=0;//十字数える用
yabahiro 33:dd598bb23ad1 234 cros=0;
yabahiro 33:dd598bb23ad1 235 countss=0;//wait代替え
yabahiro 33:dd598bb23ad1 236 UP_flag = false;
yabahiro 33:dd598bb23ad1 237 SW_flag = false;
yabahiro 33:dd598bb23ad1 238 Air_flag = false;
yabahiro 33:dd598bb23ad1 239 zyouge=false;
yabahiro 33:dd598bb23ad1 240 zyougedo=false;
yabahiro 33:dd598bb23ad1 241 dz2=true;
yabahiro 33:dd598bb23ad1 242 dz2i=false;
yabahiro 33:dd598bb23ad1 243 dz3=true;
yabahiro 33:dd598bb23ad1 244 dz3i=false;
yabahiro 33:dd598bb23ad1 245 dz4=true;
yabahiro 33:dd598bb23ad1 246 dz4i=false;
yabahiro 33:dd598bb23ad1 247 through=false;
yabahiro 33:dd598bb23ad1 248 counts=false;
yabahiro 33:dd598bb23ad1 249 mtc=false;
yabahiro 33:dd598bb23ad1 250 mtc2 = false;
yabahiro 33:dd598bb23ad1 251 current = 0;
yabahiro 33:dd598bb23ad1 252 SystemProcessInitialize();
yabahiro 33:dd598bb23ad1 253 if(emcs==false) {
yabahiro 33:dd598bb23ad1 254 AllActuatorReset();
yabahiro 33:dd598bb23ad1 255 emcs=true;
yabahiro 33:dd598bb23ad1 256 }
yabahiro 33:dd598bb23ad1 257 } else {
yabahiro 33:dd598bb23ad1 258 emcs=false;
yabahiro 33:dd598bb23ad1 259 }
Ryosei 27:dd9f27fce7d1 260
yabahiro 33:dd598bb23ad1 261 if(mode==0) {
yabahiro 33:dd598bb23ad1 262 if(ZoneSW) {
kishibekairohan 35:33c6cdba5630 263 LED::LED::TapeledMode(1);
yabahiro 33:dd598bb23ad1 264 } else {
kishibekairohan 35:33c6cdba5630 265 LED::LED::TapeledMode(2);
yabahiro 33:dd598bb23ad1 266 }
yabahiro 33:dd598bb23ad1 267 }
yabahiro 33:dd598bb23ad1 268 for(int i = 0; i < 8; i++) {
yabahiro 33:dd598bb23ad1 269 g[i] = LineHub::GetPara(i);
yabahiro 33:dd598bb23ad1 270 }
yabahiro 33:dd598bb23ad1 271 if(ThSW) {
yabahiro 33:dd598bb23ad1 272 Twsh=1;
yabahiro 33:dd598bb23ad1 273 } else {
yabahiro 33:dd598bb23ad1 274 Twsh=2;
yabahiro 33:dd598bb23ad1 275 }
yabahiro 33:dd598bb23ad1 276
yabahiro 33:dd598bb23ad1 277 if(StertSW && start_flag == true) {
yabahiro 33:dd598bb23ad1 278 start_flag = false;
yabahiro 33:dd598bb23ad1 279 lock = false;
yabahiro 33:dd598bb23ad1 280 if(ZoneSW) {
yabahiro 33:dd598bb23ad1 281 countss=0;
yabahiro 33:dd598bb23ad1 282 mode=1;
yabahiro 57:ccfd26b94d8a 283 current = 3;//1119変更した
yabahiro 33:dd598bb23ad1 284
yabahiro 33:dd598bb23ad1 285 } else {
kishibekairohan 34:2fce61e3ebc4 286 countss = 0;
yabahiro 33:dd598bb23ad1 287 mode=1;
yabahiro 56:61ebd4b759b4 288 current = 2;
yabahiro 33:dd598bb23ad1 289 }
yabahiro 33:dd598bb23ad1 290 }
yabahiro 33:dd598bb23ad1 291 if(DWSW||DOSW) {
yabahiro 33:dd598bb23ad1 292 if(DWSW) {
yabahiro 33:dd598bb23ad1 293 zyouge=true;
yabahiro 33:dd598bb23ad1 294 }
yabahiro 33:dd598bb23ad1 295 if(DOSW) {
yabahiro 33:dd598bb23ad1 296 if(DOLS) {
yabahiro 33:dd598bb23ad1 297 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 298 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 299 } else {
yabahiro 38:40e7fdf3c694 300 motor[MOTOR_0].pwm = 200;
yabahiro 33:dd598bb23ad1 301 motor[MOTOR_0].dir = BACK;
yabahiro 33:dd598bb23ad1 302 }
yabahiro 33:dd598bb23ad1 303 }
yabahiro 33:dd598bb23ad1 304 } else if(zyouge==false) {
yabahiro 33:dd598bb23ad1 305 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 306 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 307 }
yabahiro 33:dd598bb23ad1 308 if(zyouge) {
yabahiro 33:dd598bb23ad1 309 if(Twsh==1) {
yabahiro 38:40e7fdf3c694 310 motor[MOTOR_0].pwm = 255;
yabahiro 33:dd598bb23ad1 311 motor[MOTOR_0].dir = FOR;
yabahiro 33:dd598bb23ad1 312 if(UPLS) {
yabahiro 33:dd598bb23ad1 313 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 314 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 315 zyouge=false;
yabahiro 33:dd598bb23ad1 316 }
yabahiro 33:dd598bb23ad1 317 }
yabahiro 33:dd598bb23ad1 318 if(Twsh==2) {
yabahiro 33:dd598bb23ad1 319 motor[MOTOR_0].pwm = 245;
yabahiro 33:dd598bb23ad1 320 motor[MOTOR_0].dir = FOR;
yabahiro 33:dd598bb23ad1 321 if(UPLS2) {
yabahiro 33:dd598bb23ad1 322 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 323 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 324 zyouge=false;
yabahiro 33:dd598bb23ad1 325 }
yabahiro 33:dd598bb23ad1 326 }
yabahiro 33:dd598bb23ad1 327 }
yabahiro 33:dd598bb23ad1 328 if(AIRSW) {
yabahiro 33:dd598bb23ad1 329 if(SW_flag==false) {
yabahiro 33:dd598bb23ad1 330 if(Air_flag==false) {
yabahiro 33:dd598bb23ad1 331 solenoid.solenoid3 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 332 Air_flag=true;
yabahiro 33:dd598bb23ad1 333 SW_flag=true;
yabahiro 33:dd598bb23ad1 334 } else {
yabahiro 33:dd598bb23ad1 335 solenoid.solenoid3 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 336 Air_flag=false;
yabahiro 33:dd598bb23ad1 337 SW_flag=true;
yabahiro 33:dd598bb23ad1 338 }
yabahiro 33:dd598bb23ad1 339 }
yabahiro 33:dd598bb23ad1 340 } else {
yabahiro 33:dd598bb23ad1 341 if(SW_flag==true) {
yabahiro 33:dd598bb23ad1 342 countss++;
yabahiro 33:dd598bb23ad1 343 if(countss>=2000) {
yabahiro 33:dd598bb23ad1 344 SW_flag=false;
yabahiro 33:dd598bb23ad1 345 countss=0;
yabahiro 33:dd598bb23ad1 346 }
yabahiro 33:dd598bb23ad1 347 }
yabahiro 33:dd598bb23ad1 348 }
yabahiro 33:dd598bb23ad1 349
yabahiro 33:dd598bb23ad1 350
yabahiro 33:dd598bb23ad1 351 #ifdef USE_MU
Ryosei 27:dd9f27fce7d1 352 controller = CONTROLLER::Controller::GetData();
yabahiro 33:dd598bb23ad1 353 #endif
yabahiro 33:dd598bb23ad1 354
Ryosei 27:dd9f27fce7d1 355
yabahiro 33:dd598bb23ad1 356 #ifdef USE_ERRORCHECK
yabahiro 38:40e7fdf3c694 357 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) {
Ryosei 27:dd9f27fce7d1 358 CONTROLLER::Controller::DataReset();
Ryosei 27:dd9f27fce7d1 359 AllActuatorReset();
Ryosei 27:dd9f27fce7d1 360 lock = true;
Ryosei 27:dd9f27fce7d1 361 } else
yabahiro 38:40e7fdf3c694 362
yabahiro 33:dd598bb23ad1 363 #endif
Ryosei 27:dd9f27fce7d1 364 {
Ryosei 27:dd9f27fce7d1 365
yabahiro 33:dd598bb23ad1 366 #ifdef USE_SUBPROCESS
Ryosei 27:dd9f27fce7d1 367 if(!lock) {
Ryosei 27:dd9f27fce7d1 368 Process[current]();
Ryosei 27:dd9f27fce7d1 369 } else
yabahiro 33:dd598bb23ad1 370 #endif
Ryosei 27:dd9f27fce7d1 371 {
Ryosei 27:dd9f27fce7d1 372 //ロック時の処理
Ryosei 27:dd9f27fce7d1 373 }
Ryosei 27:dd9f27fce7d1 374 }
yabahiro 33:dd598bb23ad1 375
Ryosei 27:dd9f27fce7d1 376 SystemProcessUpdate();
Ryosei 27:dd9f27fce7d1 377 }
t_yamamoto 0:669ef71cba68 378 }
t_yamamoto 0:669ef71cba68 379
kishibekairohan 2:c015739085d3 380
kishibekairohan 2:c015739085d3 381
kishibekairohan 2:c015739085d3 382
t_yamamoto 0:669ef71cba68 383 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 384 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 385 #if USE_PROCESS_NUM>0
Ryosei 27:dd9f27fce7d1 386 static void Process0()
Ryosei 27:dd9f27fce7d1 387 {
yabahiro 33:dd598bb23ad1 388
yabahiro 33:dd598bb23ad1 389 //AllActuatorReset();
t_yamamoto 0:669ef71cba68 390 }
t_yamamoto 0:669ef71cba68 391 #endif
t_yamamoto 0:669ef71cba68 392
t_yamamoto 0:669ef71cba68 393 #if USE_PROCESS_NUM>1
kishibekairohan 16:3f2c2d89372b 394 static void Process1()
t_yamamoto 0:669ef71cba68 395 {
kishibekairohan 35:33c6cdba5630 396 LED::LED::TapeledMode(6);
yabahiro 33:dd598bb23ad1 397 start_flag = true;
yabahiro 33:dd598bb23ad1 398 mtc=false;
yabahiro 33:dd598bb23ad1 399 mtc2 = false;
yabahiro 33:dd598bb23ad1 400 mode=1;
yabahiro 33:dd598bb23ad1 401 cross=0;
yabahiro 33:dd598bb23ad1 402 Twsh=1;
yabahiro 33:dd598bb23ad1 403 motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro 33:dd598bb23ad1 404 motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro 33:dd598bb23ad1 405 motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro 33:dd598bb23ad1 406 motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
Ryosei 27:dd9f27fce7d1 407
kishibekairohan 42:980af34f6fe3 408 motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan 42:980af34f6fe3 409 motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan 42:980af34f6fe3 410 motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan 42:980af34f6fe3 411 motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro 33:dd598bb23ad1 412
yabahiro 33:dd598bb23ad1 413 if(controller->Button.UP||controller->Button.DOWN) {
yabahiro 33:dd598bb23ad1 414
yabahiro 33:dd598bb23ad1 415 if(controller->Button.UP) {
yabahiro 33:dd598bb23ad1 416 motor[MOTOR_0].pwm =200;
yabahiro 33:dd598bb23ad1 417 motor[MOTOR_0].dir = FOR;
yabahiro 33:dd598bb23ad1 418 if(UPLS) {
yabahiro 33:dd598bb23ad1 419 motor[MOTOR_0].pwm = 0;
yabahiro 33:dd598bb23ad1 420 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 421 }
yabahiro 33:dd598bb23ad1 422 }
yabahiro 33:dd598bb23ad1 423 if(controller->Button.DOWN) {
yabahiro 33:dd598bb23ad1 424 motor[MOTOR_0].pwm = 50;
yabahiro 33:dd598bb23ad1 425 motor[MOTOR_0].dir = BACK;
yabahiro 33:dd598bb23ad1 426 }
yabahiro 33:dd598bb23ad1 427 } else {
yabahiro 33:dd598bb23ad1 428 motor[MOTOR_0].pwm = 0;
yabahiro 33:dd598bb23ad1 429 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 430 }
yabahiro 33:dd598bb23ad1 431
yabahiro 33:dd598bb23ad1 432 if(controller->Button.Y) {
yabahiro 33:dd598bb23ad1 433 if(dz2==true) {
yabahiro 33:dd598bb23ad1 434 if(dz2i==false) {
yabahiro 33:dd598bb23ad1 435 solenoid.solenoid2 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 436 dz2i=true;
yabahiro 33:dd598bb23ad1 437 } else {
yabahiro 33:dd598bb23ad1 438 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 439 dz2i=false;
yabahiro 33:dd598bb23ad1 440 }
yabahiro 33:dd598bb23ad1 441 dz2=false;
yabahiro 33:dd598bb23ad1 442 }
yabahiro 33:dd598bb23ad1 443 } else {
yabahiro 33:dd598bb23ad1 444 dz2=true;
yabahiro 33:dd598bb23ad1 445 }
yabahiro 33:dd598bb23ad1 446
yabahiro 33:dd598bb23ad1 447 if(controller->Button.A) {
yabahiro 33:dd598bb23ad1 448 if(dz3==true) {
yabahiro 33:dd598bb23ad1 449 if(dz3i==false) {
kishibekairohan 37:e77816810627 450 solenoid.solenoid3 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 451 dz3i=true;
yabahiro 33:dd598bb23ad1 452 } else {
yabahiro 33:dd598bb23ad1 453 solenoid.solenoid3 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 454 dz3i=false;
yabahiro 33:dd598bb23ad1 455 }
yabahiro 33:dd598bb23ad1 456 dz3=false;
yabahiro 33:dd598bb23ad1 457 }
yabahiro 33:dd598bb23ad1 458 } else {
yabahiro 33:dd598bb23ad1 459 dz3=true;
yabahiro 33:dd598bb23ad1 460 }
yabahiro 33:dd598bb23ad1 461
yabahiro 33:dd598bb23ad1 462 if(controller->Button.B) {
yabahiro 33:dd598bb23ad1 463 if(dz4==true) {
yabahiro 33:dd598bb23ad1 464 if(dz4i==false) {
yabahiro 38:40e7fdf3c694 465 solenoid.solenoid4 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 466 dz4i=true;
yabahiro 33:dd598bb23ad1 467 } else {
yabahiro 38:40e7fdf3c694 468 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 469 dz4i=false;
yabahiro 33:dd598bb23ad1 470 }
yabahiro 33:dd598bb23ad1 471 dz4=false;
yabahiro 33:dd598bb23ad1 472 }
yabahiro 33:dd598bb23ad1 473 } else {
yabahiro 33:dd598bb23ad1 474 dz4=true;
yabahiro 33:dd598bb23ad1 475 }
t_yamamoto 0:669ef71cba68 476 }
t_yamamoto 0:669ef71cba68 477 #endif
t_yamamoto 0:669ef71cba68 478
t_yamamoto 0:669ef71cba68 479 #if USE_PROCESS_NUM>2
kishibekairohan 16:3f2c2d89372b 480 static void Process2()
Ryosei 27:dd9f27fce7d1 481 {
yabahiro 33:dd598bb23ad1 482 //Oh So 青ゾーン
yabahiro 53:694dbd7dfa0e 483 LED::LED::TapeledMode(4);
yabahiro 33:dd598bb23ad1 484 countss++;
yabahiro 50:87f5fa1bc460 485 switch(mode) {
yabahiro 50:87f5fa1bc460 486 case 1:
yabahiro 51:a0bdbddd08f7 487 fast=40;
yabahiro 51:a0bdbddd08f7 488 normal=30;
yabahiro 51:a0bdbddd08f7 489 slow=20;
yabahiro 51:a0bdbddd08f7 490 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 491 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 492 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 493 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 494 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 495 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 496 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 497 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 498 if(g[2]==0&&countss>=300000) {
yabahiro 51:a0bdbddd08f7 499 countss=100000;
yabahiro 51:a0bdbddd08f7 500 cross=0;
yabahiro 51:a0bdbddd08f7 501 mode=3;
yabahiro 51:a0bdbddd08f7 502 }
yabahiro 50:87f5fa1bc460 503 break;
yabahiro 51:a0bdbddd08f7 504 case 3:
yabahiro 51:a0bdbddd08f7 505 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 506 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 507 motor[TIRE_FL].pwm = 255;
yabahiro 51:a0bdbddd08f7 508 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 509 motor[TIRE_BR].pwm = 255;
yabahiro 51:a0bdbddd08f7 510 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 511 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 512 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 513 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 514 mode=10;
yabahiro 51:a0bdbddd08f7 515 countss=100000;
yabahiro 55:844ac0974740 516 fast=80;
yabahiro 55:844ac0974740 517 normal=60;
yabahiro 55:844ac0974740 518 slow=40;
yabahiro 51:a0bdbddd08f7 519 }
yabahiro 50:87f5fa1bc460 520 break;
yabahiro 50:87f5fa1bc460 521 case 10:
yabahiro 51:a0bdbddd08f7 522 switch(g[1]) {
yabahiro 51:a0bdbddd08f7 523 case 98:
yabahiro 51:a0bdbddd08f7 524 motor[TIRE_FR].pwm = normal+55;
yabahiro 51:a0bdbddd08f7 525 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 526 motor[TIRE_FL].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 527 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 528 motor[TIRE_BR].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 529 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 530 motor[TIRE_BL].pwm = normal+45;
yabahiro 51:a0bdbddd08f7 531 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 532 mtc=true;
yabahiro 51:a0bdbddd08f7 533 if(countss>80000) {
yabahiro 51:a0bdbddd08f7 534 cross++;
yabahiro 51:a0bdbddd08f7 535 countss=0;
yabahiro 51:a0bdbddd08f7 536 }
yabahiro 46:68296caae1af 537
yabahiro 51:a0bdbddd08f7 538 if(cross==2) {
yabahiro 51:a0bdbddd08f7 539 fast = 10;
yabahiro 51:a0bdbddd08f7 540 normal = 10;
yabahiro 51:a0bdbddd08f7 541 slow = 5;
yabahiro 51:a0bdbddd08f7 542 }
yabahiro 46:68296caae1af 543
kishibekairohan 45:0cf48a0605cd 544 if(cross==3) {
yabahiro 51:a0bdbddd08f7 545 fast=40;
yabahiro 51:a0bdbddd08f7 546 normal=30;
yabahiro 51:a0bdbddd08f7 547 slow=20;
yabahiro 51:a0bdbddd08f7 548 mode=11;
yabahiro 39:784552c26163 549 countss=0;
yabahiro 39:784552c26163 550 cross=0;
yabahiro 39:784552c26163 551 }
yabahiro 39:784552c26163 552 break;
yabahiro 39:784552c26163 553 case 0:
yabahiro 51:a0bdbddd08f7 554 motor[TIRE_FR].pwm = fast+55;
yabahiro 51:a0bdbddd08f7 555 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 556 motor[TIRE_FL].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 557 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 558 motor[TIRE_BR].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 559 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 560 motor[TIRE_BL].pwm = fast+45;
yabahiro 51:a0bdbddd08f7 561 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 562 mtc=true;
yabahiro 39:784552c26163 563 break;
yabahiro 39:784552c26163 564 case 255:
yabahiro 51:a0bdbddd08f7 565 motor[TIRE_FR].pwm = fast+55;
yabahiro 51:a0bdbddd08f7 566 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 567 motor[TIRE_FL].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 568 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 569 motor[TIRE_BR].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 570 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 571 motor[TIRE_BL].pwm = fast+45;
yabahiro 51:a0bdbddd08f7 572 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 573 mtc=true;
yabahiro 39:784552c26163 574 break;
yabahiro 39:784552c26163 575 case 253:
yabahiro 51:a0bdbddd08f7 576 motor[TIRE_FR].pwm = slow+55;
yabahiro 51:a0bdbddd08f7 577 motor[TIRE_FR].dir = FOR;
yabahiro 39:784552c26163 578 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 579 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 580 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 581 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 582 motor[TIRE_BL].pwm = slow+45;
yabahiro 51:a0bdbddd08f7 583 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 584 mtc=true;
yabahiro 39:784552c26163 585 break;
yabahiro 39:784552c26163 586 case 254:
yabahiro 51:a0bdbddd08f7 587 motor[TIRE_FR].pwm = normal+55;
yabahiro 51:a0bdbddd08f7 588 motor[TIRE_FR].dir = FOR;
yabahiro 39:784552c26163 589 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 590 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 591 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 592 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 593 motor[TIRE_BL].pwm = normal+45;
yabahiro 51:a0bdbddd08f7 594 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 595 mtc=true;
yabahiro 39:784552c26163 596 break;
yabahiro 39:784552c26163 597 case 1:
yabahiro 51:a0bdbddd08f7 598 motor[TIRE_FR].pwm = slow+55;
yabahiro 51:a0bdbddd08f7 599 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 600 motor[TIRE_FL].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 601 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 602 motor[TIRE_BR].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 603 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 604 motor[TIRE_BL].pwm = slow+45;
yabahiro 51:a0bdbddd08f7 605 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 606 mtc=true;
yabahiro 39:784552c26163 607 break;
yabahiro 39:784552c26163 608 case 3:
yabahiro 39:784552c26163 609 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 610 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 611 motor[TIRE_FL].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 612 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 613 motor[TIRE_BR].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 614 motor[TIRE_BR].dir = FOR;
yabahiro 39:784552c26163 615 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 616 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 617 mtc=true;
yabahiro 39:784552c26163 618 break;
yabahiro 39:784552c26163 619 case 2:
yabahiro 39:784552c26163 620 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 621 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 622 motor[TIRE_FL].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 623 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 624 motor[TIRE_BR].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 625 motor[TIRE_BR].dir = FOR;
yabahiro 39:784552c26163 626 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 627 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 628 mtc=true;
yabahiro 39:784552c26163 629 break;
yabahiro 39:784552c26163 630 }
yabahiro 51:a0bdbddd08f7 631 if(g[1]!=98&&mtc==true) {
yabahiro 39:784552c26163 632 switch(g[0]) {
yabahiro 39:784552c26163 633 case 0:
yabahiro 39:784552c26163 634 mtc=false;
yabahiro 39:784552c26163 635 break;
yabahiro 39:784552c26163 636 case 255:
yabahiro 51:a0bdbddd08f7 637 motor[TIRE_FL].pwm += 3;
yabahiro 39:784552c26163 638 mtc=false;
yabahiro 39:784552c26163 639 break;
yabahiro 39:784552c26163 640 case 253:
yabahiro 51:a0bdbddd08f7 641 motor[TIRE_FL].pwm += 6;
yabahiro 39:784552c26163 642 mtc=false;
yabahiro 39:784552c26163 643 break;
yabahiro 39:784552c26163 644 case 254:
yabahiro 51:a0bdbddd08f7 645 motor[TIRE_FL].pwm += 9;
yabahiro 51:a0bdbddd08f7 646 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 647 mtc=false;
yabahiro 39:784552c26163 648 break;
yabahiro 39:784552c26163 649 case 1:
yabahiro 51:a0bdbddd08f7 650 motor[TIRE_FR].pwm += 3;
yabahiro 39:784552c26163 651 mtc=false;
yabahiro 39:784552c26163 652 break;
yabahiro 39:784552c26163 653 case 3:
yabahiro 51:a0bdbddd08f7 654 motor[TIRE_FR].pwm += 6;
yabahiro 39:784552c26163 655 mtc=false;
yabahiro 39:784552c26163 656 break;
yabahiro 39:784552c26163 657 case 2:
yabahiro 51:a0bdbddd08f7 658 motor[TIRE_FR].pwm += 9;
yabahiro 51:a0bdbddd08f7 659 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 660 mtc=false;
yabahiro 39:784552c26163 661 break;
yabahiro 39:784552c26163 662 }
yabahiro 39:784552c26163 663 }
yabahiro 51:a0bdbddd08f7 664 break;
yabahiro 51:a0bdbddd08f7 665 case 11:
yabahiro 53:694dbd7dfa0e 666 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 667 motor[TIRE_FR].dir = FOR;
yabahiro 53:694dbd7dfa0e 668 motor[TIRE_FL].pwm = 15;
yabahiro 53:694dbd7dfa0e 669 motor[TIRE_FL].dir = FOR;
yabahiro 53:694dbd7dfa0e 670 motor[TIRE_BR].pwm = 15;
yabahiro 53:694dbd7dfa0e 671 motor[TIRE_BR].dir = BACK;
yabahiro 53:694dbd7dfa0e 672 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 673 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 674 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 51:a0bdbddd08f7 675 countss=0;
yabahiro 51:a0bdbddd08f7 676 cross=0;
yabahiro 51:a0bdbddd08f7 677 mode=20;
yabahiro 51:a0bdbddd08f7 678 }
yabahiro 51:a0bdbddd08f7 679 break;
yabahiro 51:a0bdbddd08f7 680 case 20:
yabahiro 51:a0bdbddd08f7 681 solenoid.solenoid2= SOLENOID_ON;
yabahiro 51:a0bdbddd08f7 682 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 683 case 98:
yabahiro 51:a0bdbddd08f7 684 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 685 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 686 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 687 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 688 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 689 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 690 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 691 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 692 if(countss>30000) {
yabahiro 51:a0bdbddd08f7 693 cross++;
yabahiro 51:a0bdbddd08f7 694 countss=0;
yabahiro 51:a0bdbddd08f7 695 }
yabahiro 51:a0bdbddd08f7 696 mtc2=true;
yabahiro 51:a0bdbddd08f7 697 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 698 if(cross==1) {
yabahiro 51:a0bdbddd08f7 699 fast=20;
yabahiro 51:a0bdbddd08f7 700 normal=15;
yabahiro 51:a0bdbddd08f7 701 slow=15;
yabahiro 51:a0bdbddd08f7 702 }
yabahiro 51:a0bdbddd08f7 703 if(cross==2) {
yabahiro 51:a0bdbddd08f7 704 mode=21;
yabahiro 51:a0bdbddd08f7 705 countss=0;
yabahiro 51:a0bdbddd08f7 706 cross=0;
yabahiro 51:a0bdbddd08f7 707 }
yabahiro 51:a0bdbddd08f7 708 } else {
yabahiro 51:a0bdbddd08f7 709 if(cross==3) {
yabahiro 51:a0bdbddd08f7 710 mode=21;
yabahiro 51:a0bdbddd08f7 711 countss=0;
yabahiro 51:a0bdbddd08f7 712 cross=0;
yabahiro 51:a0bdbddd08f7 713 }
yabahiro 51:a0bdbddd08f7 714 }
yabahiro 51:a0bdbddd08f7 715 break;
yabahiro 51:a0bdbddd08f7 716 case 0:
yabahiro 51:a0bdbddd08f7 717 motor[TIRE_FR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 718 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 719 motor[TIRE_FL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 720 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 721 motor[TIRE_BR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 722 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 723 motor[TIRE_BL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 724 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 725 mtc2=true;
yabahiro 51:a0bdbddd08f7 726 break;
yabahiro 51:a0bdbddd08f7 727 case 255:
yabahiro 51:a0bdbddd08f7 728 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 729 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 730 motor[TIRE_FL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 731 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 732 motor[TIRE_BR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 733 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 734 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 735 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 736 mtc2=true;
yabahiro 51:a0bdbddd08f7 737 break;
yabahiro 51:a0bdbddd08f7 738 case 253:
yabahiro 51:a0bdbddd08f7 739 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 740 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 741 motor[TIRE_FL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 742 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 743 motor[TIRE_BR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 744 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 745 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 746 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 747 mtc2=true;
yabahiro 51:a0bdbddd08f7 748 break;
yabahiro 51:a0bdbddd08f7 749 case 254:
yabahiro 51:a0bdbddd08f7 750 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 751 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 752 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 753 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 754 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 755 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 756 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 757 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 758 mtc2=true;
yabahiro 51:a0bdbddd08f7 759 break;
yabahiro 51:a0bdbddd08f7 760 case 1:
yabahiro 51:a0bdbddd08f7 761 motor[TIRE_FR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 762 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 763 motor[TIRE_FL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 764 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 765 motor[TIRE_BR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 766 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 767 motor[TIRE_BL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 768 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 769 mtc2=true;
yabahiro 51:a0bdbddd08f7 770 break;
yabahiro 51:a0bdbddd08f7 771 case 3:
yabahiro 51:a0bdbddd08f7 772 motor[TIRE_FR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 773 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 774 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 775 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 776 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 777 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 778 motor[TIRE_BL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 779 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 780 mtc2=true;
yabahiro 51:a0bdbddd08f7 781 break;
yabahiro 51:a0bdbddd08f7 782 case 2:
yabahiro 51:a0bdbddd08f7 783 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 784 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 785 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 786 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 787 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 788 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 789 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 790 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 791 mtc2=true;
yabahiro 51:a0bdbddd08f7 792 break;
yabahiro 51:a0bdbddd08f7 793 }
yabahiro 51:a0bdbddd08f7 794 if(g[2]!=98&&mtc2==true) {
yabahiro 51:a0bdbddd08f7 795 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 796 case 0:
yabahiro 51:a0bdbddd08f7 797 mtc2=false;
yabahiro 51:a0bdbddd08f7 798 break;
yabahiro 51:a0bdbddd08f7 799 case 255:
yabahiro 51:a0bdbddd08f7 800 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 801 mtc2=false;
yabahiro 51:a0bdbddd08f7 802 break;
yabahiro 51:a0bdbddd08f7 803 case 253:
yabahiro 51:a0bdbddd08f7 804 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 805 mtc2=false;
yabahiro 51:a0bdbddd08f7 806 break;
yabahiro 51:a0bdbddd08f7 807 case 254:
yabahiro 51:a0bdbddd08f7 808 motor[TIRE_BL].pwm += 15;
yabahiro 51:a0bdbddd08f7 809 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 810 mtc2=false;
yabahiro 51:a0bdbddd08f7 811 break;
yabahiro 51:a0bdbddd08f7 812 case 1:
yabahiro 51:a0bdbddd08f7 813 motor[TIRE_FL].pwm += 5;
yabahiro 51:a0bdbddd08f7 814 mtc2=false;
yabahiro 51:a0bdbddd08f7 815 break;
yabahiro 51:a0bdbddd08f7 816 case 3:
yabahiro 51:a0bdbddd08f7 817 motor[TIRE_FL].pwm += 10;
yabahiro 51:a0bdbddd08f7 818 mtc2=false;
yabahiro 51:a0bdbddd08f7 819 break;
yabahiro 51:a0bdbddd08f7 820 case 2:
yabahiro 51:a0bdbddd08f7 821 motor[TIRE_FL].pwm += 15;
yabahiro 51:a0bdbddd08f7 822 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 823 mtc2=false;
yabahiro 51:a0bdbddd08f7 824 break;
yabahiro 51:a0bdbddd08f7 825 }
yabahiro 51:a0bdbddd08f7 826 }
yabahiro 51:a0bdbddd08f7 827 break;
yabahiro 51:a0bdbddd08f7 828 case 21:
yabahiro 51:a0bdbddd08f7 829 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 830 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 831 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 832 motor[TIRE_FL].pwm = 20;
yabahiro 51:a0bdbddd08f7 833 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 834 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 835 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 836 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 837 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 838 if(g[3]==98&&countss>=10000) {
yabahiro 51:a0bdbddd08f7 839 mode=22;
yabahiro 51:a0bdbddd08f7 840 countss=0;
yabahiro 51:a0bdbddd08f7 841 fast=60;
yabahiro 51:a0bdbddd08f7 842 normal=40;
yabahiro 51:a0bdbddd08f7 843 slow=20;
yabahiro 51:a0bdbddd08f7 844 }
yabahiro 51:a0bdbddd08f7 845 } else {
yabahiro 51:a0bdbddd08f7 846 motor[TIRE_FR].pwm = 255;
yabahiro 51:a0bdbddd08f7 847 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 848 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 849 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 850 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 851 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 852 motor[TIRE_BL].pwm = 255;
yabahiro 51:a0bdbddd08f7 853 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 854 if(g[0]==0) {
yabahiro 51:a0bdbddd08f7 855 mode=22;
yabahiro 51:a0bdbddd08f7 856 fast=60;
yabahiro 51:a0bdbddd08f7 857 normal=40;
yabahiro 51:a0bdbddd08f7 858 slow=25;
yabahiro 51:a0bdbddd08f7 859 }
yabahiro 51:a0bdbddd08f7 860 }
yabahiro 51:a0bdbddd08f7 861 break;
yabahiro 51:a0bdbddd08f7 862 case 22:
yabahiro 51:a0bdbddd08f7 863 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 864 if(g[4]==3||g[4]==2) {
yabahiro 51:a0bdbddd08f7 865 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 866 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 867 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 868 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 869 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 870 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 871 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 872 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 873 }
yabahiro 51:a0bdbddd08f7 874 if(g[4]==253||g[4]==254) {
yabahiro 51:a0bdbddd08f7 875 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 876 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 877 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 878 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 879 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 880 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 881 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 882 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 883 }
yabahiro 51:a0bdbddd08f7 884 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 885 case 0:
yabahiro 51:a0bdbddd08f7 886 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 887 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 888 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 889 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 890 break;
yabahiro 51:a0bdbddd08f7 891 case 255:
yabahiro 51:a0bdbddd08f7 892 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 893 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 894 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 895 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 896 break;
yabahiro 51:a0bdbddd08f7 897 case 253:
yabahiro 51:a0bdbddd08f7 898 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 899 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 900 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 901 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 902 break;
yabahiro 51:a0bdbddd08f7 903 case 254:
yabahiro 51:a0bdbddd08f7 904 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 905 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 906 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 907 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 908 break;
yabahiro 51:a0bdbddd08f7 909 case 1:
yabahiro 51:a0bdbddd08f7 910 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 911 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 912 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 913 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 914 break;
yabahiro 51:a0bdbddd08f7 915 case 3:
yabahiro 51:a0bdbddd08f7 916 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 917 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 918 motor[TIRE_BR].pwm = 40;
yabahiro 51:a0bdbddd08f7 919 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 920 break;
yabahiro 51:a0bdbddd08f7 921 case 2:
yabahiro 51:a0bdbddd08f7 922 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 923 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 924 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 925 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 926 break;
yabahiro 51:a0bdbddd08f7 927 }
yabahiro 51:a0bdbddd08f7 928 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 929 case 0:
yabahiro 53:694dbd7dfa0e 930 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 931 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 932 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 933 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 934 break;
yabahiro 51:a0bdbddd08f7 935 case 255:
yabahiro 53:694dbd7dfa0e 936 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 937 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 938 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 939 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 940 case 253:
yabahiro 53:694dbd7dfa0e 941 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 942 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 943 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 944 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 945 break;
yabahiro 51:a0bdbddd08f7 946 case 254:
yabahiro 53:694dbd7dfa0e 947 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 948 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 949 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 950 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 951 break;
yabahiro 51:a0bdbddd08f7 952 case 1:
yabahiro 53:694dbd7dfa0e 953 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 954 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 955 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 956 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 957 break;
yabahiro 51:a0bdbddd08f7 958 case 3:
yabahiro 53:694dbd7dfa0e 959 motor[TIRE_FL].pwm = 45;
yabahiro 51:a0bdbddd08f7 960 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 961 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 962 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 963 break;
yabahiro 51:a0bdbddd08f7 964 case 2:
yabahiro 53:694dbd7dfa0e 965 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 966 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 967 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 968 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 969 break;
yabahiro 51:a0bdbddd08f7 970 }
yabahiro 51:a0bdbddd08f7 971 if(g[3]==0&&g[2]==0) {
yabahiro 51:a0bdbddd08f7 972 mode=23;
yabahiro 51:a0bdbddd08f7 973 countss=0;
yabahiro 54:4167f10ecad0 974 fast=80;
yabahiro 54:4167f10ecad0 975 normal=60;
yabahiro 54:4167f10ecad0 976 slow=30;
yabahiro 51:a0bdbddd08f7 977 }
yabahiro 51:a0bdbddd08f7 978 } else {
yabahiro 51:a0bdbddd08f7 979 if(g[0]==98) {
yabahiro 51:a0bdbddd08f7 980 slow=25;
yabahiro 51:a0bdbddd08f7 981 normal=30;
yabahiro 53:694dbd7dfa0e 982 fast=30;
yabahiro 51:a0bdbddd08f7 983 }
yabahiro 51:a0bdbddd08f7 984 if(g[3]==0) {
yabahiro 51:a0bdbddd08f7 985 slow=25;
yabahiro 51:a0bdbddd08f7 986 normal=40;
yabahiro 51:a0bdbddd08f7 987 fast=60;
yabahiro 51:a0bdbddd08f7 988 mode=23;
yabahiro 51:a0bdbddd08f7 989 }
yabahiro 51:a0bdbddd08f7 990 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 991 case 98:
yabahiro 51:a0bdbddd08f7 992 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 51:a0bdbddd08f7 993 fast=40;
yabahiro 51:a0bdbddd08f7 994 normal=30;
yabahiro 51:a0bdbddd08f7 995 slow=25;
yabahiro 51:a0bdbddd08f7 996 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 997 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 998 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 999 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1000 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1001 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1002 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1003 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1004 break;
yabahiro 51:a0bdbddd08f7 1005 case 0:
yabahiro 51:a0bdbddd08f7 1006 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1007 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1008 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1009 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1010 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1011 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1012 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1013 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1014 mtc=true;
yabahiro 51:a0bdbddd08f7 1015 break;
yabahiro 51:a0bdbddd08f7 1016 case 255:
yabahiro 51:a0bdbddd08f7 1017 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1018 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1019 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1020 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1021 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1022 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1023 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1024 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1025 mtc=true;
yabahiro 51:a0bdbddd08f7 1026 break;
yabahiro 51:a0bdbddd08f7 1027 case 253:
yabahiro 51:a0bdbddd08f7 1028 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1029 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1030 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1031 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1032 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1033 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1034 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1035 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1036 mtc=true;
yabahiro 51:a0bdbddd08f7 1037 break;
yabahiro 51:a0bdbddd08f7 1038 case 254:
yabahiro 51:a0bdbddd08f7 1039 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1040 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1041 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1042 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1043 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1044 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1045 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1046 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1047 mtc=true;
yabahiro 51:a0bdbddd08f7 1048 break;
yabahiro 51:a0bdbddd08f7 1049 case 1:
yabahiro 51:a0bdbddd08f7 1050 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1051 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1052 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1053 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1054 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1055 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1056 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1057 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1058 mtc=true;
yabahiro 51:a0bdbddd08f7 1059 break;
yabahiro 51:a0bdbddd08f7 1060 case 3:
yabahiro 51:a0bdbddd08f7 1061 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1062 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1063 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1064 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1065 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1066 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1067 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1068 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1069 mtc=true;
yabahiro 51:a0bdbddd08f7 1070 break;
yabahiro 51:a0bdbddd08f7 1071 case 2:
yabahiro 51:a0bdbddd08f7 1072 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1073 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1074 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 1075 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1076 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1077 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1078 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1079 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1080 mtc=true;
yabahiro 51:a0bdbddd08f7 1081 break;
yabahiro 51:a0bdbddd08f7 1082 }
yabahiro 51:a0bdbddd08f7 1083 if(g[0]!=98&&mtc==true) {
yabahiro 51:a0bdbddd08f7 1084 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1085 case 0:
yabahiro 51:a0bdbddd08f7 1086 mtc=false;
yabahiro 51:a0bdbddd08f7 1087 break;
yabahiro 51:a0bdbddd08f7 1088 case 255:
yabahiro 51:a0bdbddd08f7 1089 motor[TIRE_BR].pwm += 5;
yabahiro 51:a0bdbddd08f7 1090 mtc=false;
yabahiro 51:a0bdbddd08f7 1091 break;
yabahiro 51:a0bdbddd08f7 1092 case 253:
yabahiro 51:a0bdbddd08f7 1093 motor[TIRE_BR].pwm += 10;
yabahiro 51:a0bdbddd08f7 1094 mtc=false;
yabahiro 51:a0bdbddd08f7 1095 break;
yabahiro 51:a0bdbddd08f7 1096 case 254:
yabahiro 51:a0bdbddd08f7 1097 motor[TIRE_BR].pwm += 20;
yabahiro 51:a0bdbddd08f7 1098 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1099 mtc=false;
yabahiro 51:a0bdbddd08f7 1100 break;
yabahiro 51:a0bdbddd08f7 1101 case 1:
yabahiro 51:a0bdbddd08f7 1102 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1103 mtc=false;
yabahiro 51:a0bdbddd08f7 1104 break;
yabahiro 51:a0bdbddd08f7 1105 case 3:
yabahiro 51:a0bdbddd08f7 1106 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1107 mtc=false;
yabahiro 51:a0bdbddd08f7 1108 break;
yabahiro 51:a0bdbddd08f7 1109 case 2:
yabahiro 51:a0bdbddd08f7 1110 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1111 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1112 mtc=false;
yabahiro 51:a0bdbddd08f7 1113 break;
yabahiro 51:a0bdbddd08f7 1114 }
yabahiro 51:a0bdbddd08f7 1115 }
yabahiro 51:a0bdbddd08f7 1116 }
yabahiro 51:a0bdbddd08f7 1117 break;
yabahiro 51:a0bdbddd08f7 1118 case 23:
yabahiro 51:a0bdbddd08f7 1119 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1120 switch(g[4]) {
yabahiro 51:a0bdbddd08f7 1121 case 98:
yabahiro 51:a0bdbddd08f7 1122 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1123 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1124 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1125 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1126 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1127 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1128 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1129 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1130 break;
yabahiro 51:a0bdbddd08f7 1131 case 99:
yabahiro 51:a0bdbddd08f7 1132 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1133 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1134 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1135 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1136 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1137 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1138 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1139 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1140 break;
yabahiro 51:a0bdbddd08f7 1141 case 0:
yabahiro 51:a0bdbddd08f7 1142 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1143 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1144 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1145 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1146 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1147 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1148 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1149 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1150 break;
yabahiro 51:a0bdbddd08f7 1151 case 255:
yabahiro 51:a0bdbddd08f7 1152 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1153 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1154 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1155 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1156 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1157 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1158 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1159 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1160 break;
yabahiro 51:a0bdbddd08f7 1161 case 253:
yabahiro 51:a0bdbddd08f7 1162 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1163 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1164 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1165 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1166 motor[TIRE_BR].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1167 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1168 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1169 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1170 break;
yabahiro 51:a0bdbddd08f7 1171 case 254:
yabahiro 51:a0bdbddd08f7 1172 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1173 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1174 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1175 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1176 motor[TIRE_BR].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1177 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1178 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1179 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1180 break;
yabahiro 51:a0bdbddd08f7 1181 case 1:
yabahiro 51:a0bdbddd08f7 1182 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1183 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1184 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1185 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1186 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1187 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1188 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1189 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1190 break;
yabahiro 51:a0bdbddd08f7 1191 case 3:
yabahiro 51:a0bdbddd08f7 1192 motor[TIRE_FR].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1193 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1194 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1195 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1196 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1197 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1198 motor[TIRE_BL].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1199 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1200 break;
yabahiro 51:a0bdbddd08f7 1201 case 2:
yabahiro 51:a0bdbddd08f7 1202 motor[TIRE_FR].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1203 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1204 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1205 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1206 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1207 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1208 motor[TIRE_BL].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1209 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1210 break;
yabahiro 51:a0bdbddd08f7 1211 }
yabahiro 51:a0bdbddd08f7 1212 if(g[0]==98) {
yabahiro 51:a0bdbddd08f7 1213 fast=20;
yabahiro 51:a0bdbddd08f7 1214 normal=15;
yabahiro 51:a0bdbddd08f7 1215 slow=10;
yabahiro 51:a0bdbddd08f7 1216 }
yabahiro 51:a0bdbddd08f7 1217 if(g[2]==254&&countss>=100000) {
yabahiro 51:a0bdbddd08f7 1218 mode=24;
yabahiro 51:a0bdbddd08f7 1219 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 51:a0bdbddd08f7 1220 countss=0;
yabahiro 54:4167f10ecad0 1221 fast=80;
yabahiro 54:4167f10ecad0 1222 normal=60;
yabahiro 54:4167f10ecad0 1223 slow=30;
yabahiro 51:a0bdbddd08f7 1224 }
yabahiro 51:a0bdbddd08f7 1225 } else {
yabahiro 51:a0bdbddd08f7 1226 if(UPLS==true||DOLS==true) {
yabahiro 51:a0bdbddd08f7 1227 if(UPLS==true||DOLS==true) {
yabahiro 51:a0bdbddd08f7 1228 motor[MOTOR_0].pwm = 200;
yabahiro 51:a0bdbddd08f7 1229 motor[MOTOR_0].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1230 fast=60;
yabahiro 51:a0bdbddd08f7 1231 normal=40;
yabahiro 53:694dbd7dfa0e 1232 slow=30;
yabahiro 51:a0bdbddd08f7 1233 countss=0;
yabahiro 51:a0bdbddd08f7 1234 mode=24;
yabahiro 51:a0bdbddd08f7 1235 }
yabahiro 51:a0bdbddd08f7 1236 } else {
yabahiro 51:a0bdbddd08f7 1237 motor[MOTOR_0].pwm = 100;
yabahiro 51:a0bdbddd08f7 1238 motor[MOTOR_0].dir = BACK;
yabahiro 51:a0bdbddd08f7 1239 }
yabahiro 51:a0bdbddd08f7 1240 motor[TIRE_FR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1241 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1242 motor[TIRE_FL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1243 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1244 motor[TIRE_BR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1245 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1246 motor[TIRE_BL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1247 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1248 }
yabahiro 51:a0bdbddd08f7 1249 break;
yabahiro 51:a0bdbddd08f7 1250 case 24:
yabahiro 51:a0bdbddd08f7 1251 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1252 if(g[4]==3||g[4]==2) {
yabahiro 51:a0bdbddd08f7 1253 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1254 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 1255 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1256 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 1257 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1258 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1259 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1260 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1261 }
yabahiro 51:a0bdbddd08f7 1262 if(g[4]==253||g[4]==254) {
yabahiro 54:4167f10ecad0 1263 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1264 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1265 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1266 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1267 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1268 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 1269 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1270 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1271 }
yabahiro 51:a0bdbddd08f7 1272 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 1273 case 0:
yabahiro 51:a0bdbddd08f7 1274 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1275 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1276 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1277 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1278 break;
yabahiro 51:a0bdbddd08f7 1279 case 255:
yabahiro 51:a0bdbddd08f7 1280 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1281 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1282 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1283 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1284 break;
yabahiro 51:a0bdbddd08f7 1285 case 253:
yabahiro 51:a0bdbddd08f7 1286 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1287 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1288 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1289 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1290 break;
yabahiro 51:a0bdbddd08f7 1291 case 254:
yabahiro 51:a0bdbddd08f7 1292 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1293 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1294 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1295 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1296 break;
yabahiro 51:a0bdbddd08f7 1297 case 1:
yabahiro 51:a0bdbddd08f7 1298 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1299 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1300 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1301 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1302 break;
yabahiro 51:a0bdbddd08f7 1303 case 3:
yabahiro 51:a0bdbddd08f7 1304 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1305 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1306 motor[TIRE_BR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1307 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1308 break;
yabahiro 51:a0bdbddd08f7 1309 case 2:
yabahiro 51:a0bdbddd08f7 1310 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1311 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1312 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1313 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1314 break;
yabahiro 51:a0bdbddd08f7 1315 }
yabahiro 51:a0bdbddd08f7 1316 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 1317 case 0:
yabahiro 51:a0bdbddd08f7 1318 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1319 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1320 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1321 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1322 break;
yabahiro 51:a0bdbddd08f7 1323 case 255:
yabahiro 51:a0bdbddd08f7 1324 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1325 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1326 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1327 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1328 case 253:
yabahiro 51:a0bdbddd08f7 1329 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1330 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1331 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1332 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1333 break;
yabahiro 51:a0bdbddd08f7 1334 case 254:
yabahiro 53:694dbd7dfa0e 1335 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 1336 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1337 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1338 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1339 break;
yabahiro 51:a0bdbddd08f7 1340 case 1:
yabahiro 53:694dbd7dfa0e 1341 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 1342 motor[TIRE_FL].dir = FOR;
yabahiro 53:694dbd7dfa0e 1343 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1344 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1345 break;
yabahiro 51:a0bdbddd08f7 1346 case 3:
yabahiro 53:694dbd7dfa0e 1347 motor[TIRE_FL].pwm = 45;
yabahiro 51:a0bdbddd08f7 1348 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1349 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1350 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1351 break;
yabahiro 51:a0bdbddd08f7 1352 case 2:
yabahiro 53:694dbd7dfa0e 1353 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 1354 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1355 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1356 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1357 break;
yabahiro 51:a0bdbddd08f7 1358 }
yabahiro 51:a0bdbddd08f7 1359 if(g[3]==0&&g[2]==0) {
yabahiro 51:a0bdbddd08f7 1360 mode=25;
yabahiro 51:a0bdbddd08f7 1361 }
yabahiro 51:a0bdbddd08f7 1362 } else {
yabahiro 53:694dbd7dfa0e 1363 if(g[0]==98&&countss>=40000) {
yabahiro 51:a0bdbddd08f7 1364 mode=31;
yabahiro 53:694dbd7dfa0e 1365 fast=60;
yabahiro 53:694dbd7dfa0e 1366 normal=40;
yabahiro 53:694dbd7dfa0e 1367 slow=30;
yabahiro 51:a0bdbddd08f7 1368 countss=0;
yabahiro 51:a0bdbddd08f7 1369 }
yabahiro 51:a0bdbddd08f7 1370 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1371 case 98:
yabahiro 51:a0bdbddd08f7 1372 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1373 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1374 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 1375 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1376 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1377 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1378 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1379 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1380 break;
yabahiro 51:a0bdbddd08f7 1381 case 0:
yabahiro 51:a0bdbddd08f7 1382 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1383 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1384 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1385 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1386 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1387 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1388 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1389 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1390 mtc=true;
yabahiro 51:a0bdbddd08f7 1391 break;
yabahiro 51:a0bdbddd08f7 1392 case 255:
yabahiro 51:a0bdbddd08f7 1393 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1394 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1395 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1396 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1397 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1398 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1399 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1400 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1401 mtc=true;
yabahiro 51:a0bdbddd08f7 1402 break;
yabahiro 51:a0bdbddd08f7 1403 case 253:
yabahiro 51:a0bdbddd08f7 1404 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1405 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1406 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1407 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1408 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1409 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1410 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1411 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1412 mtc=true;
yabahiro 51:a0bdbddd08f7 1413 break;
yabahiro 51:a0bdbddd08f7 1414 case 254:
yabahiro 51:a0bdbddd08f7 1415 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1416 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1417 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1418 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1419 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1420 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1421 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1422 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1423 mtc=true;
yabahiro 51:a0bdbddd08f7 1424 break;
yabahiro 51:a0bdbddd08f7 1425 case 1:
yabahiro 51:a0bdbddd08f7 1426 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1427 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1428 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1429 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1430 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1431 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1432 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1433 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1434 mtc=true;
yabahiro 51:a0bdbddd08f7 1435 break;
yabahiro 51:a0bdbddd08f7 1436 case 3:
yabahiro 51:a0bdbddd08f7 1437 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1438 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1439 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1440 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1441 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1442 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1443 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1444 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1445 mtc=true;
yabahiro 51:a0bdbddd08f7 1446 break;
yabahiro 51:a0bdbddd08f7 1447 case 2:
yabahiro 51:a0bdbddd08f7 1448 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1449 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1450 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 1451 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1452 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1453 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1454 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1455 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1456 mtc=true;
yabahiro 51:a0bdbddd08f7 1457 break;
yabahiro 51:a0bdbddd08f7 1458 }
yabahiro 51:a0bdbddd08f7 1459 if(g[1]!=98&&mtc==true) {
yabahiro 51:a0bdbddd08f7 1460 switch(g[1]) {
yabahiro 51:a0bdbddd08f7 1461 case 0:
yabahiro 51:a0bdbddd08f7 1462 mtc=false;
yabahiro 51:a0bdbddd08f7 1463 break;
yabahiro 51:a0bdbddd08f7 1464 case 255:
yabahiro 51:a0bdbddd08f7 1465 motor[TIRE_BR].pwm += 5;
yabahiro 51:a0bdbddd08f7 1466 mtc=false;
yabahiro 51:a0bdbddd08f7 1467 break;
yabahiro 51:a0bdbddd08f7 1468 case 253:
yabahiro 51:a0bdbddd08f7 1469 motor[TIRE_BR].pwm += 10;
yabahiro 51:a0bdbddd08f7 1470 mtc=false;
yabahiro 51:a0bdbddd08f7 1471 break;
yabahiro 51:a0bdbddd08f7 1472 case 254:
yabahiro 51:a0bdbddd08f7 1473 motor[TIRE_BR].pwm += 20;
yabahiro 51:a0bdbddd08f7 1474 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1475 mtc=false;
yabahiro 51:a0bdbddd08f7 1476 break;
yabahiro 51:a0bdbddd08f7 1477 case 1:
yabahiro 51:a0bdbddd08f7 1478 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1479 mtc=false;
yabahiro 51:a0bdbddd08f7 1480 break;
yabahiro 51:a0bdbddd08f7 1481 case 3:
yabahiro 51:a0bdbddd08f7 1482 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1483 mtc=false;
yabahiro 51:a0bdbddd08f7 1484 break;
yabahiro 51:a0bdbddd08f7 1485 case 2:
yabahiro 51:a0bdbddd08f7 1486 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1487 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1488 mtc=false;
yabahiro 51:a0bdbddd08f7 1489 break;
yabahiro 51:a0bdbddd08f7 1490 }
yabahiro 51:a0bdbddd08f7 1491 }
yabahiro 51:a0bdbddd08f7 1492 }
yabahiro 51:a0bdbddd08f7 1493 break;
yabahiro 51:a0bdbddd08f7 1494 case 25:
yabahiro 51:a0bdbddd08f7 1495 motor[TIRE_FR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1496 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1497 motor[TIRE_FL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1498 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1499 motor[TIRE_BR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1500 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1501 motor[TIRE_BL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1502 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1503 if(DOLS==true||UPLS==true) {
yabahiro 51:a0bdbddd08f7 1504 if(DOLS==true||UPLS==true) {
yabahiro 51:a0bdbddd08f7 1505 motor[MOTOR_0].pwm = 200;
yabahiro 51:a0bdbddd08f7 1506 motor[MOTOR_0].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1507 countss=0;
yabahiro 51:a0bdbddd08f7 1508 mode=26;
yabahiro 51:a0bdbddd08f7 1509 }
yabahiro 51:a0bdbddd08f7 1510 } else {
yabahiro 51:a0bdbddd08f7 1511 motor[MOTOR_0].pwm = 100;
yabahiro 51:a0bdbddd08f7 1512 motor[MOTOR_0].dir = BACK;
yabahiro 51:a0bdbddd08f7 1513 }
yabahiro 51:a0bdbddd08f7 1514 break;
yabahiro 51:a0bdbddd08f7 1515 case 26:
yabahiro 53:694dbd7dfa0e 1516 if(g[0]==98) {
yabahiro 53:694dbd7dfa0e 1517 mode=31;
yabahiro 53:694dbd7dfa0e 1518 }
yabahiro 50:87f5fa1bc460 1519 switch(g[4]) {
yabahiro 50:87f5fa1bc460 1520 case 98:
yabahiro 51:a0bdbddd08f7 1521 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1522 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1523 motor[TIRE_FL].pwm = 65;
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 99:
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 0:
yabahiro 51:a0bdbddd08f7 1541 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1542 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1543 motor[TIRE_FL].pwm = 65;
yabahiro 50:87f5fa1bc460 1544 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1545 motor[TIRE_BR].pwm = 60;
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 255:
yabahiro 50:87f5fa1bc460 1551 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1552 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1553 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1554 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1555 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1556 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1557 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1558 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1559 break;
yabahiro 50:87f5fa1bc460 1560 case 253:
yabahiro 51:a0bdbddd08f7 1561 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1562 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1563 motor[TIRE_FL].pwm = 30;
yabahiro 50:87f5fa1bc460 1564 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1565 motor[TIRE_BR].pwm = 25;
yabahiro 50:87f5fa1bc460 1566 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1567 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1568 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1569 break;
yabahiro 50:87f5fa1bc460 1570 case 254:
yabahiro 51:a0bdbddd08f7 1571 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1572 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1573 motor[TIRE_FL].pwm = 45;
yabahiro 50:87f5fa1bc460 1574 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1575 motor[TIRE_BR].pwm = 40;
yabahiro 50:87f5fa1bc460 1576 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1577 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1578 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1579 break;
yabahiro 50:87f5fa1bc460 1580 case 1:
yabahiro 50:87f5fa1bc460 1581 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1582 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1583 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1584 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1585 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1586 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1587 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1588 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1589 break;
yabahiro 50:87f5fa1bc460 1590 case 3:
yabahiro 51:a0bdbddd08f7 1591 motor[TIRE_FR].pwm = 25;
yabahiro 50:87f5fa1bc460 1592 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1593 motor[TIRE_FL].pwm = 65;
yabahiro 50:87f5fa1bc460 1594 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1595 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1596 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1597 motor[TIRE_BL].pwm = 25;
yabahiro 50:87f5fa1bc460 1598 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1599 break;
yabahiro 50:87f5fa1bc460 1600 case 2:
yabahiro 51:a0bdbddd08f7 1601 motor[TIRE_FR].pwm = 40;
yabahiro 50:87f5fa1bc460 1602 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1603 motor[TIRE_FL].pwm = 65;
yabahiro 50:87f5fa1bc460 1604 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1605 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1606 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1607 motor[TIRE_BL].pwm = 40;
yabahiro 50:87f5fa1bc460 1608 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1609 break;
yabahiro 50:87f5fa1bc460 1610 }
yabahiro 51:a0bdbddd08f7 1611 break;
yabahiro 51:a0bdbddd08f7 1612 case 31:
yabahiro 53:694dbd7dfa0e 1613 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1614 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1615 motor[TIRE_FL].pwm = 5;
yabahiro 53:694dbd7dfa0e 1616 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1617 motor[TIRE_BR].pwm = 5;
yabahiro 53:694dbd7dfa0e 1618 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1619 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1620 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1621 if(g[2]==0) {
yabahiro 51:a0bdbddd08f7 1622 cross=0;
yabahiro 51:a0bdbddd08f7 1623 countss=0;
yabahiro 51:a0bdbddd08f7 1624 mode=40;
yabahiro 55:844ac0974740 1625 fast=70;
yabahiro 55:844ac0974740 1626 normal=50;
yabahiro 55:844ac0974740 1627 slow=40;
yabahiro 51:a0bdbddd08f7 1628 }
yabahiro 51:a0bdbddd08f7 1629 break;
yabahiro 51:a0bdbddd08f7 1630 case 40:
yabahiro 51:a0bdbddd08f7 1631 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 1632 case 98:
yabahiro 53:694dbd7dfa0e 1633 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1634 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1635 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1636 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1637 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1638 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1639 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1640 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1641 if(countss>30000) {
yabahiro 51:a0bdbddd08f7 1642 cross++;
yabahiro 51:a0bdbddd08f7 1643 countss=0;
yabahiro 51:a0bdbddd08f7 1644 }
yabahiro 51:a0bdbddd08f7 1645 mtc2=true;
yabahiro 51:a0bdbddd08f7 1646 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1647 if(cross==1) {
yabahiro 51:a0bdbddd08f7 1648 mode=41;
yabahiro 51:a0bdbddd08f7 1649 countss=0;
yabahiro 51:a0bdbddd08f7 1650 cross=0;
yabahiro 51:a0bdbddd08f7 1651 }
yabahiro 51:a0bdbddd08f7 1652 } else {
yabahiro 51:a0bdbddd08f7 1653 if(cross==3) {
yabahiro 53:694dbd7dfa0e 1654 fast=60;
yabahiro 53:694dbd7dfa0e 1655 normal=40;
yabahiro 53:694dbd7dfa0e 1656 slow=30;
yabahiro 51:a0bdbddd08f7 1657 mode=41;
yabahiro 51:a0bdbddd08f7 1658 countss=0;
yabahiro 51:a0bdbddd08f7 1659 cross=0;
yabahiro 51:a0bdbddd08f7 1660 }
yabahiro 51:a0bdbddd08f7 1661 }
yabahiro 51:a0bdbddd08f7 1662 break;
yabahiro 50:87f5fa1bc460 1663 case 0:
yabahiro 53:694dbd7dfa0e 1664 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1665 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1666 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1667 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1668 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1669 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1670 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1671 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1672 mtc2=true;
yabahiro 50:87f5fa1bc460 1673 break;
yabahiro 50:87f5fa1bc460 1674 case 255:
yabahiro 53:694dbd7dfa0e 1675 motor[TIRE_FR].pwm = slow;
yabahiro 50:87f5fa1bc460 1676 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1677 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1678 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1679 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1680 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1681 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1682 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1683 mtc2=true;
yabahiro 50:87f5fa1bc460 1684 break;
yabahiro 50:87f5fa1bc460 1685 case 253:
yabahiro 51:a0bdbddd08f7 1686 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1687 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1688 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1689 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1690 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1691 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1692 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1693 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1694 mtc2=true;
yabahiro 50:87f5fa1bc460 1695 break;
yabahiro 50:87f5fa1bc460 1696 case 254:
yabahiro 51:a0bdbddd08f7 1697 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1698 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1699 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1700 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1701 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1702 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1703 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1704 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1705 mtc2=true;
yabahiro 50:87f5fa1bc460 1706 break;
yabahiro 50:87f5fa1bc460 1707 case 1:
yabahiro 53:694dbd7dfa0e 1708 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1709 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1710 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1711 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1712 motor[TIRE_BR].pwm = slow;
yabahiro 50:87f5fa1bc460 1713 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1714 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1715 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1716 mtc2=true;
yabahiro 50:87f5fa1bc460 1717 break;
yabahiro 50:87f5fa1bc460 1718 case 3:
yabahiro 53:694dbd7dfa0e 1719 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1720 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1721 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1722 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1723 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1724 motor[TIRE_BR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1725 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1726 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1727 mtc2=true;
yabahiro 50:87f5fa1bc460 1728 break;
yabahiro 50:87f5fa1bc460 1729 case 2:
yabahiro 53:694dbd7dfa0e 1730 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1731 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1732 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1733 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1734 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1735 motor[TIRE_BR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1736 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1737 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1738 mtc2=true;
yabahiro 50:87f5fa1bc460 1739 break;
yabahiro 50:87f5fa1bc460 1740 }
yabahiro 51:a0bdbddd08f7 1741 if(g[2]!=98&&mtc2==true) {
yabahiro 51:a0bdbddd08f7 1742 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 1743 case 0:
yabahiro 51:a0bdbddd08f7 1744 mtc2=false;
yabahiro 51:a0bdbddd08f7 1745 break;
yabahiro 51:a0bdbddd08f7 1746 case 255:
yabahiro 51:a0bdbddd08f7 1747 motor[TIRE_FL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1748 mtc2=false;
yabahiro 51:a0bdbddd08f7 1749 break;
yabahiro 51:a0bdbddd08f7 1750 case 253:
yabahiro 51:a0bdbddd08f7 1751 motor[TIRE_FL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1752 mtc2=false;
yabahiro 51:a0bdbddd08f7 1753 break;
yabahiro 51:a0bdbddd08f7 1754 case 254:
yabahiro 51:a0bdbddd08f7 1755 motor[TIRE_FL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1756 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1757 mtc2=false;
yabahiro 51:a0bdbddd08f7 1758 break;
yabahiro 51:a0bdbddd08f7 1759 case 1:
yabahiro 51:a0bdbddd08f7 1760 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1761 mtc2=false;
yabahiro 51:a0bdbddd08f7 1762 break;
yabahiro 51:a0bdbddd08f7 1763 case 3:
yabahiro 51:a0bdbddd08f7 1764 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1765 mtc2=false;
yabahiro 51:a0bdbddd08f7 1766 break;
yabahiro 51:a0bdbddd08f7 1767 case 2:
yabahiro 51:a0bdbddd08f7 1768 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1769 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1770 mtc2=false;
yabahiro 51:a0bdbddd08f7 1771 break;
yabahiro 51:a0bdbddd08f7 1772 }
yabahiro 51:a0bdbddd08f7 1773 }
yabahiro 51:a0bdbddd08f7 1774 break;
yabahiro 51:a0bdbddd08f7 1775 case 41:
yabahiro 53:694dbd7dfa0e 1776 /*
yabahiro 53:694dbd7dfa0e 1777 if(LIF||LIB) {
yabahiro 53:694dbd7dfa0e 1778 mode=42;
yabahiro 53:694dbd7dfa0e 1779 }
yabahiro 53:694dbd7dfa0e 1780 */
yabahiro 53:694dbd7dfa0e 1781 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1782 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1783 motor[TIRE_FL].pwm = 0;
yabahiro 53:694dbd7dfa0e 1784 motor[TIRE_FL].dir = FREE;
yabahiro 53:694dbd7dfa0e 1785 motor[TIRE_BR].pwm = 0;
yabahiro 53:694dbd7dfa0e 1786 motor[TIRE_BR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1787 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1788 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1789 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 1790 countss=0;
yabahiro 51:a0bdbddd08f7 1791 mode=70;
yabahiro 55:844ac0974740 1792 normal=120;
yabahiro 55:844ac0974740 1793 fast=140;
yabahiro 55:844ac0974740 1794 slow=100;
yabahiro 51:a0bdbddd08f7 1795 }
yabahiro 51:a0bdbddd08f7 1796 break;
yabahiro 51:a0bdbddd08f7 1797 case 42:
yabahiro 51:a0bdbddd08f7 1798 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1799 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1800 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1801 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1802 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1803 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1804 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1805 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1806 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 1807 countss=0;
yabahiro 51:a0bdbddd08f7 1808 mode=70;
yabahiro 51:a0bdbddd08f7 1809 }
yabahiro 51:a0bdbddd08f7 1810 break;
yabahiro 51:a0bdbddd08f7 1811 case 70:
yabahiro 51:a0bdbddd08f7 1812 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1813 case 99:
yabahiro 51:a0bdbddd08f7 1814 if(countss>=100000) {
yabahiro 51:a0bdbddd08f7 1815 mode=100;
yabahiro 51:a0bdbddd08f7 1816 }
yabahiro 50:87f5fa1bc460 1817 break;
yabahiro 39:784552c26163 1818 case 98:
yabahiro 39:784552c26163 1819 motor[TIRE_FR].pwm = normal;
yabahiro 39:784552c26163 1820 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1821 motor[TIRE_FL].pwm = normal;
yabahiro 39:784552c26163 1822 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1823 motor[TIRE_BR].pwm = normal;
yabahiro 39:784552c26163 1824 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1825 motor[TIRE_BL].pwm = normal;
yabahiro 39:784552c26163 1826 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1827 break;
yabahiro 39:784552c26163 1828 case 0:
yabahiro 53:694dbd7dfa0e 1829 motor[TIRE_FR].pwm = 80;
yabahiro 39:784552c26163 1830 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1831 motor[TIRE_FL].pwm = 80;
yabahiro 39:784552c26163 1832 motor[TIRE_FL].dir = FOR;
yabahiro 53:694dbd7dfa0e 1833 motor[TIRE_BR].pwm = 80;
yabahiro 39:784552c26163 1834 motor[TIRE_BR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1835 motor[TIRE_BL].pwm = 80;
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 255:
yabahiro 39:784552c26163 1840 motor[TIRE_FR].pwm = fast;
yabahiro 39:784552c26163 1841 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1842 motor[TIRE_FL].pwm = slow;
yabahiro 39:784552c26163 1843 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1844 motor[TIRE_BR].pwm = slow;
yabahiro 39:784552c26163 1845 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1846 motor[TIRE_BL].pwm = fast;
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 253:
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 = 0;
yabahiro 39:784552c26163 1854 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 1855 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1856 motor[TIRE_BR].dir = FREE;
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 254:
yabahiro 39:784552c26163 1862 motor[TIRE_FR].pwm = normal;
yabahiro 39:784552c26163 1863 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1864 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 1865 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 1866 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1867 motor[TIRE_BR].dir = FREE;
yabahiro 39:784552c26163 1868 motor[TIRE_BL].pwm = normal;
yabahiro 39:784552c26163 1869 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1870 mtc=true;
yabahiro 39:784552c26163 1871 break;
yabahiro 39:784552c26163 1872 case 1:
yabahiro 39:784552c26163 1873 motor[TIRE_FR].pwm = slow;
yabahiro 39:784552c26163 1874 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1875 motor[TIRE_FL].pwm = fast;
yabahiro 39:784552c26163 1876 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1877 motor[TIRE_BR].pwm = fast;
yabahiro 39:784552c26163 1878 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1879 motor[TIRE_BL].pwm = slow;
yabahiro 39:784552c26163 1880 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1881 mtc=true;
yabahiro 39:784552c26163 1882 break;
yabahiro 39:784552c26163 1883 case 3:
yabahiro 39:784552c26163 1884 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 1885 motor[TIRE_FR].dir = FREE;
yabahiro 39:784552c26163 1886 motor[TIRE_FL].pwm = slow;
yabahiro 39:784552c26163 1887 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1888 motor[TIRE_BR].pwm = slow;
yabahiro 39:784552c26163 1889 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1890 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1891 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 1892 mtc=true;
yabahiro 39:784552c26163 1893 break;
yabahiro 39:784552c26163 1894 case 2:
yabahiro 39:784552c26163 1895 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 1896 motor[TIRE_FR].dir = FREE;
yabahiro 39:784552c26163 1897 motor[TIRE_FL].pwm = normal;
yabahiro 39:784552c26163 1898 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1899 motor[TIRE_BR].pwm = normal;
yabahiro 39:784552c26163 1900 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1901 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1902 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 1903 mtc=true;
yabahiro 39:784552c26163 1904 break;
yabahiro 39:784552c26163 1905 }
yabahiro 39:784552c26163 1906 if(g[1]!=98&&mtc==true) {
yabahiro 39:784552c26163 1907 switch(g[1]) {
yabahiro 39:784552c26163 1908 case 0:
yabahiro 39:784552c26163 1909 mtc=false;
yabahiro 39:784552c26163 1910 break;
yabahiro 39:784552c26163 1911 case 255:
yabahiro 39:784552c26163 1912 motor[TIRE_BR].pwm += 5;
yabahiro 39:784552c26163 1913 mtc=false;
yabahiro 39:784552c26163 1914 break;
yabahiro 39:784552c26163 1915 case 253:
yabahiro 39:784552c26163 1916 motor[TIRE_BR].pwm += 10;
yabahiro 39:784552c26163 1917 mtc=false;
yabahiro 39:784552c26163 1918 break;
yabahiro 39:784552c26163 1919 case 254:
yabahiro 39:784552c26163 1920 motor[TIRE_BR].pwm += 20;
yabahiro 39:784552c26163 1921 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1922 mtc=false;
yabahiro 39:784552c26163 1923 break;
yabahiro 39:784552c26163 1924 case 1:
yabahiro 39:784552c26163 1925 motor[TIRE_BL].pwm += 5;
yabahiro 39:784552c26163 1926 mtc=false;
yabahiro 39:784552c26163 1927 break;
yabahiro 39:784552c26163 1928 case 3:
yabahiro 39:784552c26163 1929 motor[TIRE_BL].pwm += 10;
yabahiro 39:784552c26163 1930 mtc=false;
yabahiro 39:784552c26163 1931 break;
yabahiro 39:784552c26163 1932 case 2:
yabahiro 39:784552c26163 1933 motor[TIRE_BL].pwm += 20;
yabahiro 39:784552c26163 1934 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1935 mtc=false;
yabahiro 39:784552c26163 1936 break;
yabahiro 39:784552c26163 1937 }
yabahiro 33:dd598bb23ad1 1938 }
yabahiro 51:a0bdbddd08f7 1939 break;
yabahiro 51:a0bdbddd08f7 1940 case 100:
yabahiro 54:4167f10ecad0 1941 motor[TIRE_FR].pwm = 47;
yabahiro 51:a0bdbddd08f7 1942 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1943 motor[TIRE_FL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1944 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1945 motor[TIRE_BR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1946 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 1947 motor[TIRE_BL].pwm = 55;
yabahiro 51:a0bdbddd08f7 1948 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1949 break;
yabahiro 51:a0bdbddd08f7 1950 default:
yabahiro 51:a0bdbddd08f7 1951 motor[TIRE_FR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1952 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1953 motor[TIRE_FL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1954 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1955 motor[TIRE_BR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1956 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1957 motor[TIRE_BL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1958 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1959 break;
yabahiro 33:dd598bb23ad1 1960 }
kishibekairohan 13:b6e02d6261d7 1961 }
kishibekairohan 13:b6e02d6261d7 1962 #endif
kishibekairohan 13:b6e02d6261d7 1963
kishibekairohan 13:b6e02d6261d7 1964 #if USE_PROCESS_NUM>3
Ryosei 27:dd9f27fce7d1 1965 static void Process3()
kishibekairohan 13:b6e02d6261d7 1966 {
yabahiro 33:dd598bb23ad1 1967 //Clearly 赤ゾーン
kishibekairohan 35:33c6cdba5630 1968 LED::LED::TapeledMode(3);
yabahiro 33:dd598bb23ad1 1969 countss++;
yabahiro 54:4167f10ecad0 1970 switch(mode) {
yabahiro 54:4167f10ecad0 1971 case 1:
yabahiro 54:4167f10ecad0 1972 fast=40;
yabahiro 54:4167f10ecad0 1973 normal=30;
yabahiro 54:4167f10ecad0 1974 slow=20;
yabahiro 54:4167f10ecad0 1975 motor[TIRE_FR].pwm = normal+20;
yabahiro 54:4167f10ecad0 1976 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 1977 motor[TIRE_FL].pwm = normal+20;
yabahiro 54:4167f10ecad0 1978 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 1979 motor[TIRE_BR].pwm = normal+20;
yabahiro 54:4167f10ecad0 1980 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 1981 motor[TIRE_BL].pwm = normal+20;
yabahiro 54:4167f10ecad0 1982 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 1983 if(g[2]==0&&countss>=300000) {
yabahiro 54:4167f10ecad0 1984 countss=100000;
yabahiro 54:4167f10ecad0 1985 cross=0;
yabahiro 54:4167f10ecad0 1986 mode=3;
yabahiro 54:4167f10ecad0 1987 }
yabahiro 54:4167f10ecad0 1988 break;
yabahiro 54:4167f10ecad0 1989 case 3:
yabahiro 54:4167f10ecad0 1990 motor[TIRE_FR].pwm = 255;
yabahiro 54:4167f10ecad0 1991 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 1992 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 1993 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 1994 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 1995 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 1996 motor[TIRE_BL].pwm = 255;
yabahiro 54:4167f10ecad0 1997 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 1998 if(g[0]==0) {
yabahiro 54:4167f10ecad0 1999 mode=10;
yabahiro 54:4167f10ecad0 2000 countss=100000;
yabahiro 56:61ebd4b759b4 2001 fast = 80;
yabahiro 56:61ebd4b759b4 2002 normal = 60;
yabahiro 56:61ebd4b759b4 2003 slow = 40;
yabahiro 54:4167f10ecad0 2004 }
yabahiro 54:4167f10ecad0 2005 break;
yabahiro 54:4167f10ecad0 2006 case 10:
yabahiro 54:4167f10ecad0 2007 switch(g[0]) {
yabahiro 54:4167f10ecad0 2008 case 98:
yabahiro 54:4167f10ecad0 2009 motor[TIRE_FR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2010 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2011 motor[TIRE_FL].pwm = normal+50;
yabahiro 54:4167f10ecad0 2012 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2013 motor[TIRE_BR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2014 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2015 motor[TIRE_BL].pwm = normal+50;
yabahiro 54:4167f10ecad0 2016 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2017 mtc=true;
yabahiro 54:4167f10ecad0 2018 if(countss>80000) {
yabahiro 54:4167f10ecad0 2019 cross++;
yabahiro 54:4167f10ecad0 2020 countss=0;
yabahiro 54:4167f10ecad0 2021 }
yabahiro 54:4167f10ecad0 2022 if(cross==2) {
yabahiro 54:4167f10ecad0 2023 fast = 10;
yabahiro 54:4167f10ecad0 2024 normal = 10;
yabahiro 54:4167f10ecad0 2025 slow = 5;
yabahiro 54:4167f10ecad0 2026 }
yabahiro 46:68296caae1af 2027
yabahiro 53:694dbd7dfa0e 2028 if(cross==3) {
yabahiro 54:4167f10ecad0 2029 fast=40;
yabahiro 54:4167f10ecad0 2030 normal=30;
yabahiro 54:4167f10ecad0 2031 slow=20;
yabahiro 54:4167f10ecad0 2032 mode=11;
yabahiro 53:694dbd7dfa0e 2033 countss=0;
yabahiro 53:694dbd7dfa0e 2034 cross=0;
yabahiro 54:4167f10ecad0 2035
yabahiro 53:694dbd7dfa0e 2036 }
yabahiro 54:4167f10ecad0 2037 break;
yabahiro 38:40e7fdf3c694 2038 case 0:
yabahiro 54:4167f10ecad0 2039 motor[TIRE_FR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2040 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 2041 motor[TIRE_FL].pwm = fast+60;
yabahiro 54:4167f10ecad0 2042 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2043 motor[TIRE_BR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2044 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 2045 motor[TIRE_BL].pwm = fast+45;
yabahiro 54:4167f10ecad0 2046 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2047 mtc=true;
yabahiro 38:40e7fdf3c694 2048 break;
yabahiro 38:40e7fdf3c694 2049 case 255:
yabahiro 54:4167f10ecad0 2050 motor[TIRE_FR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2051 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 2052 motor[TIRE_FL].pwm = slow+60;
yabahiro 54:4167f10ecad0 2053 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2054 motor[TIRE_BR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2055 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 2056 motor[TIRE_BL].pwm = fast+45;
yabahiro 54:4167f10ecad0 2057 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2058 mtc=true;
yabahiro 53:694dbd7dfa0e 2059 break;
yabahiro 53:694dbd7dfa0e 2060 case 253:
yabahiro 54:4167f10ecad0 2061 motor[TIRE_FR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2062 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2063 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2064 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2065 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2066 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 2067 motor[TIRE_BL].pwm = slow+45;
yabahiro 54:4167f10ecad0 2068 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2069 mtc=true;
yabahiro 53:694dbd7dfa0e 2070 break;
yabahiro 53:694dbd7dfa0e 2071 case 254:
yabahiro 54:4167f10ecad0 2072 motor[TIRE_FR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2073 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 2074 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2075 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2076 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2077 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 2078 motor[TIRE_BL].pwm = normal+45;
yabahiro 54:4167f10ecad0 2079 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2080 mtc=true;
yabahiro 53:694dbd7dfa0e 2081 break;
yabahiro 53:694dbd7dfa0e 2082 case 1:
yabahiro 54:4167f10ecad0 2083 motor[TIRE_FR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2084 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 2085 motor[TIRE_FL].pwm = fast+60;
yabahiro 54:4167f10ecad0 2086 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2087 motor[TIRE_BR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2088 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 2089 motor[TIRE_BL].pwm = slow+45;
yabahiro 54:4167f10ecad0 2090 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2091 mtc=true;
yabahiro 53:694dbd7dfa0e 2092 break;
yabahiro 53:694dbd7dfa0e 2093 case 3:
yabahiro 54:4167f10ecad0 2094 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2095 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 2096 motor[TIRE_FL].pwm = slow+60;
yabahiro 54:4167f10ecad0 2097 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2098 motor[TIRE_BR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2099 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2100 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2101 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2102 mtc=true;
yabahiro 53:694dbd7dfa0e 2103 break;
yabahiro 53:694dbd7dfa0e 2104 case 2:
yabahiro 54:4167f10ecad0 2105 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2106 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 2107 motor[TIRE_FL].pwm = normal+60;
yabahiro 54:4167f10ecad0 2108 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2109 motor[TIRE_BR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2110 motor[TIRE_BR].dir = BACK;
yabahiro 53:694dbd7dfa0e 2111 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2112 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2113 mtc=true;
yabahiro 53:694dbd7dfa0e 2114 break;
yabahiro 53:694dbd7dfa0e 2115 }
yabahiro 54:4167f10ecad0 2116 if(g[0]!=98&&mtc==true) {
yabahiro 54:4167f10ecad0 2117 switch(g[1]) {
yabahiro 54:4167f10ecad0 2118 case 0:
yabahiro 54:4167f10ecad0 2119 mtc=false;
yabahiro 54:4167f10ecad0 2120 break;
yabahiro 54:4167f10ecad0 2121 case 255:
yabahiro 54:4167f10ecad0 2122 motor[TIRE_BR].pwm += 3;
yabahiro 54:4167f10ecad0 2123 mtc=false;
yabahiro 54:4167f10ecad0 2124 break;
yabahiro 54:4167f10ecad0 2125 case 253:
yabahiro 54:4167f10ecad0 2126 motor[TIRE_BR].pwm += 6;
yabahiro 54:4167f10ecad0 2127 mtc=false;
yabahiro 54:4167f10ecad0 2128 break;
yabahiro 54:4167f10ecad0 2129 case 254:
yabahiro 54:4167f10ecad0 2130 motor[TIRE_BR].pwm += 9;
yabahiro 54:4167f10ecad0 2131 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2132 mtc=false;
yabahiro 54:4167f10ecad0 2133 break;
yabahiro 54:4167f10ecad0 2134 case 1:
yabahiro 54:4167f10ecad0 2135 motor[TIRE_BL].pwm += 3;
yabahiro 54:4167f10ecad0 2136 mtc=false;
yabahiro 54:4167f10ecad0 2137 break;
yabahiro 54:4167f10ecad0 2138 case 3:
yabahiro 54:4167f10ecad0 2139 motor[TIRE_BL].pwm += 6;
yabahiro 54:4167f10ecad0 2140 mtc=false;
yabahiro 54:4167f10ecad0 2141 break;
yabahiro 54:4167f10ecad0 2142 case 2:
yabahiro 54:4167f10ecad0 2143 motor[TIRE_BL].pwm += 9;
yabahiro 54:4167f10ecad0 2144 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2145 mtc=false;
yabahiro 54:4167f10ecad0 2146 break;
yabahiro 54:4167f10ecad0 2147 }
yabahiro 54:4167f10ecad0 2148 }
yabahiro 54:4167f10ecad0 2149 break;
yabahiro 54:4167f10ecad0 2150 case 11:
yabahiro 54:4167f10ecad0 2151 motor[TIRE_FR].pwm = 15;
yabahiro 54:4167f10ecad0 2152 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2153 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2154 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2155 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2156 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2157 motor[TIRE_BL].pwm = 15;
yabahiro 54:4167f10ecad0 2158 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2159 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 53:694dbd7dfa0e 2160 countss=0;
yabahiro 54:4167f10ecad0 2161 cross=0;
yabahiro 54:4167f10ecad0 2162 mode=20;
yabahiro 53:694dbd7dfa0e 2163 }
yabahiro 54:4167f10ecad0 2164 break;
yabahiro 54:4167f10ecad0 2165 case 20:
yabahiro 54:4167f10ecad0 2166 solenoid.solenoid4= SOLENOID_ON;
yabahiro 53:694dbd7dfa0e 2167 switch(g[2]) {
yabahiro 54:4167f10ecad0 2168 case 98:
yabahiro 54:4167f10ecad0 2169 motor[TIRE_FR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2170 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2171 motor[TIRE_FL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2172 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2173 motor[TIRE_BR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2174 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2175 motor[TIRE_BL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2176 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2177 if(countss>30000) {
yabahiro 54:4167f10ecad0 2178 cross++;
yabahiro 54:4167f10ecad0 2179 countss=0;
yabahiro 54:4167f10ecad0 2180 }
yabahiro 54:4167f10ecad0 2181 mtc2=true;
yabahiro 54:4167f10ecad0 2182
yabahiro 54:4167f10ecad0 2183 if(YELLOW) {
yabahiro 54:4167f10ecad0 2184 if(cross==1) {
yabahiro 54:4167f10ecad0 2185 fast=20;
yabahiro 54:4167f10ecad0 2186 normal=15;
yabahiro 54:4167f10ecad0 2187 slow=15;
yabahiro 54:4167f10ecad0 2188 } else if(cross==2) {
yabahiro 54:4167f10ecad0 2189 mode=21;
yabahiro 54:4167f10ecad0 2190 countss=0;
yabahiro 54:4167f10ecad0 2191 cross=0;
yabahiro 54:4167f10ecad0 2192 }
yabahiro 54:4167f10ecad0 2193 } else {
yabahiro 54:4167f10ecad0 2194 if(cross==3) {
yabahiro 54:4167f10ecad0 2195 mode=21;
yabahiro 54:4167f10ecad0 2196 countss=0;
yabahiro 54:4167f10ecad0 2197 cross=0;
yabahiro 54:4167f10ecad0 2198 }
yabahiro 54:4167f10ecad0 2199 }
yabahiro 54:4167f10ecad0 2200 break;
yabahiro 53:694dbd7dfa0e 2201 case 0:
yabahiro 54:4167f10ecad0 2202 motor[TIRE_FR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2203 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2204 motor[TIRE_FL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2205 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2206 motor[TIRE_BR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2207 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2208 motor[TIRE_BL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2209 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2210 mtc2=true;
yabahiro 53:694dbd7dfa0e 2211 break;
yabahiro 53:694dbd7dfa0e 2212 case 255:
yabahiro 54:4167f10ecad0 2213 motor[TIRE_FR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2214 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2215 motor[TIRE_FL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2216 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2217 motor[TIRE_BR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2218 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2219 motor[TIRE_BL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2220 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2221 mtc2=true;
yabahiro 38:40e7fdf3c694 2222 break;
yabahiro 38:40e7fdf3c694 2223 case 253:
yabahiro 54:4167f10ecad0 2224 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2225 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2226 motor[TIRE_FL].pwm = slow+20;
yabahiro 54:4167f10ecad0 2227 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2228 motor[TIRE_BR].pwm = slow+20;
yabahiro 54:4167f10ecad0 2229 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2230 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2231 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2232 mtc2=true;
yabahiro 38:40e7fdf3c694 2233 break;
yabahiro 38:40e7fdf3c694 2234 case 254:
yabahiro 54:4167f10ecad0 2235 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2236 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2237 motor[TIRE_FL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2238 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2239 motor[TIRE_BR].pwm = normal+20;
yabahiro 53:694dbd7dfa0e 2240 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2241 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2242 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2243 mtc2=true;
yabahiro 53:694dbd7dfa0e 2244 break;
yabahiro 53:694dbd7dfa0e 2245 case 1:
yabahiro 54:4167f10ecad0 2246 motor[TIRE_FR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2247 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2248 motor[TIRE_FL].pwm = slow+20;
yabahiro 54:4167f10ecad0 2249 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2250 motor[TIRE_BR].pwm = slow+20;
yabahiro 54:4167f10ecad0 2251 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2252 motor[TIRE_BL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2253 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2254 mtc2=true;
yabahiro 53:694dbd7dfa0e 2255 break;
yabahiro 53:694dbd7dfa0e 2256 case 3:
yabahiro 54:4167f10ecad0 2257 motor[TIRE_FR].pwm = slow+20;
yabahiro 54:4167f10ecad0 2258 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2259 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2260 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2261 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2262 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2263 motor[TIRE_BL].pwm = slow+20;
yabahiro 54:4167f10ecad0 2264 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2265 mtc2=true;
yabahiro 53:694dbd7dfa0e 2266 break;
yabahiro 53:694dbd7dfa0e 2267 case 2:
yabahiro 54:4167f10ecad0 2268 motor[TIRE_FR].pwm = normal+20;
yabahiro 53:694dbd7dfa0e 2269 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2270 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2271 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2272 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2273 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2274 motor[TIRE_BL].pwm = normal+20;
yabahiro 38:40e7fdf3c694 2275 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2276 mtc2=true;
yabahiro 38:40e7fdf3c694 2277 break;
yabahiro 33:dd598bb23ad1 2278 }
yabahiro 54:4167f10ecad0 2279 if(g[2]!=98&&mtc2==true) {
yabahiro 54:4167f10ecad0 2280 switch(g[3]) {
yabahiro 54:4167f10ecad0 2281 case 0:
yabahiro 54:4167f10ecad0 2282 mtc2=false;
yabahiro 54:4167f10ecad0 2283 break;
yabahiro 54:4167f10ecad0 2284 case 255:
yabahiro 54:4167f10ecad0 2285 motor[TIRE_BL].pwm += 5;
yabahiro 54:4167f10ecad0 2286 mtc2=false;
yabahiro 54:4167f10ecad0 2287 break;
yabahiro 54:4167f10ecad0 2288 case 253:
yabahiro 54:4167f10ecad0 2289 motor[TIRE_BL].pwm += 10;
yabahiro 54:4167f10ecad0 2290 mtc2=false;
yabahiro 54:4167f10ecad0 2291 break;
yabahiro 54:4167f10ecad0 2292 case 254:
yabahiro 54:4167f10ecad0 2293 motor[TIRE_BL].pwm += 15;
yabahiro 54:4167f10ecad0 2294 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2295 mtc2=false;
yabahiro 54:4167f10ecad0 2296 break;
yabahiro 54:4167f10ecad0 2297 case 1:
yabahiro 54:4167f10ecad0 2298 motor[TIRE_FL].pwm += 5;
yabahiro 54:4167f10ecad0 2299 mtc2=false;
yabahiro 54:4167f10ecad0 2300 break;
yabahiro 54:4167f10ecad0 2301 case 3:
yabahiro 54:4167f10ecad0 2302 motor[TIRE_FL].pwm += 10;
yabahiro 54:4167f10ecad0 2303 mtc2=false;
yabahiro 54:4167f10ecad0 2304 break;
yabahiro 54:4167f10ecad0 2305 case 2:
yabahiro 54:4167f10ecad0 2306 motor[TIRE_FL].pwm += 15;
yabahiro 54:4167f10ecad0 2307 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2308 mtc2=false;
yabahiro 54:4167f10ecad0 2309 break;
yabahiro 54:4167f10ecad0 2310 }
yabahiro 38:40e7fdf3c694 2311 }
yabahiro 54:4167f10ecad0 2312 break;
yabahiro 54:4167f10ecad0 2313 case 21:
yabahiro 54:4167f10ecad0 2314 if(YELLOW) {
yabahiro 54:4167f10ecad0 2315 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2316 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2317 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2318 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2319 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2320 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2321 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2322 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2323 if(g[3]==98&&countss>=10000) {
yabahiro 54:4167f10ecad0 2324 mode=22;
yabahiro 54:4167f10ecad0 2325 countss=0;
yabahiro 54:4167f10ecad0 2326 fast=60;
yabahiro 54:4167f10ecad0 2327 normal=40;
yabahiro 54:4167f10ecad0 2328 slow=20;
yabahiro 54:4167f10ecad0 2329 }
yabahiro 54:4167f10ecad0 2330 } else {
yabahiro 38:40e7fdf3c694 2331 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2332 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2333 motor[TIRE_FL].pwm = 255;
yabahiro 54:4167f10ecad0 2334 motor[TIRE_FL].dir = BRAKE;
yabahiro 54:4167f10ecad0 2335 motor[TIRE_BR].pwm = 255;
yabahiro 54:4167f10ecad0 2336 motor[TIRE_BR].dir = BRAKE;
yabahiro 38:40e7fdf3c694 2337 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2338 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2339 if(g[1]==0) {
yabahiro 54:4167f10ecad0 2340 mode=22;
yabahiro 54:4167f10ecad0 2341 fast=60;
yabahiro 54:4167f10ecad0 2342 normal=40;
yabahiro 54:4167f10ecad0 2343 slow=25;
yabahiro 54:4167f10ecad0 2344 }
yabahiro 38:40e7fdf3c694 2345 }
yabahiro 54:4167f10ecad0 2346 break;
yabahiro 54:4167f10ecad0 2347 case 22:
yabahiro 54:4167f10ecad0 2348 if(YELLOW) {
yabahiro 54:4167f10ecad0 2349 if(g[4]==3||g[4]==2) {
yabahiro 38:40e7fdf3c694 2350 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2351 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2352 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2353 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2354 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2355 motor[TIRE_BR].dir = BACK;
yabahiro 38:40e7fdf3c694 2356 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2357 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2358 }
yabahiro 54:4167f10ecad0 2359 if(g[4]==253||g[4]==254) {
yabahiro 54:4167f10ecad0 2360 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2361 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2362 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2363 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2364 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2365 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 2366 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2367 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2368 }
yabahiro 54:4167f10ecad0 2369 switch(g[2]) {
yabahiro 54:4167f10ecad0 2370 case 0:
yabahiro 54:4167f10ecad0 2371 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2372 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2373 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2374 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2375 break;
yabahiro 54:4167f10ecad0 2376 case 255:
yabahiro 54:4167f10ecad0 2377 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2378 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2379 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2380 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2381 break;
yabahiro 54:4167f10ecad0 2382 case 253:
yabahiro 54:4167f10ecad0 2383 motor[TIRE_FR].pwm = 40;
yabahiro 54:4167f10ecad0 2384 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2385 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2386 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2387 break;
yabahiro 54:4167f10ecad0 2388 case 254:
yabahiro 54:4167f10ecad0 2389 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2390 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2391 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2392 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2393 break;
yabahiro 54:4167f10ecad0 2394 case 1:
yabahiro 54:4167f10ecad0 2395 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2396 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2397 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2398 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2399 break;
yabahiro 54:4167f10ecad0 2400 case 3:
yabahiro 54:4167f10ecad0 2401 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2402 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2403 motor[TIRE_BR].pwm = 40;
yabahiro 54:4167f10ecad0 2404 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2405 break;
yabahiro 54:4167f10ecad0 2406 case 2:
yabahiro 54:4167f10ecad0 2407 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2408 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2409 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2410 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2411 break;
yabahiro 54:4167f10ecad0 2412 }
yabahiro 54:4167f10ecad0 2413 switch(g[3]) {
yabahiro 54:4167f10ecad0 2414 case 0:
yabahiro 54:4167f10ecad0 2415 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2416 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2417 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2418 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2419 break;
yabahiro 54:4167f10ecad0 2420 case 255:
yabahiro 54:4167f10ecad0 2421 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2422 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2423 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2424 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2425 case 253:
yabahiro 54:4167f10ecad0 2426 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2427 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2428 motor[TIRE_BL].pwm = 40;
yabahiro 54:4167f10ecad0 2429 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2430 break;
yabahiro 54:4167f10ecad0 2431 case 254:
yabahiro 54:4167f10ecad0 2432 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2433 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2434 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2435 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2436 break;
yabahiro 54:4167f10ecad0 2437 case 1:
yabahiro 54:4167f10ecad0 2438 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2439 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2440 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2441 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2442 break;
yabahiro 54:4167f10ecad0 2443 case 3:
yabahiro 54:4167f10ecad0 2444 motor[TIRE_FL].pwm = 40;
yabahiro 54:4167f10ecad0 2445 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2446 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2447 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2448 break;
yabahiro 54:4167f10ecad0 2449 case 2:
yabahiro 54:4167f10ecad0 2450 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2451 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2452 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2453 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2454 break;
yabahiro 54:4167f10ecad0 2455 }
yabahiro 54:4167f10ecad0 2456 if(g[3]==0&&g[2]==0) {
yabahiro 54:4167f10ecad0 2457 mode=23;
yabahiro 54:4167f10ecad0 2458 countss=0;
yabahiro 56:61ebd4b759b4 2459 fast = 60;
yabahiro 56:61ebd4b759b4 2460 normal = 40;
yabahiro 54:4167f10ecad0 2461 slow = 30;
yabahiro 54:4167f10ecad0 2462 }
yabahiro 54:4167f10ecad0 2463 } else {
yabahiro 54:4167f10ecad0 2464 if(g[1]==98) {
yabahiro 54:4167f10ecad0 2465 slow=25;
yabahiro 54:4167f10ecad0 2466 normal=30;
yabahiro 54:4167f10ecad0 2467 fast=40;
yabahiro 54:4167f10ecad0 2468 }
yabahiro 54:4167f10ecad0 2469 if(g[3]==0) {
yabahiro 54:4167f10ecad0 2470 slow=25;
yabahiro 54:4167f10ecad0 2471 normal=40;
yabahiro 54:4167f10ecad0 2472 fast=60;
yabahiro 54:4167f10ecad0 2473 mode=23;
yabahiro 54:4167f10ecad0 2474 }
yabahiro 54:4167f10ecad0 2475 switch(g[1]) {
yabahiro 54:4167f10ecad0 2476 case 98:
yabahiro 54:4167f10ecad0 2477 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 54:4167f10ecad0 2478 fast=40;
yabahiro 54:4167f10ecad0 2479 normal=30;
yabahiro 54:4167f10ecad0 2480 slow=25;
yabahiro 54:4167f10ecad0 2481 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2482 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2483 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2484 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2485 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2486 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2487 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2488 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2489 break;
yabahiro 54:4167f10ecad0 2490 case 0:
yabahiro 54:4167f10ecad0 2491 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2492 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2493 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2494 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2495 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 2496 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2497 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2498 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2499 mtc=true;
yabahiro 54:4167f10ecad0 2500 break;
yabahiro 54:4167f10ecad0 2501 case 255:
yabahiro 54:4167f10ecad0 2502 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2503 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2504 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 2505 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2506 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 2507 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2508 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2509 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2510 mtc=true;
yabahiro 54:4167f10ecad0 2511 break;
yabahiro 54:4167f10ecad0 2512 case 253:
yabahiro 54:4167f10ecad0 2513 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2514 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2515 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2516 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2517 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2518 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2519 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 2520 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2521 mtc=true;
yabahiro 54:4167f10ecad0 2522 break;
yabahiro 54:4167f10ecad0 2523 case 254:
yabahiro 54:4167f10ecad0 2524 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2525 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2526 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2527 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2528 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2529 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2530 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2531 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2532 mtc=true;
yabahiro 54:4167f10ecad0 2533 break;
yabahiro 54:4167f10ecad0 2534 case 1:
yabahiro 54:4167f10ecad0 2535 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2536 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2537 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2538 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2539 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 2540 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2541 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 2542 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2543 mtc=true;
yabahiro 54:4167f10ecad0 2544 break;
yabahiro 54:4167f10ecad0 2545 case 3:
yabahiro 54:4167f10ecad0 2546 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2547 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2548 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 2549 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2550 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 2551 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2552 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2553 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2554 mtc=true;
yabahiro 54:4167f10ecad0 2555 break;
yabahiro 54:4167f10ecad0 2556 case 2:
yabahiro 54:4167f10ecad0 2557 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2558 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2559 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2560 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2561 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2562 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2563 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2564 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2565 mtc=true;
yabahiro 54:4167f10ecad0 2566 break;
yabahiro 54:4167f10ecad0 2567 }
yabahiro 54:4167f10ecad0 2568 if(g[1]!=98&&mtc==true) {
yabahiro 54:4167f10ecad0 2569 switch(g[0]) {
yabahiro 54:4167f10ecad0 2570 case 0:
yabahiro 54:4167f10ecad0 2571 mtc=false;
yabahiro 54:4167f10ecad0 2572 break;
yabahiro 54:4167f10ecad0 2573 case 255:
yabahiro 54:4167f10ecad0 2574 motor[TIRE_FL].pwm += 3;
yabahiro 54:4167f10ecad0 2575 mtc=false;
yabahiro 54:4167f10ecad0 2576 break;
yabahiro 54:4167f10ecad0 2577 case 253:
yabahiro 54:4167f10ecad0 2578 motor[TIRE_FL].pwm += 6;
yabahiro 54:4167f10ecad0 2579 mtc=false;
yabahiro 54:4167f10ecad0 2580 break;
yabahiro 54:4167f10ecad0 2581 case 254:
yabahiro 54:4167f10ecad0 2582 motor[TIRE_FL].pwm += 9;
yabahiro 54:4167f10ecad0 2583 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2584 mtc=false;
yabahiro 54:4167f10ecad0 2585 break;
yabahiro 54:4167f10ecad0 2586 case 1:
yabahiro 54:4167f10ecad0 2587 motor[TIRE_FR].pwm += 3;
yabahiro 54:4167f10ecad0 2588 mtc=false;
yabahiro 54:4167f10ecad0 2589 break;
yabahiro 54:4167f10ecad0 2590 case 3:
yabahiro 54:4167f10ecad0 2591 motor[TIRE_FR].pwm += 6;
yabahiro 54:4167f10ecad0 2592 mtc=false;
yabahiro 54:4167f10ecad0 2593 break;
yabahiro 54:4167f10ecad0 2594 case 2:
yabahiro 54:4167f10ecad0 2595 motor[TIRE_FR].pwm += 9;
yabahiro 54:4167f10ecad0 2596 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2597 mtc=false;
yabahiro 54:4167f10ecad0 2598 break;
yabahiro 54:4167f10ecad0 2599 }
yabahiro 54:4167f10ecad0 2600 }
yabahiro 54:4167f10ecad0 2601 }
yabahiro 54:4167f10ecad0 2602 break;
yabahiro 54:4167f10ecad0 2603 case 23:
yabahiro 54:4167f10ecad0 2604 if(YELLOW) {
yabahiro 54:4167f10ecad0 2605 switch(g[4]) {
yabahiro 54:4167f10ecad0 2606 case 98:
yabahiro 54:4167f10ecad0 2607 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2608 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2609 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2610 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2611 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2612 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2613 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2614 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2615 break;
yabahiro 54:4167f10ecad0 2616 case 99:
yabahiro 54:4167f10ecad0 2617 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2618 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2619 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2620 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2621 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2622 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2623 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2624 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2625 break;
yabahiro 54:4167f10ecad0 2626 case 0:
yabahiro 54:4167f10ecad0 2627 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2628 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2629 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2630 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2631 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2632 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2633 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2634 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2635 break;
yabahiro 54:4167f10ecad0 2636 case 255:
yabahiro 54:4167f10ecad0 2637 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2638 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2639 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2640 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2641 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2642 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2643 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2644 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2645 break;
yabahiro 54:4167f10ecad0 2646 case 253:
yabahiro 54:4167f10ecad0 2647 motor[TIRE_FR].pwm = slow+5;
yabahiro 54:4167f10ecad0 2648 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2649 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2650 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2651 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2652 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2653 motor[TIRE_BL].pwm = slow+5;
yabahiro 54:4167f10ecad0 2654 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2655 break;
yabahiro 54:4167f10ecad0 2656 case 254:
yabahiro 54:4167f10ecad0 2657 motor[TIRE_FR].pwm = normal+5;
yabahiro 54:4167f10ecad0 2658 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2659 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2660 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2661 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2662 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2663 motor[TIRE_BL].pwm = normal+5;
yabahiro 54:4167f10ecad0 2664 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2665 break;
yabahiro 54:4167f10ecad0 2666 case 1:
yabahiro 54:4167f10ecad0 2667 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2668 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2669 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2670 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2671 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2672 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2673 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2674 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2675 break;
yabahiro 54:4167f10ecad0 2676 case 3:
yabahiro 54:4167f10ecad0 2677 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2678 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2679 motor[TIRE_FL].pwm = slow+5;
yabahiro 54:4167f10ecad0 2680 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2681 motor[TIRE_BR].pwm = slow+5;
yabahiro 54:4167f10ecad0 2682 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2683 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2684 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2685 break;
yabahiro 54:4167f10ecad0 2686 case 2:
yabahiro 54:4167f10ecad0 2687 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2688 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2689 motor[TIRE_FL].pwm = normal+5;
yabahiro 54:4167f10ecad0 2690 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2691 motor[TIRE_BR].pwm = normal+5;
yabahiro 54:4167f10ecad0 2692 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2693 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2694 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2695 break;
yabahiro 54:4167f10ecad0 2696 }
yabahiro 57:ccfd26b94d8a 2697 if(g[1]==98) {
yabahiro 56:61ebd4b759b4 2698 fast=10;
yabahiro 56:61ebd4b759b4 2699 normal=10;
yabahiro 54:4167f10ecad0 2700 slow=10;
yabahiro 54:4167f10ecad0 2701 }
yabahiro 54:4167f10ecad0 2702 if(g[3]==254&&countss>=100000) {
yabahiro 54:4167f10ecad0 2703 mode=24;
yabahiro 54:4167f10ecad0 2704 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 56:61ebd4b759b4 2705 aime.start();
yabahiro 56:61ebd4b759b4 2706 aime.reset();
yabahiro 54:4167f10ecad0 2707 countss=0;
yabahiro 54:4167f10ecad0 2708 fast=80;
yabahiro 54:4167f10ecad0 2709 normal=60;
yabahiro 54:4167f10ecad0 2710 slow=30;
yabahiro 54:4167f10ecad0 2711 }
yabahiro 54:4167f10ecad0 2712 } else {
yabahiro 54:4167f10ecad0 2713 if(UPLS||DOLS) {
yabahiro 54:4167f10ecad0 2714 if(UPLS||DOLS) {
yabahiro 54:4167f10ecad0 2715 motor[MOTOR_0].pwm = 200;
yabahiro 54:4167f10ecad0 2716 motor[MOTOR_0].dir = BRAKE;
yabahiro 54:4167f10ecad0 2717 fast=60;
yabahiro 54:4167f10ecad0 2718 normal=40;
yabahiro 54:4167f10ecad0 2719 slow=30;
yabahiro 54:4167f10ecad0 2720 countss=0;
yabahiro 54:4167f10ecad0 2721 mode=24;
yabahiro 54:4167f10ecad0 2722 }
yabahiro 54:4167f10ecad0 2723 } else {
yabahiro 54:4167f10ecad0 2724 motor[MOTOR_0].pwm = 100;
yabahiro 54:4167f10ecad0 2725 motor[MOTOR_0].dir = BACK;
yabahiro 54:4167f10ecad0 2726 }
yabahiro 54:4167f10ecad0 2727 motor[TIRE_FR].pwm = 100;
yabahiro 54:4167f10ecad0 2728 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 2729 motor[TIRE_FL].pwm = 100;
yabahiro 54:4167f10ecad0 2730 motor[TIRE_FL].dir = BRAKE;
yabahiro 54:4167f10ecad0 2731 motor[TIRE_BR].pwm = 100;
yabahiro 54:4167f10ecad0 2732 motor[TIRE_BR].dir = BRAKE;
yabahiro 54:4167f10ecad0 2733 motor[TIRE_BL].pwm = 100;
yabahiro 54:4167f10ecad0 2734 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 2735 }
yabahiro 54:4167f10ecad0 2736 break;
yabahiro 54:4167f10ecad0 2737 case 24:
yabahiro 54:4167f10ecad0 2738 if(YELLOW) {
yabahiro 56:61ebd4b759b4 2739 value=aime.read_ms();
yabahiro 56:61ebd4b759b4 2740 if(value>=4000) {
yabahiro 56:61ebd4b759b4 2741 mode=25;
yabahiro 56:61ebd4b759b4 2742 }
yabahiro 54:4167f10ecad0 2743 if(g[4]==3||g[4]==2) {
yabahiro 54:4167f10ecad0 2744 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2745 motor[TIRE_FR].dir = FOR;
yabahiro 53:694dbd7dfa0e 2746 motor[TIRE_FL].pwm = 30;
yabahiro 53:694dbd7dfa0e 2747 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2748 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2749 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2750 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2751 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2752 }
yabahiro 54:4167f10ecad0 2753 if(g[4]==253||g[4]==254) {
yabahiro 54:4167f10ecad0 2754 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2755 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 2756 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2757 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2758 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2759 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2760 motor[TIRE_BL].pwm = 30;
yabahiro 52:4394a1debceb 2761 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2762 }
yabahiro 54:4167f10ecad0 2763 switch(g[2]) {
yabahiro 54:4167f10ecad0 2764 case 0:
yabahiro 54:4167f10ecad0 2765 motor[TIRE_FR].pwm = 25;
yabahiro 54:4167f10ecad0 2766 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2767 motor[TIRE_BR].pwm = 25;
yabahiro 54:4167f10ecad0 2768 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2769 break;
yabahiro 54:4167f10ecad0 2770 case 255:
yabahiro 54:4167f10ecad0 2771 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2772 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2773 motor[TIRE_BR].pwm = 25;
yabahiro 54:4167f10ecad0 2774 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2775 break;
yabahiro 54:4167f10ecad0 2776 case 253:
yabahiro 54:4167f10ecad0 2777 motor[TIRE_FR].pwm = 40;
yabahiro 54:4167f10ecad0 2778 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2779 motor[TIRE_BR].pwm = 25;
yabahiro 54:4167f10ecad0 2780 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2781 break;
yabahiro 54:4167f10ecad0 2782 case 254:
yabahiro 54:4167f10ecad0 2783 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2784 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2785 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2786 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2787 break;
yabahiro 54:4167f10ecad0 2788 case 1:
yabahiro 54:4167f10ecad0 2789 motor[TIRE_FR].pwm = 25;
yabahiro 54:4167f10ecad0 2790 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2791 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2792 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2793 break;
yabahiro 54:4167f10ecad0 2794 case 3:
yabahiro 54:4167f10ecad0 2795 motor[TIRE_FR].pwm = 25;
yabahiro 54:4167f10ecad0 2796 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2797 motor[TIRE_BR].pwm = 40;
yabahiro 54:4167f10ecad0 2798 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2799 break;
yabahiro 54:4167f10ecad0 2800 case 2:
yabahiro 54:4167f10ecad0 2801 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2802 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2803 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2804 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2805 break;
yabahiro 54:4167f10ecad0 2806 }
yabahiro 54:4167f10ecad0 2807 switch(g[3]) {
yabahiro 54:4167f10ecad0 2808 case 0:
yabahiro 54:4167f10ecad0 2809 motor[TIRE_FL].pwm = 25;
yabahiro 54:4167f10ecad0 2810 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2811 motor[TIRE_BL].pwm = 25;
yabahiro 54:4167f10ecad0 2812 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2813 break;
yabahiro 54:4167f10ecad0 2814 case 255:
yabahiro 54:4167f10ecad0 2815 motor[TIRE_FL].pwm = 25;
yabahiro 54:4167f10ecad0 2816 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2817 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2818 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2819 case 253:
yabahiro 54:4167f10ecad0 2820 motor[TIRE_FL].pwm = 25;
yabahiro 54:4167f10ecad0 2821 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2822 motor[TIRE_BL].pwm = 40;
yabahiro 54:4167f10ecad0 2823 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2824 break;
yabahiro 54:4167f10ecad0 2825 case 254:
yabahiro 54:4167f10ecad0 2826 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2827 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2828 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2829 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2830 break;
yabahiro 54:4167f10ecad0 2831 case 1:
yabahiro 54:4167f10ecad0 2832 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2833 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2834 motor[TIRE_BL].pwm = 25;
yabahiro 54:4167f10ecad0 2835 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2836 break;
yabahiro 54:4167f10ecad0 2837 case 3:
yabahiro 54:4167f10ecad0 2838 motor[TIRE_FL].pwm = 40;
yabahiro 54:4167f10ecad0 2839 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2840 motor[TIRE_BL].pwm = 25;
yabahiro 54:4167f10ecad0 2841 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2842 break;
yabahiro 54:4167f10ecad0 2843 case 2:
yabahiro 54:4167f10ecad0 2844 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2845 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2846 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2847 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2848 break;
yabahiro 54:4167f10ecad0 2849 }
yabahiro 54:4167f10ecad0 2850 if(g[3]==0&&g[2]==0) {
yabahiro 54:4167f10ecad0 2851 mode=25;
yabahiro 54:4167f10ecad0 2852 }
yabahiro 54:4167f10ecad0 2853 } else {
yabahiro 54:4167f10ecad0 2854 if(g[1]==98&&countss>=40000) {
yabahiro 54:4167f10ecad0 2855 mode=31;
yabahiro 54:4167f10ecad0 2856 fast = 60;
yabahiro 54:4167f10ecad0 2857 normal = 40;
yabahiro 54:4167f10ecad0 2858 slow = 30;
yabahiro 54:4167f10ecad0 2859 countss=0;
yabahiro 54:4167f10ecad0 2860 }
yabahiro 54:4167f10ecad0 2861 switch(g[1]) {
yabahiro 54:4167f10ecad0 2862 case 98:
yabahiro 54:4167f10ecad0 2863 fast=40;
yabahiro 54:4167f10ecad0 2864 normal=30;
yabahiro 54:4167f10ecad0 2865 slow=25;
yabahiro 54:4167f10ecad0 2866 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2867 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2868 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2869 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2870 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2871 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2872 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2873 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2874 break;
yabahiro 54:4167f10ecad0 2875 case 0:
yabahiro 54:4167f10ecad0 2876 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2877 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2878 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2879 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2880 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 2881 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2882 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2883 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2884 mtc=true;
yabahiro 54:4167f10ecad0 2885 break;
yabahiro 54:4167f10ecad0 2886 case 255:
yabahiro 54:4167f10ecad0 2887 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2888 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2889 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 2890 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2891 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 2892 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2893 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2894 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2895 mtc=true;
yabahiro 54:4167f10ecad0 2896 break;
yabahiro 54:4167f10ecad0 2897 case 253:
yabahiro 54:4167f10ecad0 2898 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2899 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2900 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2901 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2902 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2903 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2904 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 2905 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2906 mtc=true;
yabahiro 54:4167f10ecad0 2907 break;
yabahiro 54:4167f10ecad0 2908 case 254:
yabahiro 54:4167f10ecad0 2909 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2910 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2911 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2912 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2913 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2914 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2915 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2916 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2917 mtc=true;
yabahiro 54:4167f10ecad0 2918 break;
yabahiro 54:4167f10ecad0 2919 case 1:
yabahiro 54:4167f10ecad0 2920 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2921 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2922 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2923 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2924 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 2925 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2926 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 2927 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2928 mtc=true;
yabahiro 54:4167f10ecad0 2929 break;
yabahiro 54:4167f10ecad0 2930 case 3:
yabahiro 54:4167f10ecad0 2931 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2932 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2933 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 2934 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2935 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 2936 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2937 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2938 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2939 mtc=true;
yabahiro 54:4167f10ecad0 2940 break;
yabahiro 54:4167f10ecad0 2941 case 2:
yabahiro 54:4167f10ecad0 2942 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2943 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2944 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2945 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2946 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2947 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2948 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2949 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2950 mtc=true;
yabahiro 54:4167f10ecad0 2951 break;
yabahiro 54:4167f10ecad0 2952 }
yabahiro 54:4167f10ecad0 2953 if(g[1]!=98&&mtc==true) {
yabahiro 54:4167f10ecad0 2954 switch(g[0]) {
yabahiro 54:4167f10ecad0 2955 case 0:
yabahiro 54:4167f10ecad0 2956 mtc=false;
yabahiro 54:4167f10ecad0 2957 break;
yabahiro 54:4167f10ecad0 2958 case 255:
yabahiro 54:4167f10ecad0 2959 motor[TIRE_FL].pwm += 3;
yabahiro 54:4167f10ecad0 2960 mtc=false;
yabahiro 54:4167f10ecad0 2961 break;
yabahiro 54:4167f10ecad0 2962 case 253:
yabahiro 54:4167f10ecad0 2963 motor[TIRE_FL].pwm += 6;
yabahiro 54:4167f10ecad0 2964 mtc=false;
yabahiro 54:4167f10ecad0 2965 break;
yabahiro 54:4167f10ecad0 2966 case 254:
yabahiro 54:4167f10ecad0 2967 motor[TIRE_FL].pwm += 9;
yabahiro 54:4167f10ecad0 2968 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2969 mtc=false;
yabahiro 54:4167f10ecad0 2970 break;
yabahiro 54:4167f10ecad0 2971 case 1:
yabahiro 54:4167f10ecad0 2972 motor[TIRE_FR].pwm += 3;
yabahiro 54:4167f10ecad0 2973 mtc=false;
yabahiro 54:4167f10ecad0 2974 break;
yabahiro 54:4167f10ecad0 2975 case 3:
yabahiro 54:4167f10ecad0 2976 motor[TIRE_FR].pwm += 6;
yabahiro 54:4167f10ecad0 2977 mtc=false;
yabahiro 54:4167f10ecad0 2978 break;
yabahiro 54:4167f10ecad0 2979 case 2:
yabahiro 54:4167f10ecad0 2980 motor[TIRE_FR].pwm += 9;
yabahiro 54:4167f10ecad0 2981 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2982 mtc=false;
yabahiro 54:4167f10ecad0 2983 break;
yabahiro 54:4167f10ecad0 2984 }
yabahiro 54:4167f10ecad0 2985 }
yabahiro 52:4394a1debceb 2986 }
yabahiro 54:4167f10ecad0 2987 break;
yabahiro 54:4167f10ecad0 2988 case 25:
kishibekairohan 47:a9cad8502999 2989 motor[TIRE_FR].pwm = 100;
kishibekairohan 47:a9cad8502999 2990 motor[TIRE_FR].dir = BRAKE;
kishibekairohan 47:a9cad8502999 2991 motor[TIRE_FL].pwm = 100;
kishibekairohan 47:a9cad8502999 2992 motor[TIRE_FL].dir = BRAKE;
kishibekairohan 47:a9cad8502999 2993 motor[TIRE_BR].pwm = 100;
kishibekairohan 47:a9cad8502999 2994 motor[TIRE_BR].dir = BRAKE;
kishibekairohan 47:a9cad8502999 2995 motor[TIRE_BL].pwm = 100;
kishibekairohan 47:a9cad8502999 2996 motor[TIRE_BL].dir = BRAKE;
yabahiro 46:68296caae1af 2997 if(UPLS==true||DOLS==true) {
yabahiro 54:4167f10ecad0 2998 if(UPLS==true||DOLS==true) {
yabahiro 54:4167f10ecad0 2999 motor[MOTOR_0].pwm = 200;
yabahiro 54:4167f10ecad0 3000 motor[MOTOR_0].dir = BRAKE;
yabahiro 54:4167f10ecad0 3001 countss = 0;
yabahiro 54:4167f10ecad0 3002 mode=26;
yabahiro 54:4167f10ecad0 3003 }
yabahiro 46:68296caae1af 3004 } else {
yabahiro 46:68296caae1af 3005 motor[MOTOR_0].pwm = 100;
yabahiro 46:68296caae1af 3006 motor[MOTOR_0].dir = BACK;
yabahiro 46:68296caae1af 3007 }
yabahiro 54:4167f10ecad0 3008 break;
yabahiro 54:4167f10ecad0 3009 case 26:
yabahiro 56:61ebd4b759b4 3010 /*
yabahiro 56:61ebd4b759b4 3011 if (g[3] == 0&&countss>=30000) {
yabahiro 56:61ebd4b759b4 3012 mode = 40;
yabahiro 56:61ebd4b759b4 3013 }
yabahiro 56:61ebd4b759b4 3014 */
yabahiro 56:61ebd4b759b4 3015 if (g[1] != 99) {
yabahiro 54:4167f10ecad0 3016 mode = 31;
yabahiro 54:4167f10ecad0 3017 }
yabahiro 38:40e7fdf3c694 3018 switch(g[4]) {
yabahiro 38:40e7fdf3c694 3019 case 98:
yabahiro 38:40e7fdf3c694 3020 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3021 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3022 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3023 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3024 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3025 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3026 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3027 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3028 break;
yabahiro 38:40e7fdf3c694 3029 case 99:
yabahiro 38:40e7fdf3c694 3030 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3031 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3032 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3033 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3034 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3035 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3036 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3037 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3038 break;
yabahiro 38:40e7fdf3c694 3039 case 0:
yabahiro 38:40e7fdf3c694 3040 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3041 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3042 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3043 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3044 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3045 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3046 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3047 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3048 break;
yabahiro 38:40e7fdf3c694 3049 case 255:
yabahiro 38:40e7fdf3c694 3050 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3051 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3052 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3053 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3054 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3055 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3056 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3057 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3058 break;
yabahiro 38:40e7fdf3c694 3059 case 253:
yabahiro 46:68296caae1af 3060 motor[TIRE_FR].pwm = 25;
yabahiro 38:40e7fdf3c694 3061 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3062 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3063 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3064 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3065 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 3066 motor[TIRE_BL].pwm = 25;
yabahiro 38:40e7fdf3c694 3067 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3068 break;
yabahiro 38:40e7fdf3c694 3069 case 254:
yabahiro 38:40e7fdf3c694 3070 motor[TIRE_FR].pwm = 40;
yabahiro 38:40e7fdf3c694 3071 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3072 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3073 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3074 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3075 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3076 motor[TIRE_BL].pwm = 40;
yabahiro 38:40e7fdf3c694 3077 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3078 break;
yabahiro 38:40e7fdf3c694 3079 case 1:
yabahiro 38:40e7fdf3c694 3080 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3081 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3082 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3083 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3084 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3085 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3086 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3087 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3088 break;
yabahiro 38:40e7fdf3c694 3089 case 3:
yabahiro 38:40e7fdf3c694 3090 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3091 motor[TIRE_FR].dir = FOR;
yabahiro 46:68296caae1af 3092 motor[TIRE_FL].pwm = 25;
yabahiro 38:40e7fdf3c694 3093 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3094 motor[TIRE_BR].pwm = 25;
yabahiro 38:40e7fdf3c694 3095 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3096 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3097 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3098 break;
yabahiro 38:40e7fdf3c694 3099 case 2:
yabahiro 38:40e7fdf3c694 3100 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3101 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3102 motor[TIRE_FL].pwm = 40;
yabahiro 38:40e7fdf3c694 3103 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3104 motor[TIRE_BR].pwm = 40;
yabahiro 38:40e7fdf3c694 3105 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3106 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3107 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3108 break;
yabahiro 38:40e7fdf3c694 3109 }
yabahiro 54:4167f10ecad0 3110 break;
yabahiro 54:4167f10ecad0 3111 case 31:
yabahiro 54:4167f10ecad0 3112 motor[TIRE_FR].pwm = 255;
yabahiro 54:4167f10ecad0 3113 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3114 motor[TIRE_FL].pwm = 45;
yabahiro 54:4167f10ecad0 3115 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3116 motor[TIRE_BR].pwm = 45;
yabahiro 54:4167f10ecad0 3117 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3118 motor[TIRE_BL].pwm = 255;
yabahiro 54:4167f10ecad0 3119 motor[TIRE_BL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 3120 if(g[3]==0) {
yabahiro 54:4167f10ecad0 3121 cross=0;
yabahiro 54:4167f10ecad0 3122 countss=0;
yabahiro 54:4167f10ecad0 3123 mode=40;
yabahiro 56:61ebd4b759b4 3124 fast = 70;
yabahiro 56:61ebd4b759b4 3125 normal = 50;
yabahiro 54:4167f10ecad0 3126 slow = 30;
yabahiro 54:4167f10ecad0 3127 }
yabahiro 54:4167f10ecad0 3128 break;
yabahiro 54:4167f10ecad0 3129 case 40:
yabahiro 54:4167f10ecad0 3130 if(YELLOW) {
yabahiro 54:4167f10ecad0 3131 if(cross==1) {
yabahiro 54:4167f10ecad0 3132 mode=41;
yabahiro 54:4167f10ecad0 3133 countss=0;
yabahiro 54:4167f10ecad0 3134 cross=0;
yabahiro 54:4167f10ecad0 3135 }
yabahiro 54:4167f10ecad0 3136 } else {
yabahiro 54:4167f10ecad0 3137 if(cross==3) {
yabahiro 54:4167f10ecad0 3138 fast = 60;
yabahiro 54:4167f10ecad0 3139 normal = 40;
yabahiro 54:4167f10ecad0 3140 slow = 30;
yabahiro 54:4167f10ecad0 3141 mode=41;
yabahiro 54:4167f10ecad0 3142 countss=0;
yabahiro 54:4167f10ecad0 3143 cross=0;
yabahiro 54:4167f10ecad0 3144 }
yabahiro 54:4167f10ecad0 3145 }
yabahiro 54:4167f10ecad0 3146 /*
yabahiro 54:4167f10ecad0 3147 if(LIF||LIB) {
yabahiro 54:4167f10ecad0 3148 mode=42;
yabahiro 33:dd598bb23ad1 3149 }
yabahiro 54:4167f10ecad0 3150 */
yabahiro 54:4167f10ecad0 3151 switch(g[3]) {
yabahiro 54:4167f10ecad0 3152 case 98:
yabahiro 54:4167f10ecad0 3153 motor[TIRE_FR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3154 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3155 motor[TIRE_FL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3156 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3157 motor[TIRE_BR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3158 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3159 motor[TIRE_BL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3160 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3161 if(countss>30000) {
yabahiro 54:4167f10ecad0 3162 cross++;
yabahiro 54:4167f10ecad0 3163 countss=0;
yabahiro 54:4167f10ecad0 3164 }
yabahiro 54:4167f10ecad0 3165 mtc2=true;
yabahiro 54:4167f10ecad0 3166 break;
yabahiro 54:4167f10ecad0 3167 case 0:
yabahiro 54:4167f10ecad0 3168 motor[TIRE_FR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3169 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3170 motor[TIRE_FL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3171 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3172 motor[TIRE_BR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3173 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3174 motor[TIRE_BL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3175 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3176 mtc2=true;
yabahiro 54:4167f10ecad0 3177 break;
yabahiro 54:4167f10ecad0 3178 case 255:
yabahiro 54:4167f10ecad0 3179 motor[TIRE_FR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3180 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3181 motor[TIRE_FL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3182 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3183 motor[TIRE_BR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3184 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3185 motor[TIRE_BL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3186 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3187 mtc2=true;
yabahiro 54:4167f10ecad0 3188 break;
yabahiro 54:4167f10ecad0 3189 case 253:
yabahiro 54:4167f10ecad0 3190 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3191 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 3192 motor[TIRE_FL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3193 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3194 motor[TIRE_BR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3195 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3196 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 3197 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 3198 mtc2=true;
yabahiro 54:4167f10ecad0 3199 break;
yabahiro 54:4167f10ecad0 3200 case 254:
yabahiro 54:4167f10ecad0 3201 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3202 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 3203 motor[TIRE_FL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3204 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3205 motor[TIRE_BR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3206 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3207 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 3208 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 3209 mtc2=true;
yabahiro 54:4167f10ecad0 3210 break;
yabahiro 54:4167f10ecad0 3211 case 1:
yabahiro 54:4167f10ecad0 3212 motor[TIRE_FR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3213 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3214 motor[TIRE_FL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3215 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3216 motor[TIRE_BR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3217 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3218 motor[TIRE_BL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3219 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3220 mtc2=true;
yabahiro 54:4167f10ecad0 3221 break;
yabahiro 54:4167f10ecad0 3222 case 3:
yabahiro 54:4167f10ecad0 3223 motor[TIRE_FR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3224 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3225 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 3226 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 3227 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3228 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 3229 motor[TIRE_BL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3230 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3231 mtc2=true;
yabahiro 54:4167f10ecad0 3232 break;
yabahiro 54:4167f10ecad0 3233 case 2:
yabahiro 54:4167f10ecad0 3234 motor[TIRE_FR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3235 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3236 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 3237 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 3238 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3239 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 3240 motor[TIRE_BL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3241 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3242 mtc2=true;
yabahiro 54:4167f10ecad0 3243 break;
yabahiro 54:4167f10ecad0 3244 }
yabahiro 54:4167f10ecad0 3245 if(g[2]!=98&&mtc2==true) {
yabahiro 54:4167f10ecad0 3246 switch(g[2]) {
yabahiro 54:4167f10ecad0 3247 case 0:
yabahiro 54:4167f10ecad0 3248 mtc2=false;
yabahiro 54:4167f10ecad0 3249 break;
yabahiro 54:4167f10ecad0 3250 case 255:
yabahiro 54:4167f10ecad0 3251 motor[TIRE_FR].pwm += 3;
yabahiro 54:4167f10ecad0 3252 mtc2=false;
yabahiro 54:4167f10ecad0 3253 break;
yabahiro 54:4167f10ecad0 3254 case 253:
yabahiro 54:4167f10ecad0 3255 motor[TIRE_FR].pwm += 6;
yabahiro 54:4167f10ecad0 3256 mtc2=false;
yabahiro 54:4167f10ecad0 3257 break;
yabahiro 54:4167f10ecad0 3258 case 254:
yabahiro 54:4167f10ecad0 3259 motor[TIRE_FR].pwm += 9;
yabahiro 54:4167f10ecad0 3260 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3261 mtc2=false;
yabahiro 54:4167f10ecad0 3262 break;
yabahiro 54:4167f10ecad0 3263 case 1:
yabahiro 54:4167f10ecad0 3264 motor[TIRE_BR].pwm += 3;
yabahiro 54:4167f10ecad0 3265 mtc2=false;
yabahiro 54:4167f10ecad0 3266 break;
yabahiro 54:4167f10ecad0 3267 case 3:
yabahiro 54:4167f10ecad0 3268 motor[TIRE_BR].pwm += 6;
yabahiro 54:4167f10ecad0 3269 mtc2=false;
yabahiro 54:4167f10ecad0 3270 break;
yabahiro 54:4167f10ecad0 3271 case 2:
yabahiro 54:4167f10ecad0 3272 motor[TIRE_BR].pwm += 9;
yabahiro 54:4167f10ecad0 3273 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3274 mtc2=false;
yabahiro 54:4167f10ecad0 3275 break;
yabahiro 54:4167f10ecad0 3276 }
yabahiro 54:4167f10ecad0 3277 }
yabahiro 54:4167f10ecad0 3278 break;
yabahiro 54:4167f10ecad0 3279 case 41:
yabahiro 54:4167f10ecad0 3280 /*
yabahiro 54:4167f10ecad0 3281 if(LIF||LIB) {
yabahiro 54:4167f10ecad0 3282 mode=42;
yabahiro 54:4167f10ecad0 3283 }
yabahiro 54:4167f10ecad0 3284 */
yabahiro 54:4167f10ecad0 3285 motor[TIRE_FR].pwm = 255;
yabahiro 54:4167f10ecad0 3286 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3287 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 3288 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3289 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 3290 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3291 motor[TIRE_BL].pwm = 255;
yabahiro 54:4167f10ecad0 3292 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 3293 if(g[1]==0) {
yabahiro 54:4167f10ecad0 3294 countss=0;
yabahiro 54:4167f10ecad0 3295 mode=70;
yabahiro 56:61ebd4b759b4 3296 normal = 120;
yabahiro 56:61ebd4b759b4 3297 fast = 140;
yabahiro 56:61ebd4b759b4 3298 slow = 100;
yabahiro 54:4167f10ecad0 3299 }
yabahiro 54:4167f10ecad0 3300 break;
yabahiro 54:4167f10ecad0 3301 case 42:
yabahiro 54:4167f10ecad0 3302 motor[TIRE_FR].pwm = 40;
yabahiro 38:40e7fdf3c694 3303 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 3304 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 3305 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 3306 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3307 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 3308 motor[TIRE_BL].pwm = 40;
yabahiro 38:40e7fdf3c694 3309 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3310 if(g[1]==0) {
yabahiro 54:4167f10ecad0 3311 countss=0;
yabahiro 54:4167f10ecad0 3312 mode=70;
yabahiro 53:694dbd7dfa0e 3313 }
yabahiro 54:4167f10ecad0 3314 break;
yabahiro 54:4167f10ecad0 3315 case 70:
yabahiro 38:40e7fdf3c694 3316 switch(g[1]) {
yabahiro 54:4167f10ecad0 3317 case 99:
yabahiro 54:4167f10ecad0 3318 if(countss>=100000) {
yabahiro 54:4167f10ecad0 3319 mode=100;
yabahiro 54:4167f10ecad0 3320 }
yabahiro 54:4167f10ecad0 3321 break;
yabahiro 38:40e7fdf3c694 3322 case 98:
yabahiro 38:40e7fdf3c694 3323 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 3324 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3325 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 3326 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3327 motor[TIRE_BR].pwm = normal+5;
yabahiro 38:40e7fdf3c694 3328 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3329 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 3330 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3331 break;
yabahiro 38:40e7fdf3c694 3332 case 0:
yabahiro 54:4167f10ecad0 3333 motor[TIRE_FR].pwm = 100;
yabahiro 38:40e7fdf3c694 3334 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 3335 motor[TIRE_FL].pwm = 100;
yabahiro 38:40e7fdf3c694 3336 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3337 motor[TIRE_BR].pwm = 105;
yabahiro 38:40e7fdf3c694 3338 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3339 motor[TIRE_BL].pwm = 100;
yabahiro 38:40e7fdf3c694 3340 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3341 mtc=true;
yabahiro 38:40e7fdf3c694 3342 break;
yabahiro 38:40e7fdf3c694 3343 case 255:
yabahiro 38:40e7fdf3c694 3344 motor[TIRE_FR].pwm = fast;
yabahiro 38:40e7fdf3c694 3345 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3346 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 3347 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3348 motor[TIRE_BR].pwm = slow+5;
yabahiro 38:40e7fdf3c694 3349 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3350 motor[TIRE_BL].pwm = fast;
yabahiro 38:40e7fdf3c694 3351 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3352 mtc=true;
yabahiro 38:40e7fdf3c694 3353 break;
yabahiro 38:40e7fdf3c694 3354 case 253:
yabahiro 38:40e7fdf3c694 3355 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 3356 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3357 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3358 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3359 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3360 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3361 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 3362 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3363 mtc=true;
yabahiro 38:40e7fdf3c694 3364 break;
yabahiro 38:40e7fdf3c694 3365 case 254:
yabahiro 38:40e7fdf3c694 3366 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 3367 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3368 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3369 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3370 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3371 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3372 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 3373 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3374 mtc=true;
yabahiro 38:40e7fdf3c694 3375 break;
yabahiro 38:40e7fdf3c694 3376 case 1:
yabahiro 38:40e7fdf3c694 3377 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 3378 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3379 motor[TIRE_FL].pwm = fast;
yabahiro 38:40e7fdf3c694 3380 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3381 motor[TIRE_BR].pwm = fast+5;
yabahiro 38:40e7fdf3c694 3382 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3383 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 3384 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3385 mtc=true;
yabahiro 38:40e7fdf3c694 3386 break;
yabahiro 38:40e7fdf3c694 3387 case 3:
yabahiro 38:40e7fdf3c694 3388 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3389 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3390 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 3391 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3392 motor[TIRE_BR].pwm = slow+5;
yabahiro 38:40e7fdf3c694 3393 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3394 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3395 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3396 mtc=true;
yabahiro 38:40e7fdf3c694 3397 break;
yabahiro 38:40e7fdf3c694 3398 case 2:
yabahiro 38:40e7fdf3c694 3399 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3400 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3401 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 3402 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3403 motor[TIRE_BR].pwm = normal+5;
yabahiro 38:40e7fdf3c694 3404 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3405 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3406 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3407 mtc=true;
yabahiro 38:40e7fdf3c694 3408 break;
yabahiro 38:40e7fdf3c694 3409 }
yabahiro 38:40e7fdf3c694 3410 if(g[1]!=98&&mtc==true) {
yabahiro 38:40e7fdf3c694 3411 switch(g[0]) {
yabahiro 38:40e7fdf3c694 3412 case 0:
yabahiro 38:40e7fdf3c694 3413 mtc=false;
yabahiro 38:40e7fdf3c694 3414 break;
yabahiro 38:40e7fdf3c694 3415 case 255:
kishibekairohan 44:2aff0da5ebdb 3416 motor[TIRE_FL].pwm += 3;
yabahiro 38:40e7fdf3c694 3417 mtc=false;
yabahiro 38:40e7fdf3c694 3418 break;
yabahiro 38:40e7fdf3c694 3419 case 253:
kishibekairohan 44:2aff0da5ebdb 3420 motor[TIRE_FL].pwm += 6;
yabahiro 38:40e7fdf3c694 3421 mtc=false;
yabahiro 38:40e7fdf3c694 3422 break;
yabahiro 38:40e7fdf3c694 3423 case 254:
kishibekairohan 44:2aff0da5ebdb 3424 motor[TIRE_FL].pwm += 9;
yabahiro 38:40e7fdf3c694 3425 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3426 mtc=false;
yabahiro 38:40e7fdf3c694 3427 break;
yabahiro 38:40e7fdf3c694 3428 case 1:
kishibekairohan 44:2aff0da5ebdb 3429 motor[TIRE_FR].pwm += 3;
yabahiro 38:40e7fdf3c694 3430 mtc=false;
yabahiro 38:40e7fdf3c694 3431 break;
yabahiro 38:40e7fdf3c694 3432 case 3:
kishibekairohan 44:2aff0da5ebdb 3433 motor[TIRE_FR].pwm += 6;
yabahiro 38:40e7fdf3c694 3434 mtc=false;
yabahiro 38:40e7fdf3c694 3435 break;
yabahiro 38:40e7fdf3c694 3436 case 2:
kishibekairohan 44:2aff0da5ebdb 3437 motor[TIRE_FR].pwm += 9;
yabahiro 38:40e7fdf3c694 3438 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3439 mtc=false;
yabahiro 38:40e7fdf3c694 3440 break;
yabahiro 38:40e7fdf3c694 3441 }
yabahiro 33:dd598bb23ad1 3442 }
yabahiro 54:4167f10ecad0 3443 break;
yabahiro 54:4167f10ecad0 3444 case 100:
yabahiro 54:4167f10ecad0 3445 motor[TIRE_FR].pwm = 50;
yabahiro 54:4167f10ecad0 3446 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 3447 motor[TIRE_FL].pwm = 55;
yabahiro 54:4167f10ecad0 3448 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3449 motor[TIRE_BR].pwm = 60;
yabahiro 54:4167f10ecad0 3450 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3451 motor[TIRE_BL].pwm = 50;
yabahiro 54:4167f10ecad0 3452 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 3453 break;
yabahiro 54:4167f10ecad0 3454 default:
yabahiro 54:4167f10ecad0 3455 motor[TIRE_FR].pwm = 50;
yabahiro 54:4167f10ecad0 3456 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3457 motor[TIRE_FL].pwm = 50;
yabahiro 54:4167f10ecad0 3458 motor[TIRE_FL].dir = BRAKE;
yabahiro 54:4167f10ecad0 3459 motor[TIRE_BR].pwm = 50;
yabahiro 54:4167f10ecad0 3460 motor[TIRE_BR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3461 motor[TIRE_BL].pwm = 50;
yabahiro 54:4167f10ecad0 3462 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 3463 break;
yabahiro 53:694dbd7dfa0e 3464 }
kishibekairohan 13:b6e02d6261d7 3465 }
kishibekairohan 13:b6e02d6261d7 3466 #endif
kishibekairohan 13:b6e02d6261d7 3467
kishibekairohan 13:b6e02d6261d7 3468 #if USE_PROCESS_NUM>4
Ryosei 27:dd9f27fce7d1 3469 static void Process4()
M_souta 22:7d93f79a3686 3470 {
yabahiro 48:5562a99479e5 3471 //Oh So 決勝青ゾーン
yabahiro 48:5562a99479e5 3472 LED::LED::TapeledMode(2);
yabahiro 48:5562a99479e5 3473 countss++;
yabahiro 48:5562a99479e5 3474 if(mode==1) {//スタートゾーンから白線検知
yabahiro 48:5562a99479e5 3475 fast=40;
yabahiro 48:5562a99479e5 3476 normal=30;
yabahiro 48:5562a99479e5 3477 slow=20;
yabahiro 48:5562a99479e5 3478 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3479 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3480 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3481 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3482 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3483 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3484 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3485 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3486 if(g[2]==0&&countss>=100000) {
yabahiro 48:5562a99479e5 3487 countss=100000;
yabahiro 48:5562a99479e5 3488 cross=0;
yabahiro 48:5562a99479e5 3489 mode=3;
yabahiro 48:5562a99479e5 3490 }
yabahiro 48:5562a99479e5 3491 } 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 3492 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3493 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3494 motor[TIRE_FL].pwm = 255;
yabahiro 48:5562a99479e5 3495 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 3496 motor[TIRE_BR].pwm = 255;
yabahiro 48:5562a99479e5 3497 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 3498 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3499 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3500 if(g[1]==0) {
yabahiro 48:5562a99479e5 3501 mode=10;
yabahiro 48:5562a99479e5 3502 countss=100000;
yabahiro 48:5562a99479e5 3503 }
yabahiro 48:5562a99479e5 3504 } else if(mode==10) { //縦ライントレース
yabahiro 48:5562a99479e5 3505 switch(g[1]) {
yabahiro 48:5562a99479e5 3506 case 98:
yabahiro 48:5562a99479e5 3507 motor[TIRE_FR].pwm = normal+50;
yabahiro 48:5562a99479e5 3508 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3509 motor[TIRE_FL].pwm = normal+50;
yabahiro 48:5562a99479e5 3510 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3511 motor[TIRE_BR].pwm = normal+50;
yabahiro 48:5562a99479e5 3512 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3513 motor[TIRE_BL].pwm = normal+50;
yabahiro 48:5562a99479e5 3514 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3515 mtc=true;
yabahiro 49:697b4e9ce884 3516 if(YELLOW) {
yabahiro 49:697b4e9ce884 3517 if(countss>80000) {
yabahiro 49:697b4e9ce884 3518 cross++;
yabahiro 49:697b4e9ce884 3519 countss=0;
yabahiro 49:697b4e9ce884 3520 }
yabahiro 48:5562a99479e5 3521
yabahiro 49:697b4e9ce884 3522 if(cross==2) {
yabahiro 49:697b4e9ce884 3523 fast = 10;
yabahiro 49:697b4e9ce884 3524 normal = 10;
yabahiro 49:697b4e9ce884 3525 slow = 5;
yabahiro 49:697b4e9ce884 3526 }
yabahiro 48:5562a99479e5 3527
yabahiro 49:697b4e9ce884 3528 if(cross==3) {
yabahiro 49:697b4e9ce884 3529 fast=40;
yabahiro 49:697b4e9ce884 3530 normal=30;
yabahiro 49:697b4e9ce884 3531 slow=20;
yabahiro 49:697b4e9ce884 3532 mode=11;
yabahiro 49:697b4e9ce884 3533 countss=0;
yabahiro 49:697b4e9ce884 3534 cross=0;
yabahiro 49:697b4e9ce884 3535 }
yabahiro 49:697b4e9ce884 3536 } else {
yabahiro 48:5562a99479e5 3537 mode=11;
yabahiro 48:5562a99479e5 3538 }
yabahiro 48:5562a99479e5 3539 break;
yabahiro 48:5562a99479e5 3540 case 0:
yabahiro 48:5562a99479e5 3541 motor[TIRE_FR].pwm = fast+50;
yabahiro 48:5562a99479e5 3542 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3543 motor[TIRE_FL].pwm = fast+50;
yabahiro 48:5562a99479e5 3544 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3545 motor[TIRE_BR].pwm = fast+50;
yabahiro 48:5562a99479e5 3546 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3547 motor[TIRE_BL].pwm = fast+50;
yabahiro 48:5562a99479e5 3548 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3549 mtc=true;
yabahiro 48:5562a99479e5 3550 break;
yabahiro 48:5562a99479e5 3551 case 255:
yabahiro 48:5562a99479e5 3552 motor[TIRE_FR].pwm = fast+50;
yabahiro 48:5562a99479e5 3553 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3554 motor[TIRE_FL].pwm = slow+50;
yabahiro 48:5562a99479e5 3555 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3556 motor[TIRE_BR].pwm = slow+50;
yabahiro 48:5562a99479e5 3557 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3558 motor[TIRE_BL].pwm = fast+50;
yabahiro 48:5562a99479e5 3559 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3560 mtc=true;
yabahiro 48:5562a99479e5 3561 break;
yabahiro 48:5562a99479e5 3562 case 253:
yabahiro 48:5562a99479e5 3563 motor[TIRE_FR].pwm = slow+50;
yabahiro 48:5562a99479e5 3564 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3565 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3566 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3567 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3568 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3569 motor[TIRE_BL].pwm = slow+50;
yabahiro 48:5562a99479e5 3570 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3571 mtc=true;
yabahiro 48:5562a99479e5 3572 break;
yabahiro 48:5562a99479e5 3573 case 254:
yabahiro 48:5562a99479e5 3574 motor[TIRE_FR].pwm = normal+50;
yabahiro 48:5562a99479e5 3575 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3576 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3577 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3578 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3579 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3580 motor[TIRE_BL].pwm = normal+50;
yabahiro 48:5562a99479e5 3581 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3582 mtc=true;
yabahiro 48:5562a99479e5 3583 break;
yabahiro 48:5562a99479e5 3584 case 1:
yabahiro 48:5562a99479e5 3585 motor[TIRE_FR].pwm = slow+50;
yabahiro 48:5562a99479e5 3586 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3587 motor[TIRE_FL].pwm = fast+50;
yabahiro 48:5562a99479e5 3588 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3589 motor[TIRE_BR].pwm = fast+50;
yabahiro 48:5562a99479e5 3590 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3591 motor[TIRE_BL].pwm = slow+50;
yabahiro 48:5562a99479e5 3592 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3593 mtc=true;
yabahiro 48:5562a99479e5 3594 break;
yabahiro 48:5562a99479e5 3595 case 3:
yabahiro 48:5562a99479e5 3596 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3597 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3598 motor[TIRE_FL].pwm = slow+50;
yabahiro 48:5562a99479e5 3599 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3600 motor[TIRE_BR].pwm = slow+50;
yabahiro 48:5562a99479e5 3601 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3602 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3603 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3604 mtc=true;
yabahiro 48:5562a99479e5 3605 break;
yabahiro 48:5562a99479e5 3606 case 2:
yabahiro 48:5562a99479e5 3607 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3608 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3609 motor[TIRE_FL].pwm = normal+50;
yabahiro 48:5562a99479e5 3610 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3611 motor[TIRE_BR].pwm = normal+50;
yabahiro 48:5562a99479e5 3612 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3613 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3614 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3615 mtc=true;
yabahiro 48:5562a99479e5 3616 break;
yabahiro 48:5562a99479e5 3617 }
yabahiro 48:5562a99479e5 3618 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 3619 switch(g[0]) {
yabahiro 48:5562a99479e5 3620 case 0:
yabahiro 48:5562a99479e5 3621 mtc=false;
yabahiro 48:5562a99479e5 3622 break;
yabahiro 48:5562a99479e5 3623 case 255:
yabahiro 48:5562a99479e5 3624 motor[TIRE_FL].pwm += 3;
yabahiro 48:5562a99479e5 3625 mtc=false;
yabahiro 48:5562a99479e5 3626 break;
yabahiro 48:5562a99479e5 3627 case 253:
yabahiro 48:5562a99479e5 3628 motor[TIRE_FL].pwm += 6;
yabahiro 48:5562a99479e5 3629 mtc=false;
yabahiro 48:5562a99479e5 3630 break;
yabahiro 48:5562a99479e5 3631 case 254:
yabahiro 48:5562a99479e5 3632 motor[TIRE_FL].pwm += 9;
yabahiro 48:5562a99479e5 3633 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3634 mtc=false;
yabahiro 48:5562a99479e5 3635 break;
yabahiro 48:5562a99479e5 3636 case 1:
yabahiro 48:5562a99479e5 3637 motor[TIRE_FR].pwm += 3;
yabahiro 48:5562a99479e5 3638 mtc=false;
yabahiro 48:5562a99479e5 3639 break;
yabahiro 48:5562a99479e5 3640 case 3:
yabahiro 48:5562a99479e5 3641 motor[TIRE_FR].pwm += 6;
yabahiro 48:5562a99479e5 3642 mtc=false;
yabahiro 48:5562a99479e5 3643 break;
yabahiro 48:5562a99479e5 3644 case 2:
yabahiro 48:5562a99479e5 3645 motor[TIRE_FR].pwm += 9;
yabahiro 48:5562a99479e5 3646 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3647 mtc=false;
yabahiro 48:5562a99479e5 3648 break;
yabahiro 48:5562a99479e5 3649 }
yabahiro 48:5562a99479e5 3650 }
yabahiro 48:5562a99479e5 3651 } else if(mode==11) {
yabahiro 48:5562a99479e5 3652 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 3653 motor[TIRE_FR].dir = FOR;
yabahiro 49:697b4e9ce884 3654 motor[TIRE_FL].pwm = 50;
yabahiro 49:697b4e9ce884 3655 motor[TIRE_FL].dir = BRAKE;
yabahiro 49:697b4e9ce884 3656 motor[TIRE_BR].pwm = 50;
yabahiro 49:697b4e9ce884 3657 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 3658 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 3659 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3660 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 48:5562a99479e5 3661 countss=0;
yabahiro 48:5562a99479e5 3662 cross=0;
yabahiro 48:5562a99479e5 3663 mode=20;
yabahiro 48:5562a99479e5 3664 }
yabahiro 48:5562a99479e5 3665 } else if(mode==20) {
yabahiro 48:5562a99479e5 3666 switch(g[2]) {
yabahiro 48:5562a99479e5 3667 case 98:
yabahiro 48:5562a99479e5 3668 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3669 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3670 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3671 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3672 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3673 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3674 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3675 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3676 if(countss>30000) {
yabahiro 48:5562a99479e5 3677 cross++;
yabahiro 48:5562a99479e5 3678 countss=0;
yabahiro 48:5562a99479e5 3679 }
yabahiro 48:5562a99479e5 3680 mtc2=true;
yabahiro 48:5562a99479e5 3681
yabahiro 48:5562a99479e5 3682 if(YELLOW) {
yabahiro 49:697b4e9ce884 3683 solenoid.solenoid4= SOLENOID_ON;
yabahiro 48:5562a99479e5 3684 if(cross==1) {
yabahiro 48:5562a99479e5 3685 fast=20;
yabahiro 48:5562a99479e5 3686 normal=15;
yabahiro 48:5562a99479e5 3687 slow=15;
yabahiro 48:5562a99479e5 3688 } else if(cross==2) {
yabahiro 48:5562a99479e5 3689 mode=21;
yabahiro 48:5562a99479e5 3690 countss=0;
yabahiro 48:5562a99479e5 3691 cross=0;
yabahiro 48:5562a99479e5 3692 }
yabahiro 48:5562a99479e5 3693 } else {
yabahiro 49:697b4e9ce884 3694 if(cross==2) {
yabahiro 49:697b4e9ce884 3695 fast=20;
yabahiro 49:697b4e9ce884 3696 normal=15;
yabahiro 49:697b4e9ce884 3697 slow=15;
yabahiro 49:697b4e9ce884 3698 }
yabahiro 48:5562a99479e5 3699 if(cross==3) {
yabahiro 48:5562a99479e5 3700 mode=21;
yabahiro 48:5562a99479e5 3701 countss=0;
yabahiro 48:5562a99479e5 3702 cross=0;
yabahiro 48:5562a99479e5 3703 }
yabahiro 48:5562a99479e5 3704 }
yabahiro 48:5562a99479e5 3705 break;
yabahiro 48:5562a99479e5 3706 case 0:
yabahiro 48:5562a99479e5 3707 motor[TIRE_FR].pwm = fast+20;
yabahiro 48:5562a99479e5 3708 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3709 motor[TIRE_FL].pwm = fast+20;
yabahiro 48:5562a99479e5 3710 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3711 motor[TIRE_BR].pwm = fast+20;
yabahiro 48:5562a99479e5 3712 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3713 motor[TIRE_BL].pwm = fast+20;
yabahiro 48:5562a99479e5 3714 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3715 mtc2=true;
yabahiro 48:5562a99479e5 3716 break;
yabahiro 48:5562a99479e5 3717 case 255:
yabahiro 48:5562a99479e5 3718 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3719 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3720 motor[TIRE_FL].pwm = fast+20;
yabahiro 48:5562a99479e5 3721 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3722 motor[TIRE_BR].pwm = fast+20;
yabahiro 48:5562a99479e5 3723 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3724 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3725 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3726 mtc2=true;
yabahiro 48:5562a99479e5 3727 break;
yabahiro 48:5562a99479e5 3728 case 253:
yabahiro 48:5562a99479e5 3729 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3730 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3731 motor[TIRE_FL].pwm = slow+20;
yabahiro 48:5562a99479e5 3732 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3733 motor[TIRE_BR].pwm = slow+20;
yabahiro 48:5562a99479e5 3734 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3735 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3736 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3737 mtc2=true;
yabahiro 48:5562a99479e5 3738 break;
yabahiro 48:5562a99479e5 3739 case 254:
yabahiro 48:5562a99479e5 3740 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3741 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3742 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3743 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3744 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3745 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3746 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3747 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3748 mtc2=true;
yabahiro 48:5562a99479e5 3749 break;
yabahiro 48:5562a99479e5 3750 case 1:
yabahiro 48:5562a99479e5 3751 motor[TIRE_FR].pwm = fast+20;
yabahiro 48:5562a99479e5 3752 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3753 motor[TIRE_FL].pwm = slow+20;
yabahiro 48:5562a99479e5 3754 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3755 motor[TIRE_BR].pwm = slow+20;
yabahiro 48:5562a99479e5 3756 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3757 motor[TIRE_BL].pwm = fast+20;
yabahiro 48:5562a99479e5 3758 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3759 mtc2=true;
yabahiro 48:5562a99479e5 3760 break;
yabahiro 48:5562a99479e5 3761 case 3:
yabahiro 48:5562a99479e5 3762 motor[TIRE_FR].pwm = slow+20;
yabahiro 48:5562a99479e5 3763 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3764 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3765 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3766 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3767 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3768 motor[TIRE_BL].pwm = slow+20;
yabahiro 48:5562a99479e5 3769 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3770 mtc2=true;
yabahiro 48:5562a99479e5 3771 break;
yabahiro 48:5562a99479e5 3772 case 2:
yabahiro 48:5562a99479e5 3773 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3774 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3775 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3776 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3777 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3778 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3779 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3780 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3781 mtc2=true;
yabahiro 48:5562a99479e5 3782 break;
yabahiro 48:5562a99479e5 3783 }
yabahiro 48:5562a99479e5 3784 if(g[2]!=98&&mtc2==true) {
yabahiro 48:5562a99479e5 3785 switch(g[3]) {
yabahiro 48:5562a99479e5 3786 case 0:
yabahiro 48:5562a99479e5 3787 mtc2=false;
yabahiro 48:5562a99479e5 3788 break;
yabahiro 48:5562a99479e5 3789 case 255:
yabahiro 48:5562a99479e5 3790 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 3791 mtc2=false;
yabahiro 48:5562a99479e5 3792 break;
yabahiro 48:5562a99479e5 3793 case 253:
yabahiro 48:5562a99479e5 3794 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 3795 mtc2=false;
yabahiro 48:5562a99479e5 3796 break;
yabahiro 48:5562a99479e5 3797 case 254:
yabahiro 48:5562a99479e5 3798 motor[TIRE_BL].pwm += 15;
yabahiro 48:5562a99479e5 3799 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3800 mtc2=false;
yabahiro 48:5562a99479e5 3801 break;
yabahiro 48:5562a99479e5 3802 case 1:
yabahiro 48:5562a99479e5 3803 motor[TIRE_FL].pwm += 5;
yabahiro 48:5562a99479e5 3804 mtc2=false;
yabahiro 48:5562a99479e5 3805 break;
yabahiro 48:5562a99479e5 3806 case 3:
yabahiro 48:5562a99479e5 3807 motor[TIRE_FL].pwm += 10;
yabahiro 48:5562a99479e5 3808 mtc2=false;
yabahiro 48:5562a99479e5 3809 break;
yabahiro 48:5562a99479e5 3810 case 2:
yabahiro 48:5562a99479e5 3811 motor[TIRE_FL].pwm += 15;
yabahiro 48:5562a99479e5 3812 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3813 mtc2=false;
yabahiro 48:5562a99479e5 3814 break;
yabahiro 48:5562a99479e5 3815 }
yabahiro 48:5562a99479e5 3816 }
yabahiro 48:5562a99479e5 3817 }
yabahiro 48:5562a99479e5 3818 if(YELLOW) {
yabahiro 48:5562a99479e5 3819 if(mode==21) {
yabahiro 48:5562a99479e5 3820 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3821 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3822 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3823 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3824 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3825 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3826 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3827 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3828 if(g[3]==98&&countss>=10000) {
yabahiro 48:5562a99479e5 3829 mode=22;
yabahiro 48:5562a99479e5 3830 countss=0;
yabahiro 48:5562a99479e5 3831 fast=60;
yabahiro 48:5562a99479e5 3832 normal=40;
yabahiro 48:5562a99479e5 3833 slow=20;
yabahiro 48:5562a99479e5 3834 }
yabahiro 48:5562a99479e5 3835 } else if(mode==22) {
yabahiro 48:5562a99479e5 3836 if(g[4]==3||g[4]==2) {
yabahiro 48:5562a99479e5 3837 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3838 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3839 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3840 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3841 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3842 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3843 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3844 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3845 }
yabahiro 48:5562a99479e5 3846 if(g[4]==253||g[4]==254) {
yabahiro 48:5562a99479e5 3847 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3848 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3849 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3850 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3851 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3852 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3853 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3854 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3855 }
yabahiro 48:5562a99479e5 3856 switch(g[2]) {
yabahiro 48:5562a99479e5 3857 case 0:
yabahiro 48:5562a99479e5 3858 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3859 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3860 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3861 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3862 break;
yabahiro 48:5562a99479e5 3863 case 255:
yabahiro 48:5562a99479e5 3864 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3865 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3866 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3867 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3868 break;
yabahiro 48:5562a99479e5 3869 case 253:
yabahiro 48:5562a99479e5 3870 motor[TIRE_FR].pwm = 40;
yabahiro 48:5562a99479e5 3871 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3872 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3873 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3874 break;
yabahiro 48:5562a99479e5 3875 case 254:
yabahiro 48:5562a99479e5 3876 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3877 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3878 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3879 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3880 break;
yabahiro 48:5562a99479e5 3881 case 1:
yabahiro 48:5562a99479e5 3882 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3883 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3884 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3885 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3886 break;
yabahiro 48:5562a99479e5 3887 case 3:
yabahiro 48:5562a99479e5 3888 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3889 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3890 motor[TIRE_BR].pwm = 40;
yabahiro 48:5562a99479e5 3891 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3892 break;
yabahiro 48:5562a99479e5 3893 case 2:
yabahiro 48:5562a99479e5 3894 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3895 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3896 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3897 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3898 break;
yabahiro 48:5562a99479e5 3899 }
yabahiro 48:5562a99479e5 3900 switch(g[3]) {
yabahiro 48:5562a99479e5 3901 case 0:
yabahiro 48:5562a99479e5 3902 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3903 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3904 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3905 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3906 break;
yabahiro 48:5562a99479e5 3907 case 255:
yabahiro 48:5562a99479e5 3908 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3909 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3910 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3911 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3912 case 253:
yabahiro 48:5562a99479e5 3913 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3914 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3915 motor[TIRE_BL].pwm = 40;
yabahiro 48:5562a99479e5 3916 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3917 break;
yabahiro 48:5562a99479e5 3918 case 254:
yabahiro 48:5562a99479e5 3919 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3920 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3921 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3922 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3923 break;
yabahiro 48:5562a99479e5 3924 case 1:
yabahiro 48:5562a99479e5 3925 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3926 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3927 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3928 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3929 break;
yabahiro 48:5562a99479e5 3930 case 3:
yabahiro 48:5562a99479e5 3931 motor[TIRE_FL].pwm = 40;
yabahiro 48:5562a99479e5 3932 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3933 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3934 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3935 break;
yabahiro 48:5562a99479e5 3936 case 2:
yabahiro 48:5562a99479e5 3937 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3938 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3939 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3940 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3941 break;
yabahiro 48:5562a99479e5 3942 }
yabahiro 48:5562a99479e5 3943 if(g[3]==0&&g[2]==0) {
yabahiro 48:5562a99479e5 3944 mode=23;
yabahiro 48:5562a99479e5 3945 countss=0;
yabahiro 48:5562a99479e5 3946 }
yabahiro 48:5562a99479e5 3947 } else if(mode==23) {
yabahiro 48:5562a99479e5 3948 switch(g[4]) {
yabahiro 48:5562a99479e5 3949 case 98:
yabahiro 48:5562a99479e5 3950 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 3951 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3952 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 3953 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3954 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 3955 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3956 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 3957 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3958 break;
yabahiro 48:5562a99479e5 3959 case 99:
yabahiro 48:5562a99479e5 3960 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3961 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3962 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3963 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3964 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3965 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3966 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3967 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3968 break;
yabahiro 48:5562a99479e5 3969 case 0:
yabahiro 48:5562a99479e5 3970 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 3971 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3972 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 3973 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3974 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 3975 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3976 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 3977 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3978 break;
yabahiro 48:5562a99479e5 3979 case 255:
yabahiro 48:5562a99479e5 3980 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3981 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3982 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3983 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3984 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3985 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3986 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3987 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3988 break;
yabahiro 48:5562a99479e5 3989 case 253:
yabahiro 48:5562a99479e5 3990 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 3991 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3992 motor[TIRE_FL].pwm = slow-5;
yabahiro 48:5562a99479e5 3993 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3994 motor[TIRE_BR].pwm = slow-5;
yabahiro 48:5562a99479e5 3995 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3996 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 3997 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3998 break;
yabahiro 48:5562a99479e5 3999 case 254:
yabahiro 48:5562a99479e5 4000 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 4001 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4002 motor[TIRE_FL].pwm = normal-5;
yabahiro 48:5562a99479e5 4003 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4004 motor[TIRE_BR].pwm = normal-5;
yabahiro 48:5562a99479e5 4005 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4006 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 4007 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4008 break;
yabahiro 48:5562a99479e5 4009 case 1:
yabahiro 48:5562a99479e5 4010 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4011 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4012 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4013 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4014 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4015 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4016 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4017 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4018 break;
yabahiro 48:5562a99479e5 4019 case 3:
yabahiro 48:5562a99479e5 4020 motor[TIRE_FR].pwm = slow-5;
yabahiro 48:5562a99479e5 4021 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4022 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 4023 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4024 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 4025 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4026 motor[TIRE_BL].pwm = slow-5;
yabahiro 48:5562a99479e5 4027 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4028 break;
yabahiro 48:5562a99479e5 4029 case 2:
yabahiro 48:5562a99479e5 4030 motor[TIRE_FR].pwm = normal-5;
yabahiro 48:5562a99479e5 4031 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4032 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 4033 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4034 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 4035 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4036 motor[TIRE_BL].pwm = normal-5;
yabahiro 48:5562a99479e5 4037 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4038 break;
yabahiro 48:5562a99479e5 4039 }
yabahiro 48:5562a99479e5 4040 if(g[2]==254&&countss>=100000) {
yabahiro 48:5562a99479e5 4041 mode=24;
yabahiro 48:5562a99479e5 4042 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 48:5562a99479e5 4043 countss=0;
yabahiro 48:5562a99479e5 4044 fast=60;
yabahiro 48:5562a99479e5 4045 normal=40;
yabahiro 48:5562a99479e5 4046 slow=20;
yabahiro 48:5562a99479e5 4047 }
yabahiro 48:5562a99479e5 4048 } else if(mode==24) {
yabahiro 48:5562a99479e5 4049 motor[TIRE_FR].pwm = 60;
yabahiro 48:5562a99479e5 4050 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4051 motor[TIRE_FL].pwm = 60;
yabahiro 48:5562a99479e5 4052 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4053 motor[TIRE_BR].pwm = 60;
yabahiro 48:5562a99479e5 4054 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4055 motor[TIRE_BL].pwm = 60;
yabahiro 48:5562a99479e5 4056 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4057 if(g[0]==0) {
yabahiro 48:5562a99479e5 4058 mode=25;
yabahiro 48:5562a99479e5 4059 }
yabahiro 48:5562a99479e5 4060 } else if(mode==25) {
yabahiro 48:5562a99479e5 4061 motor[TIRE_FR].pwm = 100;
yabahiro 48:5562a99479e5 4062 motor[TIRE_FR].dir = BRAKE;
yabahiro 48:5562a99479e5 4063 motor[TIRE_FL].pwm = 100;
yabahiro 48:5562a99479e5 4064 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4065 motor[TIRE_BR].pwm = 100;
yabahiro 48:5562a99479e5 4066 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4067 motor[TIRE_BL].pwm = 100;
yabahiro 48:5562a99479e5 4068 motor[TIRE_BL].dir = BRAKE;
yabahiro 48:5562a99479e5 4069 if(DOLS==true||UPLS==true) {
yabahiro 48:5562a99479e5 4070 motor[MOTOR_0].pwm = 200;
yabahiro 48:5562a99479e5 4071 motor[MOTOR_0].dir = BRAKE;
yabahiro 48:5562a99479e5 4072 mode=26;
yabahiro 48:5562a99479e5 4073 countss=0;
yabahiro 48:5562a99479e5 4074 } else {
yabahiro 48:5562a99479e5 4075 motor[MOTOR_0].pwm = 100;
yabahiro 48:5562a99479e5 4076 motor[MOTOR_0].dir = BACK;
yabahiro 48:5562a99479e5 4077 }
yabahiro 48:5562a99479e5 4078 } else if(mode==26) {
yabahiro 48:5562a99479e5 4079 if(g[0]==98&&countss>=40000) {
yabahiro 48:5562a99479e5 4080 mode=31;
yabahiro 48:5562a99479e5 4081 countss=0;
yabahiro 48:5562a99479e5 4082 }
yabahiro 48:5562a99479e5 4083 switch(g[0]) {
yabahiro 48:5562a99479e5 4084 case 98:
yabahiro 48:5562a99479e5 4085 fast=40;
yabahiro 48:5562a99479e5 4086 normal=30;
yabahiro 48:5562a99479e5 4087 slow=25;
yabahiro 48:5562a99479e5 4088 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4089 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4090 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4091 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4092 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4093 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4094 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4095 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4096 break;
yabahiro 48:5562a99479e5 4097 case 0:
yabahiro 48:5562a99479e5 4098 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4099 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4100 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4101 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4102 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4103 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4104 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4105 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4106 mtc=true;
yabahiro 48:5562a99479e5 4107 break;
yabahiro 48:5562a99479e5 4108 case 255:
yabahiro 48:5562a99479e5 4109 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4110 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4111 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4112 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4113 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4114 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4115 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4116 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4117 mtc=true;
yabahiro 48:5562a99479e5 4118 break;
yabahiro 48:5562a99479e5 4119 case 253:
yabahiro 48:5562a99479e5 4120 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4121 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4122 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4123 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4124 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4125 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4126 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4127 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4128 mtc=true;
yabahiro 48:5562a99479e5 4129 break;
yabahiro 48:5562a99479e5 4130 case 254:
yabahiro 48:5562a99479e5 4131 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4132 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4133 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4134 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4135 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4136 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4137 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4138 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4139 mtc=true;
yabahiro 48:5562a99479e5 4140 break;
yabahiro 48:5562a99479e5 4141 case 1:
yabahiro 48:5562a99479e5 4142 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4143 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4144 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4145 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4146 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4147 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4148 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4149 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4150 mtc=true;
yabahiro 48:5562a99479e5 4151 break;
yabahiro 48:5562a99479e5 4152 case 3:
yabahiro 48:5562a99479e5 4153 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4154 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4155 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4156 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4157 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4158 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4159 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4160 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4161 mtc=true;
yabahiro 48:5562a99479e5 4162 break;
yabahiro 48:5562a99479e5 4163 case 2:
yabahiro 48:5562a99479e5 4164 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4165 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4166 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4167 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4168 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4169 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4170 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4171 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4172 mtc=true;
yabahiro 48:5562a99479e5 4173 break;
yabahiro 48:5562a99479e5 4174 }
yabahiro 48:5562a99479e5 4175 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4176 switch(g[1]) {
yabahiro 48:5562a99479e5 4177 case 0:
yabahiro 48:5562a99479e5 4178 mtc=false;
yabahiro 48:5562a99479e5 4179 break;
yabahiro 48:5562a99479e5 4180 case 255:
yabahiro 48:5562a99479e5 4181 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4182 mtc=false;
yabahiro 48:5562a99479e5 4183 break;
yabahiro 48:5562a99479e5 4184 case 253:
yabahiro 48:5562a99479e5 4185 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4186 mtc=false;
yabahiro 48:5562a99479e5 4187 break;
yabahiro 48:5562a99479e5 4188 case 254:
yabahiro 48:5562a99479e5 4189 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4190 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4191 mtc=false;
yabahiro 48:5562a99479e5 4192 break;
yabahiro 48:5562a99479e5 4193 case 1:
yabahiro 48:5562a99479e5 4194 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4195 mtc=false;
yabahiro 48:5562a99479e5 4196 break;
yabahiro 48:5562a99479e5 4197 case 3:
yabahiro 48:5562a99479e5 4198 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4199 mtc=false;
yabahiro 48:5562a99479e5 4200 break;
yabahiro 48:5562a99479e5 4201 case 2:
yabahiro 48:5562a99479e5 4202 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4203 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4204 mtc=false;
yabahiro 48:5562a99479e5 4205 break;
yabahiro 48:5562a99479e5 4206 }
yabahiro 48:5562a99479e5 4207 }
yabahiro 48:5562a99479e5 4208 }
yabahiro 48:5562a99479e5 4209 } else {
yabahiro 48:5562a99479e5 4210 if(mode==21) {
yabahiro 49:697b4e9ce884 4211 if(g[0]==98&&countss>=40000) {
yabahiro 48:5562a99479e5 4212 fast=60;
yabahiro 48:5562a99479e5 4213 normal=30;
yabahiro 48:5562a99479e5 4214 slow=25;
yabahiro 48:5562a99479e5 4215 mode=31;
yabahiro 48:5562a99479e5 4216 countss=0;
yabahiro 48:5562a99479e5 4217 }
yabahiro 48:5562a99479e5 4218 switch(g[0]) {
yabahiro 48:5562a99479e5 4219 case 98:
yabahiro 48:5562a99479e5 4220 fast=40;
yabahiro 48:5562a99479e5 4221 normal=30;
yabahiro 48:5562a99479e5 4222 slow=25;
yabahiro 48:5562a99479e5 4223 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4224 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4225 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4226 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4227 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4228 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4229 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4230 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4231 break;
yabahiro 48:5562a99479e5 4232 case 0:
yabahiro 48:5562a99479e5 4233 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4234 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4235 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4236 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4237 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4238 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4239 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4240 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4241 mtc=true;
yabahiro 48:5562a99479e5 4242 break;
yabahiro 48:5562a99479e5 4243 case 255:
yabahiro 48:5562a99479e5 4244 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4245 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4246 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4247 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4248 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4249 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4250 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4251 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4252 mtc=true;
yabahiro 48:5562a99479e5 4253 break;
yabahiro 48:5562a99479e5 4254 case 253:
yabahiro 48:5562a99479e5 4255 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4256 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4257 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4258 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4259 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4260 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4261 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4262 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4263 mtc=true;
yabahiro 48:5562a99479e5 4264 break;
yabahiro 48:5562a99479e5 4265 case 254:
yabahiro 48:5562a99479e5 4266 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4267 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4268 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4269 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4270 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4271 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4272 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4273 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4274 mtc=true;
yabahiro 48:5562a99479e5 4275 break;
yabahiro 48:5562a99479e5 4276 case 1:
yabahiro 48:5562a99479e5 4277 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4278 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4279 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4280 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4281 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4282 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4283 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4284 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4285 mtc=true;
yabahiro 48:5562a99479e5 4286 break;
yabahiro 48:5562a99479e5 4287 case 3:
yabahiro 48:5562a99479e5 4288 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4289 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4290 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4291 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4292 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4293 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4294 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4295 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4296 mtc=true;
yabahiro 48:5562a99479e5 4297 break;
yabahiro 48:5562a99479e5 4298 case 2:
yabahiro 48:5562a99479e5 4299 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4300 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4301 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4302 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4303 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4304 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4305 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4306 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4307 mtc=true;
yabahiro 48:5562a99479e5 4308 break;
yabahiro 48:5562a99479e5 4309 }
yabahiro 48:5562a99479e5 4310 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4311 switch(g[1]) {
yabahiro 48:5562a99479e5 4312 case 0:
yabahiro 48:5562a99479e5 4313 mtc=false;
yabahiro 48:5562a99479e5 4314 break;
yabahiro 48:5562a99479e5 4315 case 255:
yabahiro 48:5562a99479e5 4316 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4317 mtc=false;
yabahiro 48:5562a99479e5 4318 break;
yabahiro 48:5562a99479e5 4319 case 253:
yabahiro 48:5562a99479e5 4320 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4321 mtc=false;
yabahiro 48:5562a99479e5 4322 break;
yabahiro 48:5562a99479e5 4323 case 254:
yabahiro 48:5562a99479e5 4324 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4325 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4326 mtc=false;
yabahiro 48:5562a99479e5 4327 break;
yabahiro 48:5562a99479e5 4328 case 1:
yabahiro 48:5562a99479e5 4329 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4330 mtc=false;
yabahiro 48:5562a99479e5 4331 break;
yabahiro 48:5562a99479e5 4332 case 3:
yabahiro 48:5562a99479e5 4333 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4334 mtc=false;
yabahiro 48:5562a99479e5 4335 break;
yabahiro 48:5562a99479e5 4336 case 2:
yabahiro 48:5562a99479e5 4337 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4338 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4339 mtc=false;
yabahiro 48:5562a99479e5 4340 break;
yabahiro 48:5562a99479e5 4341 }
yabahiro 48:5562a99479e5 4342 }
yabahiro 48:5562a99479e5 4343 }
yabahiro 48:5562a99479e5 4344 }
yabahiro 48:5562a99479e5 4345
yabahiro 48:5562a99479e5 4346 /*
yabahiro 48:5562a99479e5 4347 if(mode==31) {
yabahiro 48:5562a99479e5 4348 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4349 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4350 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4351 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4352 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4353 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4354 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4355 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4356 if(countss>=5000) {
yabahiro 48:5562a99479e5 4357 countss=0;
yabahiro 48:5562a99479e5 4358 mode=33;
yabahiro 48:5562a99479e5 4359 }
yabahiro 48:5562a99479e5 4360 } else if(mode==33) {
yabahiro 48:5562a99479e5 4361 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 4362 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4363 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4364 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4365 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4366 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4367 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 4368 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4369 if(g[3]==0) {
yabahiro 48:5562a99479e5 4370 cross=0;
yabahiro 48:5562a99479e5 4371 countss=0;
yabahiro 48:5562a99479e5 4372 mode=40;
yabahiro 48:5562a99479e5 4373 }
yabahiro 48:5562a99479e5 4374 } else
yabahiro 48:5562a99479e5 4375 */
yabahiro 48:5562a99479e5 4376 if(mode==31) {
yabahiro 48:5562a99479e5 4377 motor[TIRE_FR].pwm = 45;
yabahiro 48:5562a99479e5 4378 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4379 motor[TIRE_FL].pwm = 255;
yabahiro 48:5562a99479e5 4380 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4381 motor[TIRE_BR].pwm = 255;
yabahiro 48:5562a99479e5 4382 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4383 motor[TIRE_BL].pwm = 45;
yabahiro 48:5562a99479e5 4384 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4385 if(g[3]==0) {
yabahiro 48:5562a99479e5 4386 cross=0;
yabahiro 48:5562a99479e5 4387 countss=0;
yabahiro 48:5562a99479e5 4388 mode=40;
yabahiro 48:5562a99479e5 4389 }
yabahiro 48:5562a99479e5 4390 } else if(mode==40) {
yabahiro 48:5562a99479e5 4391 switch(g[3]) {
yabahiro 48:5562a99479e5 4392 case 98:
yabahiro 48:5562a99479e5 4393 motor[TIRE_FR].pwm = normal+15;
yabahiro 48:5562a99479e5 4394 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4395 motor[TIRE_FL].pwm = normal+15;
yabahiro 48:5562a99479e5 4396 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4397 motor[TIRE_BR].pwm = normal+15;
yabahiro 48:5562a99479e5 4398 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4399 motor[TIRE_BL].pwm = normal+15;
yabahiro 48:5562a99479e5 4400 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4401 if(countss>10000) {
yabahiro 48:5562a99479e5 4402 cross++;
yabahiro 48:5562a99479e5 4403 countss=0;
yabahiro 48:5562a99479e5 4404 }
yabahiro 48:5562a99479e5 4405 mtc2=true;
yabahiro 48:5562a99479e5 4406 if(cross==1) {
yabahiro 48:5562a99479e5 4407 mode=41;
yabahiro 48:5562a99479e5 4408 countss=0;
yabahiro 48:5562a99479e5 4409 cross=0;
yabahiro 48:5562a99479e5 4410 }
yabahiro 48:5562a99479e5 4411 break;
yabahiro 48:5562a99479e5 4412 case 0:
yabahiro 48:5562a99479e5 4413 motor[TIRE_FR].pwm = fast+15;
yabahiro 48:5562a99479e5 4414 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4415 motor[TIRE_FL].pwm = fast+15;
yabahiro 48:5562a99479e5 4416 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4417 motor[TIRE_BR].pwm = fast+15;
yabahiro 48:5562a99479e5 4418 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4419 motor[TIRE_BL].pwm = fast+15;
yabahiro 48:5562a99479e5 4420 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4421 mtc2=true;
yabahiro 48:5562a99479e5 4422 break;
yabahiro 48:5562a99479e5 4423 case 255:
yabahiro 48:5562a99479e5 4424 motor[TIRE_FR].pwm = slow+15;
yabahiro 48:5562a99479e5 4425 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4426 motor[TIRE_FL].pwm = fast+15;
yabahiro 48:5562a99479e5 4427 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4428 motor[TIRE_BR].pwm = fast+15;
yabahiro 48:5562a99479e5 4429 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4430 motor[TIRE_BL].pwm = slow+15;
yabahiro 48:5562a99479e5 4431 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4432 mtc2=true;
yabahiro 48:5562a99479e5 4433 break;
yabahiro 48:5562a99479e5 4434 case 253:
yabahiro 48:5562a99479e5 4435 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4436 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4437 motor[TIRE_FL].pwm = slow+15;
yabahiro 48:5562a99479e5 4438 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4439 motor[TIRE_BR].pwm = slow+15;
yabahiro 48:5562a99479e5 4440 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4441 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4442 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4443 mtc2=true;
yabahiro 48:5562a99479e5 4444 break;
yabahiro 48:5562a99479e5 4445 case 254:
yabahiro 48:5562a99479e5 4446 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4447 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4448 motor[TIRE_FL].pwm = normal+15;
yabahiro 48:5562a99479e5 4449 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4450 motor[TIRE_BR].pwm = normal+15;
yabahiro 48:5562a99479e5 4451 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4452 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4453 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4454 mtc2=true;
yabahiro 48:5562a99479e5 4455 break;
yabahiro 48:5562a99479e5 4456 case 1:
yabahiro 48:5562a99479e5 4457 motor[TIRE_FR].pwm = fast+15;
yabahiro 48:5562a99479e5 4458 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4459 motor[TIRE_FL].pwm = slow+15;
yabahiro 48:5562a99479e5 4460 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4461 motor[TIRE_BR].pwm = slow+15;
yabahiro 48:5562a99479e5 4462 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4463 motor[TIRE_BL].pwm = fast+15;
yabahiro 48:5562a99479e5 4464 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4465 mtc2=true;
yabahiro 48:5562a99479e5 4466 break;
yabahiro 48:5562a99479e5 4467 case 3:
yabahiro 48:5562a99479e5 4468 motor[TIRE_FR].pwm = slow+15;
yabahiro 48:5562a99479e5 4469 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4470 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4471 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4472 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4473 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4474 motor[TIRE_BL].pwm = slow+15;
yabahiro 48:5562a99479e5 4475 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4476 mtc2=true;
yabahiro 48:5562a99479e5 4477 break;
yabahiro 48:5562a99479e5 4478 case 2:
yabahiro 48:5562a99479e5 4479 motor[TIRE_FR].pwm = normal+15;
yabahiro 48:5562a99479e5 4480 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4481 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4482 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4483 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4484 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4485 motor[TIRE_BL].pwm = normal+15;
yabahiro 48:5562a99479e5 4486 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4487 mtc2=true;
yabahiro 48:5562a99479e5 4488 break;
yabahiro 48:5562a99479e5 4489 }
yabahiro 48:5562a99479e5 4490 if(g[2]!=98&&mtc2==true) {
yabahiro 48:5562a99479e5 4491 switch(g[2]) {
yabahiro 48:5562a99479e5 4492 case 0:
yabahiro 48:5562a99479e5 4493 mtc2=false;
yabahiro 48:5562a99479e5 4494 break;
yabahiro 48:5562a99479e5 4495 case 255:
yabahiro 48:5562a99479e5 4496 motor[TIRE_FL].pwm += 5;
yabahiro 48:5562a99479e5 4497 mtc2=false;
yabahiro 48:5562a99479e5 4498 break;
yabahiro 48:5562a99479e5 4499 case 253:
yabahiro 48:5562a99479e5 4500 motor[TIRE_FL].pwm += 10;
yabahiro 48:5562a99479e5 4501 mtc2=false;
yabahiro 48:5562a99479e5 4502 break;
yabahiro 48:5562a99479e5 4503 case 254:
yabahiro 48:5562a99479e5 4504 motor[TIRE_FL].pwm += 20;
yabahiro 48:5562a99479e5 4505 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4506 mtc2=false;
yabahiro 48:5562a99479e5 4507 break;
yabahiro 48:5562a99479e5 4508 case 1:
yabahiro 48:5562a99479e5 4509 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4510 mtc2=false;
yabahiro 48:5562a99479e5 4511 break;
yabahiro 48:5562a99479e5 4512 case 3:
yabahiro 48:5562a99479e5 4513 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4514 mtc2=false;
yabahiro 48:5562a99479e5 4515 break;
yabahiro 48:5562a99479e5 4516 case 2:
yabahiro 48:5562a99479e5 4517 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4518 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4519 mtc2=false;
yabahiro 48:5562a99479e5 4520 break;
yabahiro 48:5562a99479e5 4521 }
yabahiro 48:5562a99479e5 4522 }
yabahiro 48:5562a99479e5 4523 } else if(mode==41) {
yabahiro 48:5562a99479e5 4524 if(LIF||LIB) {
yabahiro 48:5562a99479e5 4525 mode=42;
yabahiro 48:5562a99479e5 4526 }
yabahiro 48:5562a99479e5 4527 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 4528 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4529 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4530 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4531 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4532 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4533 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 4534 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4535 if(g[1]==0) {
yabahiro 48:5562a99479e5 4536 countss=0;
yabahiro 48:5562a99479e5 4537 mode=70;
yabahiro 48:5562a99479e5 4538 normal=60;
yabahiro 48:5562a99479e5 4539 fast=70;
yabahiro 48:5562a99479e5 4540 slow=40;
yabahiro 48:5562a99479e5 4541 }
yabahiro 48:5562a99479e5 4542 } else if(mode==42) {
yabahiro 48:5562a99479e5 4543 motor[TIRE_FR].pwm = 40;
yabahiro 48:5562a99479e5 4544 motor[TIRE_FR].dir = FOR;
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 = 40;
yabahiro 48:5562a99479e5 4550 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 4551 if(g[1]==0) {
yabahiro 48:5562a99479e5 4552 countss=0;
yabahiro 48:5562a99479e5 4553 mode=70;
yabahiro 48:5562a99479e5 4554 }
yabahiro 48:5562a99479e5 4555 } else if(mode==70) {
yabahiro 48:5562a99479e5 4556 switch(g[0]) {
yabahiro 48:5562a99479e5 4557 case 99:
yabahiro 48:5562a99479e5 4558 if(countss>=100000) {
yabahiro 48:5562a99479e5 4559 mode=100;
yabahiro 48:5562a99479e5 4560 }
yabahiro 48:5562a99479e5 4561 break;
yabahiro 48:5562a99479e5 4562 case 98:
yabahiro 48:5562a99479e5 4563 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4564 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4565 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4566 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4567 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4568 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4569 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4570 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4571 break;
yabahiro 48:5562a99479e5 4572 case 0:
yabahiro 48:5562a99479e5 4573 motor[TIRE_FR].pwm = 80;
yabahiro 48:5562a99479e5 4574 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4575 motor[TIRE_FL].pwm = 80;
yabahiro 48:5562a99479e5 4576 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4577 motor[TIRE_BR].pwm = 80;
yabahiro 48:5562a99479e5 4578 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4579 motor[TIRE_BL].pwm = 80;
yabahiro 48:5562a99479e5 4580 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4581 mtc=true;
yabahiro 48:5562a99479e5 4582 break;
yabahiro 48:5562a99479e5 4583 case 255:
yabahiro 48:5562a99479e5 4584 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4585 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4586 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4587 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4588 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4589 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4590 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4591 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4592 mtc=true;
yabahiro 48:5562a99479e5 4593 break;
yabahiro 48:5562a99479e5 4594 case 253:
yabahiro 48:5562a99479e5 4595 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4596 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4597 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4598 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4599 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4600 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4601 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4602 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4603 mtc=true;
yabahiro 48:5562a99479e5 4604 break;
yabahiro 48:5562a99479e5 4605 case 254:
yabahiro 48:5562a99479e5 4606 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4607 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4608 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4609 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4610 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4611 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4612 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4613 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4614 mtc=true;
yabahiro 48:5562a99479e5 4615 break;
yabahiro 48:5562a99479e5 4616 case 1:
yabahiro 48:5562a99479e5 4617 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4618 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4619 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4620 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4621 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4622 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4623 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4624 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4625 mtc=true;
yabahiro 48:5562a99479e5 4626 break;
yabahiro 48:5562a99479e5 4627 case 3:
yabahiro 48:5562a99479e5 4628 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4629 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4630 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4631 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4632 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4633 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4634 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4635 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4636 mtc=true;
yabahiro 48:5562a99479e5 4637 break;
yabahiro 48:5562a99479e5 4638 case 2:
yabahiro 48:5562a99479e5 4639 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4640 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4641 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4642 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4643 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4644 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4645 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4646 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4647 mtc=true;
yabahiro 48:5562a99479e5 4648 break;
yabahiro 48:5562a99479e5 4649 }
yabahiro 48:5562a99479e5 4650 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4651 switch(g[1]) {
yabahiro 48:5562a99479e5 4652 case 0:
yabahiro 48:5562a99479e5 4653 mtc=false;
yabahiro 48:5562a99479e5 4654 break;
yabahiro 48:5562a99479e5 4655 case 255:
yabahiro 48:5562a99479e5 4656 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4657 mtc=false;
yabahiro 48:5562a99479e5 4658 break;
yabahiro 48:5562a99479e5 4659 case 253:
yabahiro 48:5562a99479e5 4660 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4661 mtc=false;
yabahiro 48:5562a99479e5 4662 break;
yabahiro 48:5562a99479e5 4663 case 254:
yabahiro 48:5562a99479e5 4664 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4665 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4666 mtc=false;
yabahiro 48:5562a99479e5 4667 break;
yabahiro 48:5562a99479e5 4668 case 1:
yabahiro 48:5562a99479e5 4669 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4670 mtc=false;
yabahiro 48:5562a99479e5 4671 break;
yabahiro 48:5562a99479e5 4672 case 3:
yabahiro 48:5562a99479e5 4673 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4674 mtc=false;
yabahiro 48:5562a99479e5 4675 break;
yabahiro 48:5562a99479e5 4676 case 2:
yabahiro 48:5562a99479e5 4677 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4678 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4679 mtc=false;
yabahiro 48:5562a99479e5 4680 break;
yabahiro 48:5562a99479e5 4681 }
yabahiro 48:5562a99479e5 4682 }
yabahiro 48:5562a99479e5 4683 } else if(mode==100) {
yabahiro 48:5562a99479e5 4684 motor[TIRE_FR].pwm = 50;
yabahiro 48:5562a99479e5 4685 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4686 motor[TIRE_FL].pwm = 50;
yabahiro 48:5562a99479e5 4687 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4688 motor[TIRE_BR].pwm = 50;
yabahiro 48:5562a99479e5 4689 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4690 motor[TIRE_BL].pwm = 50;
yabahiro 48:5562a99479e5 4691 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4692 } else {
yabahiro 48:5562a99479e5 4693 }
yabahiro 33:dd598bb23ad1 4694
kishibekairohan 13:b6e02d6261d7 4695 }
kishibekairohan 13:b6e02d6261d7 4696 #endif
kishibekairohan 13:b6e02d6261d7 4697
kishibekairohan 13:b6e02d6261d7 4698 #if USE_PROCESS_NUM>5
Ryosei 27:dd9f27fce7d1 4699 static void Process5()
Ryosei 27:dd9f27fce7d1 4700 {
yabahiro 56:61ebd4b759b4 4701 countss++;
yabahiro 56:61ebd4b759b4 4702 switch(mode) {
yabahiro 56:61ebd4b759b4 4703 case 1:
yabahiro 56:61ebd4b759b4 4704 mode=2;
yabahiro 56:61ebd4b759b4 4705 countss=0;
yabahiro 56:61ebd4b759b4 4706 fast = 60;
yabahiro 56:61ebd4b759b4 4707 normal = 40;
yabahiro 56:61ebd4b759b4 4708 slow = 30;
yabahiro 56:61ebd4b759b4 4709 break;
yabahiro 56:61ebd4b759b4 4710 case 2:
yabahiro 56:61ebd4b759b4 4711 if(YELLOW) {
yabahiro 56:61ebd4b759b4 4712 switch(g[4]) {
yabahiro 56:61ebd4b759b4 4713 case 98:
yabahiro 56:61ebd4b759b4 4714 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4715 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4716 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4717 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4718 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4719 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4720 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4721 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4722 break;
yabahiro 56:61ebd4b759b4 4723 case 99:
yabahiro 56:61ebd4b759b4 4724 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 4725 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4726 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 4727 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4728 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 4729 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4730 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 4731 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4732 break;
yabahiro 56:61ebd4b759b4 4733 case 0:
yabahiro 56:61ebd4b759b4 4734 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4735 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4736 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4737 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4738 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4739 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4740 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4741 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4742 break;
yabahiro 56:61ebd4b759b4 4743 case 255:
yabahiro 56:61ebd4b759b4 4744 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 4745 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4746 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 4747 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4748 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 4749 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4750 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 4751 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4752 break;
yabahiro 56:61ebd4b759b4 4753 case 253:
yabahiro 56:61ebd4b759b4 4754 motor[TIRE_FR].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4755 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4756 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4757 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4758 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4759 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4760 motor[TIRE_BL].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4761 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4762 break;
yabahiro 56:61ebd4b759b4 4763 case 254:
yabahiro 56:61ebd4b759b4 4764 motor[TIRE_FR].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4765 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4766 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4767 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4768 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4769 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4770 motor[TIRE_BL].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4771 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4772 break;
yabahiro 56:61ebd4b759b4 4773 case 1:
yabahiro 56:61ebd4b759b4 4774 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 4775 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4776 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 4777 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4778 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 4779 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4780 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 4781 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4782 break;
yabahiro 56:61ebd4b759b4 4783 case 3:
yabahiro 56:61ebd4b759b4 4784 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4785 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4786 motor[TIRE_FL].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4787 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4788 motor[TIRE_BR].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4789 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4790 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4791 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4792 break;
yabahiro 56:61ebd4b759b4 4793 case 2:
yabahiro 56:61ebd4b759b4 4794 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4795 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4796 motor[TIRE_FL].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4797 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4798 motor[TIRE_BR].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4799 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4800 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4801 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4802 break;
yabahiro 56:61ebd4b759b4 4803 }
yabahiro 56:61ebd4b759b4 4804 if(g[1]==98||g[1]==0||g[1]==1||g[1]==2||g[1]==3||g[1]==254||g[1]==253||g[1]==255) {
yabahiro 56:61ebd4b759b4 4805 fast=10;
yabahiro 56:61ebd4b759b4 4806 normal=10;
yabahiro 56:61ebd4b759b4 4807 slow=10;
yabahiro 56:61ebd4b759b4 4808 }
yabahiro 56:61ebd4b759b4 4809 if(g[3]==254&&countss>=100000) {
yabahiro 56:61ebd4b759b4 4810 mode=3;
yabahiro 56:61ebd4b759b4 4811 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 56:61ebd4b759b4 4812 aime.start();
yabahiro 56:61ebd4b759b4 4813 aime.reset();
yabahiro 56:61ebd4b759b4 4814 countss=0;
yabahiro 56:61ebd4b759b4 4815 fast=80;
yabahiro 56:61ebd4b759b4 4816 normal=60;
yabahiro 56:61ebd4b759b4 4817 slow=30;
yabahiro 56:61ebd4b759b4 4818 }
yabahiro 56:61ebd4b759b4 4819 } else {
yabahiro 56:61ebd4b759b4 4820 if(UPLS||DOLS) {
yabahiro 56:61ebd4b759b4 4821 if(UPLS||DOLS) {
yabahiro 56:61ebd4b759b4 4822 motor[MOTOR_0].pwm = 200;
yabahiro 56:61ebd4b759b4 4823 motor[MOTOR_0].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4824 fast=60;
yabahiro 56:61ebd4b759b4 4825 normal=40;
yabahiro 56:61ebd4b759b4 4826 slow=30;
yabahiro 56:61ebd4b759b4 4827 countss=0;
yabahiro 56:61ebd4b759b4 4828 mode=24;
yabahiro 56:61ebd4b759b4 4829 }
yabahiro 56:61ebd4b759b4 4830 } else {
yabahiro 56:61ebd4b759b4 4831 motor[MOTOR_0].pwm = 100;
yabahiro 56:61ebd4b759b4 4832 motor[MOTOR_0].dir = BACK;
yabahiro 56:61ebd4b759b4 4833 }
yabahiro 56:61ebd4b759b4 4834 motor[TIRE_FR].pwm = 100;
yabahiro 56:61ebd4b759b4 4835 motor[TIRE_FR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4836 motor[TIRE_FL].pwm = 100;
yabahiro 56:61ebd4b759b4 4837 motor[TIRE_FL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4838 motor[TIRE_BR].pwm = 100;
yabahiro 56:61ebd4b759b4 4839 motor[TIRE_BR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4840 motor[TIRE_BL].pwm = 100;
yabahiro 56:61ebd4b759b4 4841 motor[TIRE_BL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4842 }
yabahiro 56:61ebd4b759b4 4843 break;
yabahiro 56:61ebd4b759b4 4844 case 3:
yabahiro 56:61ebd4b759b4 4845 if(YELLOW) {
yabahiro 56:61ebd4b759b4 4846 value=aime.read_ms();
yabahiro 56:61ebd4b759b4 4847 if(value>=5000) {
yabahiro 56:61ebd4b759b4 4848 mode=4;
yabahiro 56:61ebd4b759b4 4849 }
yabahiro 56:61ebd4b759b4 4850 if(g[4]==3||g[4]==2) {
yabahiro 56:61ebd4b759b4 4851 motor[TIRE_FR].pwm = 20;
yabahiro 56:61ebd4b759b4 4852 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4853 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 4854 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 4855 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4856 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 4857 motor[TIRE_BL].pwm = 20;
yabahiro 56:61ebd4b759b4 4858 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4859 }
yabahiro 56:61ebd4b759b4 4860 if(g[4]==253||g[4]==254) {
yabahiro 56:61ebd4b759b4 4861 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4862 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4863 motor[TIRE_FL].pwm = 20;
yabahiro 56:61ebd4b759b4 4864 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4865 motor[TIRE_BR].pwm = 20;
yabahiro 56:61ebd4b759b4 4866 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4867 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 4868 motor[TIRE_BL].dir = FOR;
yabahiro 56:61ebd4b759b4 4869 }
yabahiro 56:61ebd4b759b4 4870 switch(g[2]) {
yabahiro 56:61ebd4b759b4 4871 case 0:
yabahiro 56:61ebd4b759b4 4872 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 4873 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4874 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 4875 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4876 break;
yabahiro 56:61ebd4b759b4 4877 case 255:
yabahiro 56:61ebd4b759b4 4878 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4879 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4880 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 4881 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4882 break;
yabahiro 56:61ebd4b759b4 4883 case 253:
yabahiro 56:61ebd4b759b4 4884 motor[TIRE_FR].pwm = 40;
yabahiro 56:61ebd4b759b4 4885 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4886 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 4887 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4888 break;
yabahiro 56:61ebd4b759b4 4889 case 254:
yabahiro 56:61ebd4b759b4 4890 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4891 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4892 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4893 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 4894 break;
yabahiro 56:61ebd4b759b4 4895 case 1:
yabahiro 56:61ebd4b759b4 4896 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 4897 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4898 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4899 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4900 break;
yabahiro 56:61ebd4b759b4 4901 case 3:
yabahiro 56:61ebd4b759b4 4902 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 4903 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4904 motor[TIRE_BR].pwm = 40;
yabahiro 56:61ebd4b759b4 4905 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4906 break;
yabahiro 56:61ebd4b759b4 4907 case 2:
yabahiro 56:61ebd4b759b4 4908 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4909 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4910 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4911 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4912 break;
yabahiro 56:61ebd4b759b4 4913 }
yabahiro 56:61ebd4b759b4 4914 switch(g[3]) {
yabahiro 56:61ebd4b759b4 4915 case 0:
yabahiro 56:61ebd4b759b4 4916 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 4917 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4918 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 4919 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4920 break;
yabahiro 56:61ebd4b759b4 4921 case 255:
yabahiro 56:61ebd4b759b4 4922 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 4923 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4924 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 4925 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4926 case 253:
yabahiro 56:61ebd4b759b4 4927 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 4928 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4929 motor[TIRE_BL].pwm = 40;
yabahiro 56:61ebd4b759b4 4930 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4931 break;
yabahiro 56:61ebd4b759b4 4932 case 254:
yabahiro 56:61ebd4b759b4 4933 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 4934 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4935 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 4936 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4937 break;
yabahiro 56:61ebd4b759b4 4938 case 1:
yabahiro 56:61ebd4b759b4 4939 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 4940 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 4941 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 4942 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4943 break;
yabahiro 56:61ebd4b759b4 4944 case 3:
yabahiro 56:61ebd4b759b4 4945 motor[TIRE_FL].pwm = 40;
yabahiro 56:61ebd4b759b4 4946 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 4947 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 4948 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4949 break;
yabahiro 56:61ebd4b759b4 4950 case 2:
yabahiro 56:61ebd4b759b4 4951 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 4952 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 4953 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 4954 motor[TIRE_BL].dir = FOR;
yabahiro 56:61ebd4b759b4 4955 break;
yabahiro 56:61ebd4b759b4 4956 }
yabahiro 56:61ebd4b759b4 4957 if(g[3]==0&&g[2]==0) {
yabahiro 56:61ebd4b759b4 4958 mode=25;
yabahiro 56:61ebd4b759b4 4959 }
yabahiro 56:61ebd4b759b4 4960 } else {
yabahiro 56:61ebd4b759b4 4961 if(g[1]==98&&countss>=40000) {
yabahiro 56:61ebd4b759b4 4962 mode=31;
yabahiro 56:61ebd4b759b4 4963 fast = 60;
yabahiro 56:61ebd4b759b4 4964 normal = 40;
yabahiro 56:61ebd4b759b4 4965 slow = 30;
yabahiro 56:61ebd4b759b4 4966 countss=0;
yabahiro 56:61ebd4b759b4 4967 }
yabahiro 56:61ebd4b759b4 4968 switch(g[1]) {
yabahiro 56:61ebd4b759b4 4969 case 98:
yabahiro 56:61ebd4b759b4 4970 fast=40;
yabahiro 56:61ebd4b759b4 4971 normal=30;
yabahiro 56:61ebd4b759b4 4972 slow=25;
yabahiro 56:61ebd4b759b4 4973 motor[TIRE_FR].pwm = normal;
yabahiro 56:61ebd4b759b4 4974 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4975 motor[TIRE_FL].pwm = normal;
yabahiro 56:61ebd4b759b4 4976 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4977 motor[TIRE_BR].pwm = normal;
yabahiro 56:61ebd4b759b4 4978 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4979 motor[TIRE_BL].pwm = normal;
yabahiro 56:61ebd4b759b4 4980 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4981 break;
yabahiro 56:61ebd4b759b4 4982 case 0:
yabahiro 56:61ebd4b759b4 4983 motor[TIRE_FR].pwm = fast;
yabahiro 56:61ebd4b759b4 4984 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4985 motor[TIRE_FL].pwm = fast;
yabahiro 56:61ebd4b759b4 4986 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4987 motor[TIRE_BR].pwm = fast;
yabahiro 56:61ebd4b759b4 4988 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4989 motor[TIRE_BL].pwm = fast;
yabahiro 56:61ebd4b759b4 4990 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4991 mtc=true;
yabahiro 56:61ebd4b759b4 4992 break;
yabahiro 56:61ebd4b759b4 4993 case 255:
yabahiro 56:61ebd4b759b4 4994 motor[TIRE_FR].pwm = fast;
yabahiro 56:61ebd4b759b4 4995 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4996 motor[TIRE_FL].pwm = slow;
yabahiro 56:61ebd4b759b4 4997 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4998 motor[TIRE_BR].pwm = slow;
yabahiro 56:61ebd4b759b4 4999 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5000 motor[TIRE_BL].pwm = fast;
yabahiro 56:61ebd4b759b4 5001 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5002 mtc=true;
yabahiro 56:61ebd4b759b4 5003 break;
yabahiro 56:61ebd4b759b4 5004 case 253:
yabahiro 56:61ebd4b759b4 5005 motor[TIRE_FR].pwm = slow;
yabahiro 56:61ebd4b759b4 5006 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5007 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5008 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5009 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5010 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5011 motor[TIRE_BL].pwm = slow;
yabahiro 56:61ebd4b759b4 5012 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5013 mtc=true;
yabahiro 56:61ebd4b759b4 5014 break;
yabahiro 56:61ebd4b759b4 5015 case 254:
yabahiro 56:61ebd4b759b4 5016 motor[TIRE_FR].pwm = normal;
yabahiro 56:61ebd4b759b4 5017 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5018 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5019 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5020 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5021 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5022 motor[TIRE_BL].pwm = normal;
yabahiro 56:61ebd4b759b4 5023 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5024 mtc=true;
yabahiro 56:61ebd4b759b4 5025 break;
yabahiro 56:61ebd4b759b4 5026 case 1:
yabahiro 56:61ebd4b759b4 5027 motor[TIRE_FR].pwm = slow;
yabahiro 56:61ebd4b759b4 5028 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5029 motor[TIRE_FL].pwm = fast;
yabahiro 56:61ebd4b759b4 5030 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5031 motor[TIRE_BR].pwm = fast;
yabahiro 56:61ebd4b759b4 5032 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5033 motor[TIRE_BL].pwm = slow;
yabahiro 56:61ebd4b759b4 5034 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5035 mtc=true;
yabahiro 56:61ebd4b759b4 5036 break;
yabahiro 56:61ebd4b759b4 5037 case 3:
yabahiro 56:61ebd4b759b4 5038 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5039 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5040 motor[TIRE_FL].pwm = slow;
yabahiro 56:61ebd4b759b4 5041 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5042 motor[TIRE_BR].pwm = slow;
yabahiro 56:61ebd4b759b4 5043 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5044 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5045 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5046 mtc=true;
yabahiro 56:61ebd4b759b4 5047 break;
yabahiro 56:61ebd4b759b4 5048 case 2:
yabahiro 56:61ebd4b759b4 5049 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5050 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5051 motor[TIRE_FL].pwm = normal;
yabahiro 56:61ebd4b759b4 5052 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5053 motor[TIRE_BR].pwm = normal;
yabahiro 56:61ebd4b759b4 5054 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5055 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5056 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5057 mtc=true;
yabahiro 56:61ebd4b759b4 5058 break;
yabahiro 56:61ebd4b759b4 5059 }
yabahiro 56:61ebd4b759b4 5060 if(g[1]!=98&&mtc==true) {
yabahiro 56:61ebd4b759b4 5061 switch(g[0]) {
yabahiro 56:61ebd4b759b4 5062 case 0:
yabahiro 56:61ebd4b759b4 5063 mtc=false;
yabahiro 56:61ebd4b759b4 5064 break;
yabahiro 56:61ebd4b759b4 5065 case 255:
yabahiro 56:61ebd4b759b4 5066 motor[TIRE_FL].pwm += 3;
yabahiro 56:61ebd4b759b4 5067 mtc=false;
yabahiro 56:61ebd4b759b4 5068 break;
yabahiro 56:61ebd4b759b4 5069 case 253:
yabahiro 56:61ebd4b759b4 5070 motor[TIRE_FL].pwm += 6;
yabahiro 56:61ebd4b759b4 5071 mtc=false;
yabahiro 56:61ebd4b759b4 5072 break;
yabahiro 56:61ebd4b759b4 5073 case 254:
yabahiro 56:61ebd4b759b4 5074 motor[TIRE_FL].pwm += 9;
yabahiro 56:61ebd4b759b4 5075 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5076 mtc=false;
yabahiro 56:61ebd4b759b4 5077 break;
yabahiro 56:61ebd4b759b4 5078 case 1:
yabahiro 56:61ebd4b759b4 5079 motor[TIRE_FR].pwm += 3;
yabahiro 56:61ebd4b759b4 5080 mtc=false;
yabahiro 56:61ebd4b759b4 5081 break;
yabahiro 56:61ebd4b759b4 5082 case 3:
yabahiro 56:61ebd4b759b4 5083 motor[TIRE_FR].pwm += 6;
yabahiro 56:61ebd4b759b4 5084 mtc=false;
yabahiro 56:61ebd4b759b4 5085 break;
yabahiro 56:61ebd4b759b4 5086 case 2:
yabahiro 56:61ebd4b759b4 5087 motor[TIRE_FR].pwm += 9;
yabahiro 56:61ebd4b759b4 5088 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5089 mtc=false;
yabahiro 56:61ebd4b759b4 5090 break;
yabahiro 56:61ebd4b759b4 5091 }
yabahiro 56:61ebd4b759b4 5092 }
yabahiro 56:61ebd4b759b4 5093 }
yabahiro 56:61ebd4b759b4 5094 break;
yabahiro 56:61ebd4b759b4 5095 case 4:
yabahiro 56:61ebd4b759b4 5096 motor[TIRE_FR].pwm = 100;
yabahiro 56:61ebd4b759b4 5097 motor[TIRE_FR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5098 motor[TIRE_FL].pwm = 100;
yabahiro 56:61ebd4b759b4 5099 motor[TIRE_FL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5100 motor[TIRE_BR].pwm = 100;
yabahiro 56:61ebd4b759b4 5101 motor[TIRE_BR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5102 motor[TIRE_BL].pwm = 100;
yabahiro 56:61ebd4b759b4 5103 motor[TIRE_BL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5104 if(UPLS==true||DOLS==true) {
yabahiro 56:61ebd4b759b4 5105 if(UPLS==true||DOLS==true) {
yabahiro 56:61ebd4b759b4 5106 motor[MOTOR_0].pwm = 200;
yabahiro 56:61ebd4b759b4 5107 motor[MOTOR_0].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5108 countss = 0;
yabahiro 56:61ebd4b759b4 5109 mode=26;
yabahiro 56:61ebd4b759b4 5110 }
yabahiro 56:61ebd4b759b4 5111 } else {
yabahiro 56:61ebd4b759b4 5112 motor[MOTOR_0].pwm = 100;
yabahiro 56:61ebd4b759b4 5113 motor[MOTOR_0].dir = BACK;
yabahiro 56:61ebd4b759b4 5114 }
yabahiro 56:61ebd4b759b4 5115 break;
yabahiro 56:61ebd4b759b4 5116 case 5:
yabahiro 56:61ebd4b759b4 5117 /*
yabahiro 56:61ebd4b759b4 5118 if (g[3] == 0&&countss>=30000) {
yabahiro 56:61ebd4b759b4 5119 mode = 40;
yabahiro 56:61ebd4b759b4 5120 }
yabahiro 56:61ebd4b759b4 5121 */
yabahiro 56:61ebd4b759b4 5122 if (g[1] != 99) {
yabahiro 56:61ebd4b759b4 5123 mode = 31;
yabahiro 56:61ebd4b759b4 5124 }
yabahiro 56:61ebd4b759b4 5125 switch(g[4]) {
yabahiro 56:61ebd4b759b4 5126 case 98:
yabahiro 56:61ebd4b759b4 5127 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5128 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5129 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5130 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5131 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5132 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5133 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5134 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5135 break;
yabahiro 56:61ebd4b759b4 5136 case 99:
yabahiro 56:61ebd4b759b4 5137 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5138 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5139 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5140 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5141 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5142 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5143 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5144 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5145 break;
yabahiro 56:61ebd4b759b4 5146 case 0:
yabahiro 56:61ebd4b759b4 5147 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5148 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5149 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5150 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5151 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5152 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5153 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5154 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5155 break;
yabahiro 56:61ebd4b759b4 5156 case 255:
yabahiro 56:61ebd4b759b4 5157 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5158 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5159 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5160 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5161 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5162 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5163 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5164 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5165 break;
yabahiro 56:61ebd4b759b4 5166 case 253:
yabahiro 56:61ebd4b759b4 5167 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 5168 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5169 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5170 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5171 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5172 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5173 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 5174 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5175 break;
yabahiro 56:61ebd4b759b4 5176 case 254:
yabahiro 56:61ebd4b759b4 5177 motor[TIRE_FR].pwm = 40;
yabahiro 56:61ebd4b759b4 5178 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5179 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5180 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5181 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5182 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5183 motor[TIRE_BL].pwm = 40;
yabahiro 56:61ebd4b759b4 5184 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5185 break;
yabahiro 56:61ebd4b759b4 5186 case 1:
yabahiro 56:61ebd4b759b4 5187 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5188 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5189 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5190 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5191 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5192 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5193 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5194 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5195 break;
yabahiro 56:61ebd4b759b4 5196 case 3:
yabahiro 56:61ebd4b759b4 5197 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5198 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5199 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 5200 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5201 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 5202 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5203 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5204 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5205 break;
yabahiro 56:61ebd4b759b4 5206 case 2:
yabahiro 56:61ebd4b759b4 5207 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5208 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5209 motor[TIRE_FL].pwm = 40;
yabahiro 56:61ebd4b759b4 5210 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5211 motor[TIRE_BR].pwm = 40;
yabahiro 56:61ebd4b759b4 5212 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5213 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5214 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5215 break;
yabahiro 56:61ebd4b759b4 5216 }
yabahiro 56:61ebd4b759b4 5217 break;
yabahiro 56:61ebd4b759b4 5218 }
yabahiro 46:68296caae1af 5219
kishibekairohan 13:b6e02d6261d7 5220 }
kishibekairohan 13:b6e02d6261d7 5221 #endif
kishibekairohan 13:b6e02d6261d7 5222
kishibekairohan 13:b6e02d6261d7 5223 #if USE_PROCESS_NUM>6
Ryosei 27:dd9f27fce7d1 5224 static void Process6()
kishibekairohan 13:b6e02d6261d7 5225 {
Ryosei 27:dd9f27fce7d1 5226
kishibekairohan 13:b6e02d6261d7 5227 }
kishibekairohan 13:b6e02d6261d7 5228 #endif
kishibekairohan 13:b6e02d6261d7 5229
kishibekairohan 13:b6e02d6261d7 5230 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 5231 static void Process7()
kishibekairohan 13:b6e02d6261d7 5232 {
yabahiro 33:dd598bb23ad1 5233
kishibekairohan 12:c09b3e08a316 5234 }
kishibekairohan 12:c09b3e08a316 5235 #endif
kishibekairohan 12:c09b3e08a316 5236
Ryosei 27:dd9f27fce7d1 5237 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 5238 static void Process8()
kishibekairohan 12:c09b3e08a316 5239 {
yabahiro 33:dd598bb23ad1 5240
kishibekairohan 12:c09b3e08a316 5241 }
kishibekairohan 12:c09b3e08a316 5242 #endif
kishibekairohan 12:c09b3e08a316 5243
kishibekairohan 13:b6e02d6261d7 5244 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 5245 static void Process9()
kishibekairohan 12:c09b3e08a316 5246 {
Ryosei 27:dd9f27fce7d1 5247
t_yamamoto 0:669ef71cba68 5248 }
t_yamamoto 0:669ef71cba68 5249 #endif
t_yamamoto 0:669ef71cba68 5250 #endif
t_yamamoto 0:669ef71cba68 5251 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 5252
t_yamamoto 0:669ef71cba68 5253 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 5254 {
yabahiro 33:dd598bb23ad1 5255 #ifdef USE_SOLENOID
yabahiro 33:dd598bb23ad1 5256 solenoid.all = ALL_SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 5257 #endif
yabahiro 33:dd598bb23ad1 5258
yabahiro 33:dd598bb23ad1 5259 #ifdef USE_MOTOR
yabahiro 33:dd598bb23ad1 5260 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro 33:dd598bb23ad1 5261 motor[i].dir = FREE;
yabahiro 33:dd598bb23ad1 5262 motor[i].pwm = 0;
yabahiro 33:dd598bb23ad1 5263 }
yabahiro 33:dd598bb23ad1 5264 #endif
t_yamamoto 0:669ef71cba68 5265 }
t_yamamoto 0:669ef71cba68 5266
kishibekairohan 16:3f2c2d89372b 5267 #pragma region USER-DEFINED-FUNCTIONS
M_souta 29:44d5454ce8fa 5268
M_souta 29:44d5454ce8fa 5269 uint8_t SetStatus(int pwmVal)
Ryosei 27:dd9f27fce7d1 5270 {
M_souta 29:44d5454ce8fa 5271 if (pwmVal < 0) return BACK;
M_souta 29:44d5454ce8fa 5272 else if (pwmVal > 0) return FOR;
M_souta 29:44d5454ce8fa 5273 else if (pwmVal == 0) return BRAKE;
M_souta 29:44d5454ce8fa 5274 else return BRAKE;
M_souta 22:7d93f79a3686 5275 }
kishibekairohan 16:3f2c2d89372b 5276
M_souta 29:44d5454ce8fa 5277 uint8_t SetPWM(int pwmVal)
Ryosei 27:dd9f27fce7d1 5278 {
M_souta 29:44d5454ce8fa 5279 if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
M_souta 29:44d5454ce8fa 5280 else return abs(pwmVal);
M_souta 22:7d93f79a3686 5281 }
yabahiro 55:844ac0974740 5282 /*
yabahiro 55:844ac0974740 5283 void Count(){
yabahiro 55:844ac0974740 5284 num++;
yabahiro 55:844ac0974740 5285 }
yabahiro 55:844ac0974740 5286 */
t_yamamoto 0:669ef71cba68 5287 #pragma endregion