大季 矢花
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Diff: System/Process/Process.cpp
- Revision:
- 58:bfc38c43dadb
- Parent:
- 57:ccfd26b94d8a
- Child:
- 59:5cd3875fa96a
--- a/System/Process/Process.cpp Tue Nov 19 14:21:38 2019 +0000
+++ b/System/Process/Process.cpp Sat Nov 23 08:59:26 2019 +0000
@@ -280,11 +280,13 @@
if(ZoneSW) {
countss=0;
mode=1;
+ aime.start();
current = 3;//1119変更した
} else {
countss = 0;
mode=1;
+ aime.start();
current = 2;
}
}
@@ -480,6 +482,7 @@
static void Process2()
{
//Oh So 青ゾーン
+ value=aime.read_ms();
LED::LED::TapeledMode(4);
countss++;
switch(mode) {
@@ -495,8 +498,9 @@
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = normal+20;
motor[TIRE_BL].dir = BACK;
- if(g[2]==0&&countss>=300000) {
+ if(g[2]==0&&value>=1500) {
countss=100000;
+ aime.reset();
cross=0;
mode=3;
}
@@ -512,6 +516,7 @@
motor[TIRE_BL].dir = BACK;
if(g[1]==0) {
mode=10;
+ aime.reset();
countss=100000;
fast=80;
normal=60;
@@ -530,9 +535,11 @@
motor[TIRE_BL].pwm = normal+45;
motor[TIRE_BL].dir = BACK;
mtc=true;
- if(countss>80000) {
+ if(value>=1200) {
cross++;
countss=0;
+ value=0;
+ aime.reset();
}
if(cross==2) {
@@ -546,6 +553,7 @@
normal=30;
slow=20;
mode=11;
+ aime.reset();
countss=0;
cross=0;
}
@@ -856,6 +864,8 @@
fast=60;
normal=40;
slow=25;
+ value=0;
+ aime.reset();
}
}
break;
@@ -969,6 +979,7 @@
break;
}
if(g[3]==0&&g[2]==0) {
+ aime.reset();
mode=23;
countss=0;
fast=80;
@@ -976,23 +987,22 @@
slow=30;
}
} else {
- if(g[0]==98) {
- slow=25;
- normal=30;
- fast=30;
- }
- if(g[3]==0) {
+ if(g[3]==0&&value>=2000) {
+ solenoid.solenoid2 = SOLENOID_OFF;
slow=25;
normal=40;
fast=60;
+ aime.reset();
mode=23;
}
switch(g[0]) {
case 98:
- solenoid.solenoid2 = SOLENOID_OFF;
- fast=40;
- normal=30;
- slow=25;
+ if(value>=1500) {
+ solenoid.solenoid2 = SOLENOID_OFF;
+ slow=25;
+ normal=30;
+ fast=30;
+ }
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = normal+5;
@@ -1209,15 +1219,36 @@
motor[TIRE_BL].dir = FOR;
break;
}
+
+
+ /*
+ if(value>=3000) {
+ mode=24;
+ aime.reset();
+ value=0;
+ solenoid.solenoid2 = SOLENOID_OFF;
+ countss=0;
+ fast=80;
+ normal=60;
+ slow=30;
+ }
if(g[0]==98) {
fast=20;
normal=15;
slow=10;
}
- if(g[2]==254&&countss>=100000) {
+ */
+ if(value>=2000) {
+ fast=20;
+ normal=15;
+ slow=10;
+ }
+ if(g[2]==254&&value>=2700) {
mode=24;
solenoid.solenoid2 = SOLENOID_OFF;
countss=0;
+ value=0;
+ aime.reset();
fast=80;
normal=60;
slow=30;
@@ -1231,6 +1262,8 @@
normal=40;
slow=30;
countss=0;
+ value=0;
+ aime.reset();
mode=24;
}
} else {
@@ -1249,6 +1282,7 @@
break;
case 24:
if(YELLOW) {
+ /*
if(g[4]==3||g[4]==2) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -1356,11 +1390,14 @@
motor[TIRE_BL].dir = FOR;
break;
}
+
if(g[3]==0&&g[2]==0) {
mode=25;
}
+ */
+ mode=25;
} else {
- if(g[0]==98&&countss>=40000) {
+ if(g[0]==98&&value>=2000) {
mode=31;
fast=60;
normal=40;
@@ -1506,6 +1543,8 @@
motor[MOTOR_0].dir = BRAKE;
countss=0;
mode=26;
+ value=0;
+ aime.reset();
}
} else {
motor[MOTOR_0].pwm = 100;
@@ -1513,7 +1552,7 @@
}
break;
case 26:
- if(g[0]==98) {
+ if(g[0]==98&&value>=2500) {
mode=31;
}
switch(g[4]) {
@@ -1966,6 +2005,7 @@
{
//Clearly 赤ゾーン
LED::LED::TapeledMode(3);
+ value=aime.read_ms();
countss++;
switch(mode) {
case 1:
@@ -1980,7 +2020,7 @@
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = normal+20;
motor[TIRE_BL].dir = FOR;
- if(g[2]==0&&countss>=300000) {
+ if(g[2]==0&&value>=1500) {
countss=100000;
cross=0;
mode=3;
@@ -1997,6 +2037,7 @@
motor[TIRE_BL].dir = BRAKE;
if(g[0]==0) {
mode=10;
+ aime.reset();
countss=100000;
fast = 80;
normal = 60;
@@ -2015,10 +2056,18 @@
motor[TIRE_BL].pwm = normal+50;
motor[TIRE_BL].dir = FOR;
mtc=true;
+ if(value>=1200) {
+ cross++;
+ countss=0;
+ value=0;
+ aime.reset();
+ }
+ /*
if(countss>80000) {
cross++;
countss=0;
}
+ */
if(cross==2) {
fast = 10;
normal = 10;
@@ -2030,6 +2079,7 @@
normal=30;
slow=20;
mode=11;
+ aime.reset();
countss=0;
cross=0;
@@ -2322,6 +2372,7 @@
motor[TIRE_BL].dir = FOR;
if(g[3]==98&&countss>=10000) {
mode=22;
+ aime.reset();
countss=0;
fast=60;
normal=40;
@@ -2338,6 +2389,7 @@
motor[TIRE_BL].dir = BACK;
if(g[1]==0) {
mode=22;
+ aime.reset();
fast=60;
normal=40;
slow=25;
@@ -2455,18 +2507,26 @@
}
if(g[3]==0&&g[2]==0) {
mode=23;
+ aime.reset();
countss=0;
fast = 60;
normal = 40;
slow = 30;
}
} else {
+ if(value>=2200) {
+ slow=25;
+ normal=30;
+ fast=40;
+ }
+ /*
if(g[1]==98) {
slow=25;
normal=30;
fast=40;
}
- if(g[3]==0) {
+ */
+ if(g[3]==0&&value>=2200) {
slow=25;
normal=40;
fast=60;
@@ -2694,21 +2754,37 @@
motor[TIRE_BL].dir = BACK;
break;
}
- if(g[1]==98) {
- fast=10;
- normal=10;
+ if(value>=2400) {
+ fast=20;
+ normal=15;
slow=10;
}
- if(g[3]==254&&countss>=100000) {
+ if(g[3]==254&&value>=2700) {
mode=24;
solenoid.solenoid4 = SOLENOID_OFF;
- aime.start();
aime.reset();
countss=0;
fast=80;
normal=60;
slow=30;
}
+
+ /*
+ if(value>=2500) {
+ mode=24;
+ aime.reset();
+ solenoid.solenoid4 = SOLENOID_OFF;
+ countss=0;
+ fast=80;
+ normal=60;
+ slow=30;
+ }
+ if(g[1]==98) {
+ fast=10;
+ normal=10;
+ slow=10;
+ }
+ */
} else {
if(UPLS||DOLS) {
if(UPLS||DOLS) {