大季 矢花
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Diff: System/Process/Process.cpp
- Revision:
- 51:a0bdbddd08f7
- Parent:
- 50:87f5fa1bc460
- Child:
- 52:4394a1debceb
--- a/System/Process/Process.cpp Wed Nov 13 10:00:45 2019 +0000
+++ b/System/Process/Process.cpp Wed Nov 13 20:59:54 2019 +0000
@@ -473,612 +473,131 @@
countss++;
switch(mode) {
case 1:
+ fast=40;
+ normal=30;
+ slow=20;
+ motor[TIRE_FR].pwm = normal+20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = normal+20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = normal+20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = normal+20;
+ motor[TIRE_BL].dir = BACK;
+ if(g[2]==0&&countss>=100000) {
+ countss=100000;
+ cross=0;
+ mode=3;
+ }
break;
- case 2:
+ case 3:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(g[1]==0) {
+ mode=10;
+ countss=100000;
+ }
break;
case 10:
- break;
- case 11:
- break;
- case 20:
- break;
- case 21:
- break;
- case 22:
- break;
- case 23:
- break;
- case 24:
- break;
- case 25:
- break;
- case 26:
- break;
- case 31:
- break;
- case 40:
- break;
- case 41:
- break;
- case 42:
- break;
- case 70:
- break;
- case 100:
- break;
- default:
- break;
- }
- if(mode==1) {//スタートゾーンから白線検知
- fast=40;
- normal=30;
- slow=20;
- motor[TIRE_FR].pwm = normal+20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal+20;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal+20;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = normal+20;
- motor[TIRE_BL].dir = BACK;
- if(g[2]==0&&countss>=100000) {
- countss=100000;
- cross=0;
- mode=3;
- }
- } else if(mode==3) { //横ライントレースから縦ライントレースへ
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 255;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 255;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- if(g[1]==0) {
- mode=10;
- countss=100000;
- }
- } else if(mode==10) { //縦ライントレース
- switch(g[1]) {
- case 98:
- motor[TIRE_FR].pwm = normal+55;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal+50;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal+50;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = normal+45;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- if(countss>80000) {
- cross++;
- countss=0;
- }
-
- if(cross==2) {
- fast = 10;
- normal = 10;
- slow = 5;
- }
+ switch(g[1]) {
+ case 98:
+ motor[TIRE_FR].pwm = normal+55;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = normal+50;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = normal+50;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = normal+45;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ if(countss>80000) {
+ cross++;
+ countss=0;
+ }
- if(cross==3) {
- fast=40;
- normal=30;
- slow=20;
- mode=11;
- countss=0;
- cross=0;
- }
- break;
- case 0:
- motor[TIRE_FR].pwm = fast+55;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast+50;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast+50;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast+45;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = fast+55;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = slow+50;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow+50;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast+45;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = slow+55;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow+45;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = normal+55;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal+45;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = slow+55;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast+50;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast+50;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow+45;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow+50;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow+50;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal+50;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal+50;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- }
- if(g[1]!=98&&mtc==true) {
- switch(g[0]) {
- case 0:
- mtc=false;
- break;
- case 255:
- motor[TIRE_FL].pwm += 3;
- mtc=false;
- break;
- case 253:
- motor[TIRE_FL].pwm += 6;
- mtc=false;
- break;
- case 254:
- motor[TIRE_FL].pwm += 9;
- motor[TIRE_FR].pwm = 0;
- mtc=false;
- break;
- case 1:
- motor[TIRE_FR].pwm += 3;
- mtc=false;
- break;
- case 3:
- motor[TIRE_FR].pwm += 6;
- mtc=false;
- break;
- case 2:
- motor[TIRE_FR].pwm += 9;
- motor[TIRE_FL].pwm = 0;
- mtc=false;
- break;
- }
- }
- } else if(mode==11) {
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = BACK;
- if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
- countss=0;
- cross=0;
- mode=20;
- }
- } else if(mode==20) {
- solenoid.solenoid2= SOLENOID_ON;
- switch(g[2]) {
- case 98:
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = BACK;
- if(countss>20000) {
- cross++;
- countss=0;
- }
- mtc2=true;
+ if(cross==2) {
+ fast = 10;
+ normal = 10;
+ slow = 5;
+ }
- if(YELLOW) {
- if(cross==1) {
- fast=20;
- normal=15;
- slow=15;
- }
- if(cross==2) {
- mode=21;
- countss=0;
- cross=0;
- }
- } else {
if(cross==3) {
- mode=21;
+ fast=40;
+ normal=30;
+ slow=20;
+ mode=11;
countss=0;
cross=0;
}
- }
- break;
- case 0:
- motor[TIRE_FR].pwm = fast+20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast+20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast+20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+20;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = normal+20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = fast+20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast+20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal+20;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow+20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow+20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal+20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal+20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = fast+20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = slow+20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow+20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast+20;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = slow+20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow+20;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = normal+20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal+20;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- }
- if(g[2]!=98&&mtc2==true) {
- switch(g[3]) {
- case 0:
- mtc2=false;
- break;
- case 255:
- motor[TIRE_BL].pwm += 5;
- mtc2=false;
- break;
- case 253:
- motor[TIRE_BL].pwm += 10;
- mtc2=false;
- break;
- case 254:
- motor[TIRE_BL].pwm += 15;
- motor[TIRE_FL].pwm = 0;
- mtc2=false;
- break;
- case 1:
- motor[TIRE_FL].pwm += 5;
- mtc2=false;
- break;
- case 3:
- motor[TIRE_FL].pwm += 10;
- mtc2=false;
- break;
- case 2:
- motor[TIRE_FL].pwm += 15;
- motor[TIRE_BL].pwm = 0;
- mtc2=false;
- break;
- }
- }
- } else if(mode==21) {
- if(YELLOW) {
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = FOR;
- if(g[3]==98&&countss>=10000) {
- mode=22;
- countss=0;
- fast=60;
- normal=40;
- slow=20;
- }
- } else {
- motor[TIRE_FR].pwm = 255;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 255;
- motor[TIRE_BL].dir = BRAKE;
- if(g[0]==0) {
- mode=22;
- fast=60;
- normal=40;
- slow=25;
- }
- }
- } else if(mode==22) {
- if(YELLOW) {
- if(g[4]==3||g[4]==2) {
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- }
- if(g[4]==253||g[4]==254) {
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- }
- switch(g[2]) {
- case 0:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FREE;
- break;
- case 255:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FREE;
- break;
- case 253:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FREE;
- break;
- case 254:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- break;
- case 1:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- break;
- case 3:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = FOR;
- break;
- case 2:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- break;
- }
- switch(g[3]) {
- case 0:
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = FREE;
- break;
- case 255:
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- case 253:
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = BACK;
- break;
- case 254:
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- break;
- case 1:
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = FREE;
- break;
- case 3:
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = FREE;
- break;
- case 2:
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- break;
- }
- if(g[3]==0&&g[2]==0) {
- mode=23;
- countss=0;
- }
- } else {
- if(g[0]==98) {
- slow=25;
- normal=30;
- fast=40;
- }
- if(g[3]==0) {
- slow=25;
- normal=40;
- fast=40;
- mode=23;
- }
- switch(g[0]) {
- case 98:
- solenoid.solenoid2 = SOLENOID_OFF;
- fast=40;
- normal=30;
- slow=25;
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = FOR;
break;
case 0:
- motor[TIRE_FR].pwm = fast;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_FR].pwm = fast+55;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast+50;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast+50;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast+45;
+ motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 255:
- motor[TIRE_FR].pwm = fast;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_FR].pwm = fast+55;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = slow+50;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = slow+50;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast+45;
+ motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 253:
- motor[TIRE_FR].pwm = slow;
- motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FR].pwm = slow+55;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_BL].pwm = slow+45;
+ motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 254:
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FR].pwm = normal+55;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_BL].pwm = normal+45;
+ motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm = slow;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = slow;
- motor[TIRE_BL].dir = FOR;
+ motor[TIRE_FR].pwm = slow+55;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast+50;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast+50;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = slow+45;
+ motor[TIRE_BL].dir = BACK;
mtc=true;
break;
case 3:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
- motor[TIRE_BR].dir = BACK;
+ motor[TIRE_FL].pwm = slow+50;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = slow+50;
+ motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc=true;
@@ -1086,60 +605,906 @@
case 2:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
- motor[TIRE_BR].dir = BACK;
+ motor[TIRE_FL].pwm = normal+50;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = normal+50;
+ motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc=true;
break;
}
- if(g[0]!=98&&mtc==true) {
+ if(g[1]!=98&&mtc==true) {
switch(g[0]) {
case 0:
mtc=false;
break;
case 255:
- motor[TIRE_BR].pwm += 5;
+ motor[TIRE_FL].pwm += 3;
mtc=false;
break;
case 253:
- motor[TIRE_BR].pwm += 10;
+ motor[TIRE_FL].pwm += 6;
mtc=false;
break;
case 254:
- motor[TIRE_BR].pwm += 20;
- motor[TIRE_BL].pwm = 0;
+ motor[TIRE_FL].pwm += 9;
+ motor[TIRE_FR].pwm = 0;
mtc=false;
break;
case 1:
- motor[TIRE_BL].pwm += 5;
+ motor[TIRE_FR].pwm += 3;
mtc=false;
break;
case 3:
- motor[TIRE_BL].pwm += 10;
+ motor[TIRE_FR].pwm += 6;
mtc=false;
break;
case 2:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_BR].pwm = 0;
+ motor[TIRE_FR].pwm += 9;
+ motor[TIRE_FL].pwm = 0;
mtc=false;
break;
}
}
- }
- } else if(mode==23) {
- if(YELLOW) {
+ break;
+ case 11:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = BACK;
+ if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
+ countss=0;
+ cross=0;
+ mode=20;
+ }
+ break;
+ case 20:
+ solenoid.solenoid2= SOLENOID_ON;
+ switch(g[2]) {
+ case 98:
+ motor[TIRE_FR].pwm = normal+20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = normal+20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = normal+20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = normal+20;
+ motor[TIRE_BL].dir = BACK;
+ if(countss>30000) {
+ cross++;
+ countss=0;
+ }
+ mtc2=true;
+ if(YELLOW) {
+ if(cross==1) {
+ fast=20;
+ normal=15;
+ slow=15;
+ }
+ if(cross==2) {
+ mode=21;
+ countss=0;
+ cross=0;
+ }
+ } else {
+ if(cross==3) {
+ mode=21;
+ countss=0;
+ cross=0;
+ }
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = fast+20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast+20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast+20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast+20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = normal+20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = fast+20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast+20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = normal+20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = slow+20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = slow+20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = normal+20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = normal+20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = fast+20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = slow+20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = slow+20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast+20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = slow+20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = slow+20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = normal+20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = normal+20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ }
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[3]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_BL].pwm += 15;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm += 15;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ break;
+ case 21:
+ if(YELLOW) {
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = FOR;
+ if(g[3]==98&&countss>=10000) {
+ mode=22;
+ countss=0;
+ fast=60;
+ normal=40;
+ slow=20;
+ }
+ } else {
+ motor[TIRE_FR].pwm = 255;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 255;
+ motor[TIRE_BL].dir = BRAKE;
+ if(g[0]==0) {
+ mode=22;
+ fast=60;
+ normal=40;
+ slow=25;
+ }
+ }
+ break;
+ case 22:
+ if(YELLOW) {
+ if(g[4]==3||g[4]==2) {
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ }
+ if(g[4]==253||g[4]==254) {
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ }
+ switch(g[2]) {
+ case 0:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ }
+ switch(g[3]) {
+ case 0:
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ case 253:
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ }
+ if(g[3]==0&&g[2]==0) {
+ mode=23;
+ countss=0;
+ }
+ } else {
+ if(g[0]==98) {
+ slow=25;
+ normal=30;
+ fast=40;
+ }
+ if(g[3]==0) {
+ slow=25;
+ normal=40;
+ fast=60;
+ mode=23;
+ }
+ switch(g[0]) {
+ case 98:
+ solenoid.solenoid2 = SOLENOID_OFF;
+ fast=40;
+ normal=30;
+ slow=25;
+ motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ }
+ if(g[0]!=98&&mtc==true) {
+ switch(g[0]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_BR].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_BR].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_BR].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BR].pwm = 0;
+ mtc=false;
+ break;
+ }
+ }
+ }
+ break;
+ case 23:
+ if(YELLOW) {
+ switch(g[4]) {
+ case 98:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ case 99:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = slow-5;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = slow-5;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = normal-5;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = normal-5;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = slow-5;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = slow-5;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = normal-5;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = normal-5;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ }
+ if(g[0]==98) {
+ fast=20;
+ normal=15;
+ slow=10;
+ }
+ if(g[2]==254&&countss>=100000) {
+ mode=24;
+ solenoid.solenoid2 = SOLENOID_OFF;
+ countss=0;
+ fast=60;
+ normal=40;
+ slow=20;
+ }
+ } else {
+ if(UPLS==true||DOLS==true) {
+ if(UPLS==true||DOLS==true) {
+ motor[MOTOR_0].pwm = 200;
+ motor[MOTOR_0].dir = BRAKE;
+ fast=60;
+ normal=40;
+ slow=20;
+ countss=0;
+ mode=24;
+ }
+ } else {
+ motor[MOTOR_0].pwm = 100;
+ motor[MOTOR_0].dir = BACK;
+ }
+ motor[TIRE_FR].pwm = 100;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 100;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 100;
+ motor[TIRE_BL].dir = BRAKE;
+ }
+ break;
+ case 24:
+ if(YELLOW) {
+ if(g[4]==3||g[4]==2) {
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ }
+ if(g[4]==253||g[4]==254) {
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ }
+ switch(g[2]) {
+ case 0:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 25;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 25;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 25;
+ motor[TIRE_BR].dir = FREE;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 25;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ break;
+ }
+ switch(g[3]) {
+ case 0:
+ motor[TIRE_FL].pwm = 25;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm = 25;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ case 253:
+ motor[TIRE_FL].pwm = 25;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 25;
+ motor[TIRE_BL].dir = FREE;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ }
+ if(g[3]==0&&g[2]==0) {
+ mode=25;
+ }
+ } else {
+ if(g[0]==98&&countss>=20000) {
+ mode=31;
+ countss=0;
+ }
+ switch(g[0]) {
+ case 98:
+ fast=40;
+ normal=30;
+ slow=25;
+ motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = normal;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = normal;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = slow;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = slow;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = slow;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = normal;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ }
+ if(g[1]!=98&&mtc==true) {
+ switch(g[1]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_BR].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_BR].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_BR].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BR].pwm = 0;
+ mtc=false;
+ break;
+ }
+ }
+ }
+ break;
+ case 25:
+ motor[TIRE_FR].pwm = 100;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 100;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 100;
+ motor[TIRE_BL].dir = BRAKE;
+ if(DOLS==true||UPLS==true) {
+ if(DOLS==true||UPLS==true) {
+ motor[MOTOR_0].pwm = 200;
+ motor[MOTOR_0].dir = BRAKE;
+ countss=0;
+ mode=26;
+ }
+ } else {
+ motor[MOTOR_0].pwm = 100;
+ motor[MOTOR_0].dir = BACK;
+ }
+ break;
+ case 26:
switch(g[4]) {
case 98:
- motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].pwm = 60;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].pwm = 60;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = FOR;
break;
case 99:
@@ -1153,13 +1518,13 @@
motor[TIRE_BL].dir = FREE;
break;
case 0:
- motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].pwm = 60;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].pwm = 60;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = FOR;
break;
case 255:
@@ -1173,23 +1538,23 @@
motor[TIRE_BL].dir = FREE;
break;
case 253:
- motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].pwm = 60;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow-5;
+ motor[TIRE_FL].pwm = 25;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow-5;
+ motor[TIRE_BR].pwm = 25;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = FOR;
break;
case 254:
- motor[TIRE_FR].pwm = fast-5;
+ motor[TIRE_FR].pwm = 60;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal-5;
+ motor[TIRE_FL].pwm = 40;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal-5;
+ motor[TIRE_BR].pwm = 40;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast-5;
+ motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = FOR;
break;
case 1:
@@ -1203,185 +1568,232 @@
motor[TIRE_BL].dir = FREE;
break;
case 3:
- motor[TIRE_FR].pwm = slow-5;
+ motor[TIRE_FR].pwm = 25;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].pwm = 60;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = slow-5;
+ motor[TIRE_BL].pwm = 25;
motor[TIRE_BL].dir = FOR;
break;
case 2:
- motor[TIRE_FR].pwm = normal-5;
+ motor[TIRE_FR].pwm = 40;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast-5;
+ motor[TIRE_FL].pwm = 60;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast-5;
+ motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal-5;
+ motor[TIRE_BL].pwm = 40;
motor[TIRE_BL].dir = FOR;
break;
}
if(g[0]==98) {
- fast=30;
- normal=25;
- slow=20;
- }
- if(g[2]==254&&countss>=100000) {
- mode=24;
- solenoid.solenoid2 = SOLENOID_OFF;
- countss=0;
- fast=60;
- normal=40;
- slow=20;
+ mode=31;
}
- } else {
- if(UPLS==true||DOLS==true) {
- if(UPLS==true||DOLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- fast=60;
- normal=40;
- slow=20;
- countss=0;
- mode=24;
- }
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
- motor[TIRE_FR].pwm = 100;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 100;
+ break;
+ case 31:
+ motor[TIRE_FR].pwm = 45;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 255;
motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].pwm = 255;
motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 100;
- motor[TIRE_BL].dir = BRAKE;
- }
- } else if(mode==24) {
- if(YELLOW) {
- if(g[4]==3||g[4]==2) {
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
+ motor[TIRE_BL].pwm = 45;
+ motor[TIRE_BL].dir = FOR;
+ if(g[2]==0) {
+ cross=0;
+ countss=0;
+ mode=40;
+ }
+ break;
+ case 40:
+ if(LIF||LIB) {
+ mode=42;
}
- if(g[4]==253||g[4]==254) {
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- }
- switch(g[2]) {
+ switch(g[3]) {
+ case 98:
+ motor[TIRE_FR].pwm = normal+15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = normal+15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = normal+15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = normal+15;
+ motor[TIRE_BL].dir = FOR;
+ if(countss>30000) {
+ cross++;
+ countss=0;
+ }
+ mtc2=true;
+ if(YELLOW) {
+ if(cross==1) {
+ mode=41;
+ countss=0;
+ cross=0;
+ }
+ } else {
+ if(cross==3) {
+ mode=41;
+ countss=0;
+ cross=0;
+ }
+ }
+ break;
case 0:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FREE;
+ motor[TIRE_FR].pwm = fast+15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = fast+15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast+15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast+15;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].pwm = slow+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FREE;
+ motor[TIRE_FL].pwm = fast+15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = fast+15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = slow+15;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 253:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FREE;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = slow+15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = slow+15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 254:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = normal+15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = normal+15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_BR].pwm = 30;
+ motor[TIRE_FR].pwm = fast+15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = slow+15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = slow+15;
motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = fast+15;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = FOR;
+ motor[TIRE_FR].pwm = slow+15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = slow+15;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
+ motor[TIRE_FR].pwm = normal+15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = normal+15;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
}
- switch(g[3]) {
- case 0:
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = FREE;
- break;
- case 255:
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- case 253:
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = BACK;
- break;
- case 254:
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[2]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ break;
+ case 41:
+ if(LIF||LIB) {
+ mode=42;
+ }
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 255;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 255;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ if(g[1]==0) {
+ countss=0;
+ mode=70;
+ normal=80;
+ fast=100;
+ slow=60;
+ }
+ break;
+ case 42:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ if(g[1]==0) {
+ countss=0;
+ mode=70;
+ }
+ break;
+ case 70:
+ switch(g[0]) {
+ case 99:
+ if(countss>=100000) {
+ mode=100;
+ }
break;
- case 1:
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = FREE;
- break;
- case 3:
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = FREE;
- break;
- case 2:
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- break;
- }
- if(g[3]==0&&g[2]==0) {
- mode=25;
- }
- } else {
- if(g[0]==98&&countss>=40000) {
- mode=31;
- countss=0;
- }
- switch(g[0]) {
case 98:
- fast=40;
- normal=30;
- slow=25;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = normal;
@@ -1392,13 +1804,13 @@
motor[TIRE_BL].dir = FOR;
break;
case 0:
- motor[TIRE_FR].pwm = fast;
+ motor[TIRE_FR].pwm = 100;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
+ motor[TIRE_FL].pwm = 100;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = 100;
motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
+ motor[TIRE_BL].pwm = 100;
motor[TIRE_BL].dir = FOR;
mtc=true;
break;
@@ -1502,453 +1914,28 @@
break;
}
}
- }
- } else if(mode==25) {
- motor[TIRE_FR].pwm = 100;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 100;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 100;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 100;
- motor[TIRE_BL].dir = BRAKE;
- if(DOLS==true||UPLS==true) {
- if(DOLS==true||UPLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- countss=0;
- mode=26;
- }
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
- } else if(mode==26) {
- switch(g[4]) {
- case 98:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- break;
- case 99:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- break;
- case 255:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- break;
- case 253:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- break;
- case 254:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- break;
- case 1:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- break;
- case 3:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = FOR;
- break;
- case 2:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = FOR;
- break;
- }
- if(g[0]==98) {
- mode=31;
- }
- } else if(mode==31) {
- motor[TIRE_FR].pwm = 45;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 255;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 255;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 45;
- motor[TIRE_BL].dir = FOR;
- if(g[2]==0) {
- cross=0;
- countss=0;
- mode=40;
- }
- } else if(mode==40) {
- if(LIF||LIB) {
- mode=42;
- }
- switch(g[3]) {
- case 98:
- motor[TIRE_FR].pwm = normal+15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal+15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal+15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = normal+15;
- motor[TIRE_BL].dir = FOR;
- if(countss>10000) {
- cross++;
- countss=0;
- }
- mtc2=true;
- if(YELLOW) {
- if(cross==1) {
- mode=41;
- countss=0;
- cross=0;
- }
- } else {
- if(cross==3) {
- mode=41;
- countss=0;
- cross=0;
- }
- }
- break;
- case 0:
- motor[TIRE_FR].pwm = fast+15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast+15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast+15;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = slow+15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast+15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow+15;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow+15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow+15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal+15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal+15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = fast+15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow+15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow+15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast+15;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = slow+15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow+15;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = normal+15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal+15;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- }
- if(g[2]!=98&&mtc2==true) {
- switch(g[2]) {
- case 0:
- mtc2=false;
- break;
- case 255:
- motor[TIRE_FL].pwm += 5;
- mtc2=false;
- break;
- case 253:
- motor[TIRE_FL].pwm += 10;
- mtc2=false;
- break;
- case 254:
- motor[TIRE_FL].pwm += 20;
- motor[TIRE_BL].pwm = 0;
- mtc2=false;
- break;
- case 1:
- motor[TIRE_BL].pwm += 5;
- mtc2=false;
- break;
- case 3:
- motor[TIRE_BL].pwm += 10;
- mtc2=false;
- break;
- case 2:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_FL].pwm = 0;
- mtc2=false;
- break;
- }
- }
- } else if(mode==41) {
- if(LIF||LIB) {
- mode=42;
- }
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- if(g[1]==0) {
- countss=0;
- mode=70;
- normal=60;
- fast=70;
- slow=40;
- }
- } else if(mode==42) {
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = BACK;
- if(g[1]==0) {
- countss=0;
- mode=70;
- }
- } else if(mode==70) {
- switch(g[0]) {
- case 99:
- if(countss>=100000) {
- mode=100;
- }
- break;
- case 98:
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = FOR;
- break;
- case 0:
- motor[TIRE_FR].pwm = 80;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 80;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 80;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 80;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = fast;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = fast;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = slow;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = normal;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = slow;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = fast;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = slow;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = slow;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = normal;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- }
- if(g[1]!=98&&mtc==true) {
- switch(g[1]) {
- case 0:
- mtc=false;
- break;
- case 255:
- motor[TIRE_BR].pwm += 5;
- mtc=false;
- break;
- case 253:
- motor[TIRE_BR].pwm += 10;
- mtc=false;
- break;
- case 254:
- motor[TIRE_BR].pwm += 20;
- motor[TIRE_BL].pwm = 0;
- mtc=false;
- break;
- case 1:
- motor[TIRE_BL].pwm += 5;
- mtc=false;
- break;
- case 3:
- motor[TIRE_BL].pwm += 10;
- mtc=false;
- break;
- case 2:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_BR].pwm = 0;
- mtc=false;
- break;
- }
- }
- } else if(mode==100) {
- motor[TIRE_FR].pwm = 50;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 50;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 50;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 50;
- motor[TIRE_BL].dir = FOR;
- } else {
+ break;
+ case 100:
+ motor[TIRE_FR].pwm = 50;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 50;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 50;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 50;
+ motor[TIRE_BL].dir = FOR;
+ break;
+ default:
+ motor[TIRE_FR].pwm = 50;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 50;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 50;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 50;
+ motor[TIRE_BL].dir = BRAKE;
+ break;
}
-
}
#endif