Diff: System/Process/Process.cpp

Revision:

40:ed2409e0ce6b

Parent:

39:784552c26163

Child:

41:99a1158f3eca

--- a/System/Process/Process.cpp	Tue Nov 05 08:38:32 2019 +0000
+++ b/System/Process/Process.cpp	Tue Nov 05 20:40:19 2019 +0000
@@ -279,7 +279,7 @@
             if(ZoneSW) {
                 countss=0;
                 mode=1;
-                current = 4;//10GATU30変更した
+                current = 3;//10GATU30変更した
 
             } else {
                 countss = 0;
@@ -2121,7 +2121,7 @@
                         cross=0;
                     }
                 } else {
-                    if(cross==1) {
+                    if(cross==3) {
                         mode=21;
                         countss=0;
                         cross=0;
@@ -2725,9 +2725,17 @@
                 slow=20;
             }
         } else if(mode==22) {
-            if(g[3]==0) {
+            if(g[1]==98) {
+                slow=20;
+                normal=20;
+                fast=30;
+            }
+            if(g[3]==0){
+                slow=30;
+                normal=40;
+                fast=60;
                 mode=23;
-            }
+                }
             switch(g[1]) {
                 case 98:
                     solenoid.solenoid4 = SOLENOID_OFF;
@@ -2854,7 +2862,7 @@
                         break;
                 }
             }
-        } else if(mode==23) {
+        }else if(mode==23) {
             if(UPLS==true||DOLS==true) {
                 motor[MOTOR_0].pwm = 200;
                 motor[MOTOR_0].dir = BRAKE;
@@ -2866,16 +2874,15 @@
             } 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;
             }
-
+            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;
         } else if(mode==24) {
             if(g[1]==98&&countss>=40000) {
                 mode=31;
@@ -3064,11 +3071,24 @@
                     countss=0;
                 }
                 mtc2=true;
-                if(cross==1) {
+                if(LIF||LIB) {
                     mode=41;
                     countss=0;
                     cross=0;
                 }
+                if(YELLOW) {
+                    if(cross==3) {
+                        mode=41;
+                        countss=0;
+                        cross=0;
+                    }
+                } else {
+                    if(cross==3) {
+                        mode=41;
+                        countss=0;
+                        cross=0;
+                    }
+                }
                 break;
             case 0:
                 motor[TIRE_FR].pwm = fast;