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大季矢花 / Mbed 2 deprecated MB2019_main_alltimes_1123

System/Process/Process.cpp@58:bfc38c43dadb, 2019-11-23 (annotated)

Committer:: yabahiro
Date:: Sat Nov 23 08:59:26 2019 +0000
Revision:: 58:bfc38c43dadb
Parent:: 57:ccfd26b94d8a
Child:: 59:5cd3875fa96a

aa

Who changed what in which revision?

User	Revision	Line number	New 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	58:bfc38c43dadb	283	aime.start();
yabahiro	57:ccfd26b94d8a	284	current = 3;//1119変更した
yabahiro	33:dd598bb23ad1	285
yabahiro	33:dd598bb23ad1	286	} else {
kishibekairohan	34:2fce61e3ebc4	287	countss = 0;
yabahiro	33:dd598bb23ad1	288	mode=1;
yabahiro	58:bfc38c43dadb	289	aime.start();
yabahiro	56:61ebd4b759b4	290	current = 2;
yabahiro	33:dd598bb23ad1	291	}
yabahiro	33:dd598bb23ad1	292	}
yabahiro	33:dd598bb23ad1	293	if(DWSW\|\|DOSW) {
yabahiro	33:dd598bb23ad1	294	if(DWSW) {
yabahiro	33:dd598bb23ad1	295	zyouge=true;
yabahiro	33:dd598bb23ad1	296	}
yabahiro	33:dd598bb23ad1	297	if(DOSW) {
yabahiro	33:dd598bb23ad1	298	if(DOLS) {
yabahiro	33:dd598bb23ad1	299	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	300	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	301	} else {
yabahiro	38:40e7fdf3c694	302	motor[MOTOR_0].pwm = 200;
yabahiro	33:dd598bb23ad1	303	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	304	}
yabahiro	33:dd598bb23ad1	305	}
yabahiro	33:dd598bb23ad1	306	} else if(zyouge==false) {
yabahiro	33:dd598bb23ad1	307	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	308	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	309	}
yabahiro	33:dd598bb23ad1	310	if(zyouge) {
yabahiro	33:dd598bb23ad1	311	if(Twsh==1) {
yabahiro	38:40e7fdf3c694	312	motor[MOTOR_0].pwm = 255;
yabahiro	33:dd598bb23ad1	313	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	314	if(UPLS) {
yabahiro	33:dd598bb23ad1	315	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	316	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	317	zyouge=false;
yabahiro	33:dd598bb23ad1	318	}
yabahiro	33:dd598bb23ad1	319	}
yabahiro	33:dd598bb23ad1	320	if(Twsh==2) {
yabahiro	33:dd598bb23ad1	321	motor[MOTOR_0].pwm = 245;
yabahiro	33:dd598bb23ad1	322	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	323	if(UPLS2) {
yabahiro	33:dd598bb23ad1	324	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	325	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	326	zyouge=false;
yabahiro	33:dd598bb23ad1	327	}
yabahiro	33:dd598bb23ad1	328	}
yabahiro	33:dd598bb23ad1	329	}
yabahiro	33:dd598bb23ad1	330	if(AIRSW) {
yabahiro	33:dd598bb23ad1	331	if(SW_flag==false) {
yabahiro	33:dd598bb23ad1	332	if(Air_flag==false) {
yabahiro	33:dd598bb23ad1	333	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	334	Air_flag=true;
yabahiro	33:dd598bb23ad1	335	SW_flag=true;
yabahiro	33:dd598bb23ad1	336	} else {
yabahiro	33:dd598bb23ad1	337	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	338	Air_flag=false;
yabahiro	33:dd598bb23ad1	339	SW_flag=true;
yabahiro	33:dd598bb23ad1	340	}
yabahiro	33:dd598bb23ad1	341	}
yabahiro	33:dd598bb23ad1	342	} else {
yabahiro	33:dd598bb23ad1	343	if(SW_flag==true) {
yabahiro	33:dd598bb23ad1	344	countss++;
yabahiro	33:dd598bb23ad1	345	if(countss>=2000) {
yabahiro	33:dd598bb23ad1	346	SW_flag=false;
yabahiro	33:dd598bb23ad1	347	countss=0;
yabahiro	33:dd598bb23ad1	348	}
yabahiro	33:dd598bb23ad1	349	}
yabahiro	33:dd598bb23ad1	350	}
yabahiro	33:dd598bb23ad1	351
yabahiro	33:dd598bb23ad1	352
yabahiro	33:dd598bb23ad1	353	#ifdef USE_MU
Ryosei	27:dd9f27fce7d1	354	controller = CONTROLLER::Controller::GetData();
yabahiro	33:dd598bb23ad1	355	#endif
yabahiro	33:dd598bb23ad1	356
Ryosei	27:dd9f27fce7d1	357
yabahiro	33:dd598bb23ad1	358	#ifdef USE_ERRORCHECK
yabahiro	38:40e7fdf3c694	359	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) {
Ryosei	27:dd9f27fce7d1	360	CONTROLLER::Controller::DataReset();
Ryosei	27:dd9f27fce7d1	361	AllActuatorReset();
Ryosei	27:dd9f27fce7d1	362	lock = true;
Ryosei	27:dd9f27fce7d1	363	} else
yabahiro	38:40e7fdf3c694	364
yabahiro	33:dd598bb23ad1	365	#endif
Ryosei	27:dd9f27fce7d1	366	{
Ryosei	27:dd9f27fce7d1	367
yabahiro	33:dd598bb23ad1	368	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	369	if(!lock) {
Ryosei	27:dd9f27fce7d1	370	Process[current]();
Ryosei	27:dd9f27fce7d1	371	} else
yabahiro	33:dd598bb23ad1	372	#endif
Ryosei	27:dd9f27fce7d1	373	{
Ryosei	27:dd9f27fce7d1	374	//ロック時の処理
Ryosei	27:dd9f27fce7d1	375	}
Ryosei	27:dd9f27fce7d1	376	}
yabahiro	33:dd598bb23ad1	377
Ryosei	27:dd9f27fce7d1	378	SystemProcessUpdate();
Ryosei	27:dd9f27fce7d1	379	}
t_yamamoto	0:669ef71cba68	380	}
t_yamamoto	0:669ef71cba68	381
kishibekairohan	2:c015739085d3	382
kishibekairohan	2:c015739085d3	383
kishibekairohan	2:c015739085d3	384
t_yamamoto	0:669ef71cba68	385	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	386	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	387	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	388	static void Process0()
Ryosei	27:dd9f27fce7d1	389	{
yabahiro	33:dd598bb23ad1	390
yabahiro	33:dd598bb23ad1	391	//AllActuatorReset();
t_yamamoto	0:669ef71cba68	392	}
t_yamamoto	0:669ef71cba68	393	#endif
t_yamamoto	0:669ef71cba68	394
t_yamamoto	0:669ef71cba68	395	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	396	static void Process1()
t_yamamoto	0:669ef71cba68	397	{
kishibekairohan	35:33c6cdba5630	398	LED::LED::TapeledMode(6);
yabahiro	33:dd598bb23ad1	399	start_flag = true;
yabahiro	33:dd598bb23ad1	400	mtc=false;
yabahiro	33:dd598bb23ad1	401	mtc2 = false;
yabahiro	33:dd598bb23ad1	402	mode=1;
yabahiro	33:dd598bb23ad1	403	cross=0;
yabahiro	33:dd598bb23ad1	404	Twsh=1;
yabahiro	33:dd598bb23ad1	405	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	406	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	407	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	408	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
Ryosei	27:dd9f27fce7d1	409
kishibekairohan	42:980af34f6fe3	410	motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	411	motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	412	motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	413	motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	33:dd598bb23ad1	414
yabahiro	33:dd598bb23ad1	415	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	416
yabahiro	33:dd598bb23ad1	417	if(controller->Button.UP) {
yabahiro	33:dd598bb23ad1	418	motor[MOTOR_0].pwm =200;
yabahiro	33:dd598bb23ad1	419	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	420	if(UPLS) {
yabahiro	33:dd598bb23ad1	421	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	422	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	423	}
yabahiro	33:dd598bb23ad1	424	}
yabahiro	33:dd598bb23ad1	425	if(controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	426	motor[MOTOR_0].pwm = 50;
yabahiro	33:dd598bb23ad1	427	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	428	}
yabahiro	33:dd598bb23ad1	429	} else {
yabahiro	33:dd598bb23ad1	430	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	431	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	432	}
yabahiro	33:dd598bb23ad1	433
yabahiro	33:dd598bb23ad1	434	if(controller->Button.Y) {
yabahiro	33:dd598bb23ad1	435	if(dz2==true) {
yabahiro	33:dd598bb23ad1	436	if(dz2i==false) {
yabahiro	33:dd598bb23ad1	437	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	438	dz2i=true;
yabahiro	33:dd598bb23ad1	439	} else {
yabahiro	33:dd598bb23ad1	440	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	441	dz2i=false;
yabahiro	33:dd598bb23ad1	442	}
yabahiro	33:dd598bb23ad1	443	dz2=false;
yabahiro	33:dd598bb23ad1	444	}
yabahiro	33:dd598bb23ad1	445	} else {
yabahiro	33:dd598bb23ad1	446	dz2=true;
yabahiro	33:dd598bb23ad1	447	}
yabahiro	33:dd598bb23ad1	448
yabahiro	33:dd598bb23ad1	449	if(controller->Button.A) {
yabahiro	33:dd598bb23ad1	450	if(dz3==true) {
yabahiro	33:dd598bb23ad1	451	if(dz3i==false) {
kishibekairohan	37:e77816810627	452	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	453	dz3i=true;
yabahiro	33:dd598bb23ad1	454	} else {
yabahiro	33:dd598bb23ad1	455	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	456	dz3i=false;
yabahiro	33:dd598bb23ad1	457	}
yabahiro	33:dd598bb23ad1	458	dz3=false;
yabahiro	33:dd598bb23ad1	459	}
yabahiro	33:dd598bb23ad1	460	} else {
yabahiro	33:dd598bb23ad1	461	dz3=true;
yabahiro	33:dd598bb23ad1	462	}
yabahiro	33:dd598bb23ad1	463
yabahiro	33:dd598bb23ad1	464	if(controller->Button.B) {
yabahiro	33:dd598bb23ad1	465	if(dz4==true) {
yabahiro	33:dd598bb23ad1	466	if(dz4i==false) {
yabahiro	38:40e7fdf3c694	467	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	468	dz4i=true;
yabahiro	33:dd598bb23ad1	469	} else {
yabahiro	38:40e7fdf3c694	470	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	471	dz4i=false;
yabahiro	33:dd598bb23ad1	472	}
yabahiro	33:dd598bb23ad1	473	dz4=false;
yabahiro	33:dd598bb23ad1	474	}
yabahiro	33:dd598bb23ad1	475	} else {
yabahiro	33:dd598bb23ad1	476	dz4=true;
yabahiro	33:dd598bb23ad1	477	}
t_yamamoto	0:669ef71cba68	478	}
t_yamamoto	0:669ef71cba68	479	#endif
t_yamamoto	0:669ef71cba68	480
t_yamamoto	0:669ef71cba68	481	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	482	static void Process2()
Ryosei	27:dd9f27fce7d1	483	{
yabahiro	33:dd598bb23ad1	484	//Oh So 青ゾーン
yabahiro	58:bfc38c43dadb	485	value=aime.read_ms();
yabahiro	53:694dbd7dfa0e	486	LED::LED::TapeledMode(4);
yabahiro	33:dd598bb23ad1	487	countss++;
yabahiro	50:87f5fa1bc460	488	switch(mode) {
yabahiro	50:87f5fa1bc460	489	case 1:
yabahiro	51:a0bdbddd08f7	490	fast=40;
yabahiro	51:a0bdbddd08f7	491	normal=30;
yabahiro	51:a0bdbddd08f7	492	slow=20;
yabahiro	51:a0bdbddd08f7	493	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	494	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	495	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	496	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	497	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	498	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	499	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	500	motor[TIRE_BL].dir = BACK;
yabahiro	58:bfc38c43dadb	501	if(g[2]==0&&value>=1500) {
yabahiro	51:a0bdbddd08f7	502	countss=100000;
yabahiro	58:bfc38c43dadb	503	aime.reset();
yabahiro	51:a0bdbddd08f7	504	cross=0;
yabahiro	51:a0bdbddd08f7	505	mode=3;
yabahiro	51:a0bdbddd08f7	506	}
yabahiro	50:87f5fa1bc460	507	break;
yabahiro	51:a0bdbddd08f7	508	case 3:
yabahiro	51:a0bdbddd08f7	509	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	510	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	511	motor[TIRE_FL].pwm = 255;
yabahiro	51:a0bdbddd08f7	512	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	513	motor[TIRE_BR].pwm = 255;
yabahiro	51:a0bdbddd08f7	514	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	515	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	516	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	517	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	518	mode=10;
yabahiro	58:bfc38c43dadb	519	aime.reset();
yabahiro	51:a0bdbddd08f7	520	countss=100000;
yabahiro	55:844ac0974740	521	fast=80;
yabahiro	55:844ac0974740	522	normal=60;
yabahiro	55:844ac0974740	523	slow=40;
yabahiro	51:a0bdbddd08f7	524	}
yabahiro	50:87f5fa1bc460	525	break;
yabahiro	50:87f5fa1bc460	526	case 10:
yabahiro	51:a0bdbddd08f7	527	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	528	case 98:
yabahiro	51:a0bdbddd08f7	529	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	530	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	531	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	532	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	533	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	534	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	535	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	536	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	537	mtc=true;
yabahiro	58:bfc38c43dadb	538	if(value>=1200) {
yabahiro	51:a0bdbddd08f7	539	cross++;
yabahiro	51:a0bdbddd08f7	540	countss=0;
yabahiro	58:bfc38c43dadb	541	value=0;
yabahiro	58:bfc38c43dadb	542	aime.reset();
yabahiro	51:a0bdbddd08f7	543	}
yabahiro	46:68296caae1af	544
yabahiro	51:a0bdbddd08f7	545	if(cross==2) {
yabahiro	51:a0bdbddd08f7	546	fast = 10;
yabahiro	51:a0bdbddd08f7	547	normal = 10;
yabahiro	51:a0bdbddd08f7	548	slow = 5;
yabahiro	51:a0bdbddd08f7	549	}
yabahiro	46:68296caae1af	550
kishibekairohan	45:0cf48a0605cd	551	if(cross==3) {
yabahiro	51:a0bdbddd08f7	552	fast=40;
yabahiro	51:a0bdbddd08f7	553	normal=30;
yabahiro	51:a0bdbddd08f7	554	slow=20;
yabahiro	51:a0bdbddd08f7	555	mode=11;
yabahiro	58:bfc38c43dadb	556	aime.reset();
yabahiro	39:784552c26163	557	countss=0;
yabahiro	39:784552c26163	558	cross=0;
yabahiro	39:784552c26163	559	}
yabahiro	39:784552c26163	560	break;
yabahiro	39:784552c26163	561	case 0:
yabahiro	51:a0bdbddd08f7	562	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	563	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	564	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	565	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	566	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	567	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	568	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	569	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	570	mtc=true;
yabahiro	39:784552c26163	571	break;
yabahiro	39:784552c26163	572	case 255:
yabahiro	51:a0bdbddd08f7	573	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	574	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	575	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	576	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	577	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	578	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	579	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	580	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	581	mtc=true;
yabahiro	39:784552c26163	582	break;
yabahiro	39:784552c26163	583	case 253:
yabahiro	51:a0bdbddd08f7	584	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	585	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	586	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	587	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	588	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	589	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	590	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	591	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	592	mtc=true;
yabahiro	39:784552c26163	593	break;
yabahiro	39:784552c26163	594	case 254:
yabahiro	51:a0bdbddd08f7	595	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	596	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	597	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	598	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	599	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	600	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	601	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	602	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	603	mtc=true;
yabahiro	39:784552c26163	604	break;
yabahiro	39:784552c26163	605	case 1:
yabahiro	51:a0bdbddd08f7	606	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	607	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	608	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	609	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	610	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	611	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	612	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	613	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	614	mtc=true;
yabahiro	39:784552c26163	615	break;
yabahiro	39:784552c26163	616	case 3:
yabahiro	39:784552c26163	617	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	618	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	619	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	620	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	621	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	622	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	623	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	624	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	625	mtc=true;
yabahiro	39:784552c26163	626	break;
yabahiro	39:784552c26163	627	case 2:
yabahiro	39:784552c26163	628	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	629	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	630	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	631	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	632	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	633	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	634	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	635	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	636	mtc=true;
yabahiro	39:784552c26163	637	break;
yabahiro	39:784552c26163	638	}
yabahiro	51:a0bdbddd08f7	639	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	640	switch(g[0]) {
yabahiro	39:784552c26163	641	case 0:
yabahiro	39:784552c26163	642	mtc=false;
yabahiro	39:784552c26163	643	break;
yabahiro	39:784552c26163	644	case 255:
yabahiro	51:a0bdbddd08f7	645	motor[TIRE_FL].pwm += 3;
yabahiro	39:784552c26163	646	mtc=false;
yabahiro	39:784552c26163	647	break;
yabahiro	39:784552c26163	648	case 253:
yabahiro	51:a0bdbddd08f7	649	motor[TIRE_FL].pwm += 6;
yabahiro	39:784552c26163	650	mtc=false;
yabahiro	39:784552c26163	651	break;
yabahiro	39:784552c26163	652	case 254:
yabahiro	51:a0bdbddd08f7	653	motor[TIRE_FL].pwm += 9;
yabahiro	51:a0bdbddd08f7	654	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	655	mtc=false;
yabahiro	39:784552c26163	656	break;
yabahiro	39:784552c26163	657	case 1:
yabahiro	51:a0bdbddd08f7	658	motor[TIRE_FR].pwm += 3;
yabahiro	39:784552c26163	659	mtc=false;
yabahiro	39:784552c26163	660	break;
yabahiro	39:784552c26163	661	case 3:
yabahiro	51:a0bdbddd08f7	662	motor[TIRE_FR].pwm += 6;
yabahiro	39:784552c26163	663	mtc=false;
yabahiro	39:784552c26163	664	break;
yabahiro	39:784552c26163	665	case 2:
yabahiro	51:a0bdbddd08f7	666	motor[TIRE_FR].pwm += 9;
yabahiro	51:a0bdbddd08f7	667	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	668	mtc=false;
yabahiro	39:784552c26163	669	break;
yabahiro	39:784552c26163	670	}
yabahiro	39:784552c26163	671	}
yabahiro	51:a0bdbddd08f7	672	break;
yabahiro	51:a0bdbddd08f7	673	case 11:
yabahiro	53:694dbd7dfa0e	674	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	675	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	676	motor[TIRE_FL].pwm = 15;
yabahiro	53:694dbd7dfa0e	677	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	678	motor[TIRE_BR].pwm = 15;
yabahiro	53:694dbd7dfa0e	679	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	680	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	681	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	682	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	51:a0bdbddd08f7	683	countss=0;
yabahiro	51:a0bdbddd08f7	684	cross=0;
yabahiro	51:a0bdbddd08f7	685	mode=20;
yabahiro	51:a0bdbddd08f7	686	}
yabahiro	51:a0bdbddd08f7	687	break;
yabahiro	51:a0bdbddd08f7	688	case 20:
yabahiro	51:a0bdbddd08f7	689	solenoid.solenoid2= SOLENOID_ON;
yabahiro	51:a0bdbddd08f7	690	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	691	case 98:
yabahiro	51:a0bdbddd08f7	692	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	693	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	694	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	695	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	696	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	697	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	698	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	699	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	700	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	701	cross++;
yabahiro	51:a0bdbddd08f7	702	countss=0;
yabahiro	51:a0bdbddd08f7	703	}
yabahiro	51:a0bdbddd08f7	704	mtc2=true;
yabahiro	51:a0bdbddd08f7	705	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	706	if(cross==1) {
yabahiro	51:a0bdbddd08f7	707	fast=20;
yabahiro	51:a0bdbddd08f7	708	normal=15;
yabahiro	51:a0bdbddd08f7	709	slow=15;
yabahiro	51:a0bdbddd08f7	710	}
yabahiro	51:a0bdbddd08f7	711	if(cross==2) {
yabahiro	51:a0bdbddd08f7	712	mode=21;
yabahiro	51:a0bdbddd08f7	713	countss=0;
yabahiro	51:a0bdbddd08f7	714	cross=0;
yabahiro	51:a0bdbddd08f7	715	}
yabahiro	51:a0bdbddd08f7	716	} else {
yabahiro	51:a0bdbddd08f7	717	if(cross==3) {
yabahiro	51:a0bdbddd08f7	718	mode=21;
yabahiro	51:a0bdbddd08f7	719	countss=0;
yabahiro	51:a0bdbddd08f7	720	cross=0;
yabahiro	51:a0bdbddd08f7	721	}
yabahiro	51:a0bdbddd08f7	722	}
yabahiro	51:a0bdbddd08f7	723	break;
yabahiro	51:a0bdbddd08f7	724	case 0:
yabahiro	51:a0bdbddd08f7	725	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	726	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	727	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	728	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	729	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	730	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	731	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	732	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	733	mtc2=true;
yabahiro	51:a0bdbddd08f7	734	break;
yabahiro	51:a0bdbddd08f7	735	case 255:
yabahiro	51:a0bdbddd08f7	736	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	737	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	738	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	739	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	740	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	741	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	742	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	743	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	744	mtc2=true;
yabahiro	51:a0bdbddd08f7	745	break;
yabahiro	51:a0bdbddd08f7	746	case 253:
yabahiro	51:a0bdbddd08f7	747	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	748	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	749	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	750	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	751	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	752	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	753	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	754	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	755	mtc2=true;
yabahiro	51:a0bdbddd08f7	756	break;
yabahiro	51:a0bdbddd08f7	757	case 254:
yabahiro	51:a0bdbddd08f7	758	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	759	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	760	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	761	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	762	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	763	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	764	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	765	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	766	mtc2=true;
yabahiro	51:a0bdbddd08f7	767	break;
yabahiro	51:a0bdbddd08f7	768	case 1:
yabahiro	51:a0bdbddd08f7	769	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	770	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	771	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	772	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	773	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	774	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	775	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	776	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	777	mtc2=true;
yabahiro	51:a0bdbddd08f7	778	break;
yabahiro	51:a0bdbddd08f7	779	case 3:
yabahiro	51:a0bdbddd08f7	780	motor[TIRE_FR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	781	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	782	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	783	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	784	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	785	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	786	motor[TIRE_BL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	787	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	788	mtc2=true;
yabahiro	51:a0bdbddd08f7	789	break;
yabahiro	51:a0bdbddd08f7	790	case 2:
yabahiro	51:a0bdbddd08f7	791	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	792	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	793	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	794	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	795	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	796	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	797	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	798	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	799	mtc2=true;
yabahiro	51:a0bdbddd08f7	800	break;
yabahiro	51:a0bdbddd08f7	801	}
yabahiro	51:a0bdbddd08f7	802	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	803	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	804	case 0:
yabahiro	51:a0bdbddd08f7	805	mtc2=false;
yabahiro	51:a0bdbddd08f7	806	break;
yabahiro	51:a0bdbddd08f7	807	case 255:
yabahiro	51:a0bdbddd08f7	808	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	809	mtc2=false;
yabahiro	51:a0bdbddd08f7	810	break;
yabahiro	51:a0bdbddd08f7	811	case 253:
yabahiro	51:a0bdbddd08f7	812	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	813	mtc2=false;
yabahiro	51:a0bdbddd08f7	814	break;
yabahiro	51:a0bdbddd08f7	815	case 254:
yabahiro	51:a0bdbddd08f7	816	motor[TIRE_BL].pwm += 15;
yabahiro	51:a0bdbddd08f7	817	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	818	mtc2=false;
yabahiro	51:a0bdbddd08f7	819	break;
yabahiro	51:a0bdbddd08f7	820	case 1:
yabahiro	51:a0bdbddd08f7	821	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	822	mtc2=false;
yabahiro	51:a0bdbddd08f7	823	break;
yabahiro	51:a0bdbddd08f7	824	case 3:
yabahiro	51:a0bdbddd08f7	825	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	826	mtc2=false;
yabahiro	51:a0bdbddd08f7	827	break;
yabahiro	51:a0bdbddd08f7	828	case 2:
yabahiro	51:a0bdbddd08f7	829	motor[TIRE_FL].pwm += 15;
yabahiro	51:a0bdbddd08f7	830	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	831	mtc2=false;
yabahiro	51:a0bdbddd08f7	832	break;
yabahiro	51:a0bdbddd08f7	833	}
yabahiro	51:a0bdbddd08f7	834	}
yabahiro	51:a0bdbddd08f7	835	break;
yabahiro	51:a0bdbddd08f7	836	case 21:
yabahiro	51:a0bdbddd08f7	837	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	838	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	839	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	840	motor[TIRE_FL].pwm = 20;
yabahiro	51:a0bdbddd08f7	841	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	842	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	843	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	844	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	845	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	846	if(g[3]==98&&countss>=10000) {
yabahiro	51:a0bdbddd08f7	847	mode=22;
yabahiro	51:a0bdbddd08f7	848	countss=0;
yabahiro	51:a0bdbddd08f7	849	fast=60;
yabahiro	51:a0bdbddd08f7	850	normal=40;
yabahiro	51:a0bdbddd08f7	851	slow=20;
yabahiro	51:a0bdbddd08f7	852	}
yabahiro	51:a0bdbddd08f7	853	} else {
yabahiro	51:a0bdbddd08f7	854	motor[TIRE_FR].pwm = 255;
yabahiro	51:a0bdbddd08f7	855	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	856	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	857	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	858	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	859	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	860	motor[TIRE_BL].pwm = 255;
yabahiro	51:a0bdbddd08f7	861	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	862	if(g[0]==0) {
yabahiro	51:a0bdbddd08f7	863	mode=22;
yabahiro	51:a0bdbddd08f7	864	fast=60;
yabahiro	51:a0bdbddd08f7	865	normal=40;
yabahiro	51:a0bdbddd08f7	866	slow=25;
yabahiro	58:bfc38c43dadb	867	value=0;
yabahiro	58:bfc38c43dadb	868	aime.reset();
yabahiro	51:a0bdbddd08f7	869	}
yabahiro	51:a0bdbddd08f7	870	}
yabahiro	51:a0bdbddd08f7	871	break;
yabahiro	51:a0bdbddd08f7	872	case 22:
yabahiro	51:a0bdbddd08f7	873	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	874	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	875	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	876	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	877	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	878	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	879	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	880	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	881	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	882	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	883	}
yabahiro	51:a0bdbddd08f7	884	if(g[4]==253\|\|g[4]==254) {
yabahiro	51:a0bdbddd08f7	885	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	886	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	887	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	888	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	889	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	890	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	891	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	892	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	893	}
yabahiro	51:a0bdbddd08f7	894	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	895	case 0:
yabahiro	51:a0bdbddd08f7	896	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	897	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	898	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	899	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	900	break;
yabahiro	51:a0bdbddd08f7	901	case 255:
yabahiro	51:a0bdbddd08f7	902	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	903	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	904	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	905	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	906	break;
yabahiro	51:a0bdbddd08f7	907	case 253:
yabahiro	51:a0bdbddd08f7	908	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	909	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	910	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	911	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	912	break;
yabahiro	51:a0bdbddd08f7	913	case 254:
yabahiro	51:a0bdbddd08f7	914	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	915	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	916	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	917	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	918	break;
yabahiro	51:a0bdbddd08f7	919	case 1:
yabahiro	51:a0bdbddd08f7	920	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	921	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	922	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	923	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	924	break;
yabahiro	51:a0bdbddd08f7	925	case 3:
yabahiro	51:a0bdbddd08f7	926	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	927	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	928	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	929	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	930	break;
yabahiro	51:a0bdbddd08f7	931	case 2:
yabahiro	51:a0bdbddd08f7	932	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	933	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	934	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	935	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	936	break;
yabahiro	51:a0bdbddd08f7	937	}
yabahiro	51:a0bdbddd08f7	938	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	939	case 0:
yabahiro	53:694dbd7dfa0e	940	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	941	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	942	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	943	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	944	break;
yabahiro	51:a0bdbddd08f7	945	case 255:
yabahiro	53:694dbd7dfa0e	946	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	947	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	948	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	949	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	950	case 253:
yabahiro	53:694dbd7dfa0e	951	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	952	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	953	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	954	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	955	break;
yabahiro	51:a0bdbddd08f7	956	case 254:
yabahiro	53:694dbd7dfa0e	957	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	958	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	959	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	960	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	961	break;
yabahiro	51:a0bdbddd08f7	962	case 1:
yabahiro	53:694dbd7dfa0e	963	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	964	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	965	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	966	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	967	break;
yabahiro	51:a0bdbddd08f7	968	case 3:
yabahiro	53:694dbd7dfa0e	969	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	970	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	971	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	972	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	973	break;
yabahiro	51:a0bdbddd08f7	974	case 2:
yabahiro	53:694dbd7dfa0e	975	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	976	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	977	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	978	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	979	break;
yabahiro	51:a0bdbddd08f7	980	}
yabahiro	51:a0bdbddd08f7	981	if(g[3]==0&&g[2]==0) {
yabahiro	58:bfc38c43dadb	982	aime.reset();
yabahiro	51:a0bdbddd08f7	983	mode=23;
yabahiro	51:a0bdbddd08f7	984	countss=0;
yabahiro	54:4167f10ecad0	985	fast=80;
yabahiro	54:4167f10ecad0	986	normal=60;
yabahiro	54:4167f10ecad0	987	slow=30;
yabahiro	51:a0bdbddd08f7	988	}
yabahiro	51:a0bdbddd08f7	989	} else {
yabahiro	58:bfc38c43dadb	990	if(g[3]==0&&value>=2000) {
yabahiro	58:bfc38c43dadb	991	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	992	slow=25;
yabahiro	51:a0bdbddd08f7	993	normal=40;
yabahiro	51:a0bdbddd08f7	994	fast=60;
yabahiro	58:bfc38c43dadb	995	aime.reset();
yabahiro	51:a0bdbddd08f7	996	mode=23;
yabahiro	51:a0bdbddd08f7	997	}
yabahiro	51:a0bdbddd08f7	998	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	999	case 98:
yabahiro	58:bfc38c43dadb	1000	if(value>=1500) {
yabahiro	58:bfc38c43dadb	1001	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	58:bfc38c43dadb	1002	slow=25;
yabahiro	58:bfc38c43dadb	1003	normal=30;
yabahiro	58:bfc38c43dadb	1004	fast=30;
yabahiro	58:bfc38c43dadb	1005	}
yabahiro	51:a0bdbddd08f7	1006	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1007	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1008	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1009	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1010	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1011	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1012	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1013	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1014	break;
yabahiro	51:a0bdbddd08f7	1015	case 0:
yabahiro	51:a0bdbddd08f7	1016	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1017	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1018	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1019	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1020	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1021	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1022	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1023	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1024	mtc=true;
yabahiro	51:a0bdbddd08f7	1025	break;
yabahiro	51:a0bdbddd08f7	1026	case 255:
yabahiro	51:a0bdbddd08f7	1027	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1028	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1029	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1030	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1031	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1032	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1033	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1034	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1035	mtc=true;
yabahiro	51:a0bdbddd08f7	1036	break;
yabahiro	51:a0bdbddd08f7	1037	case 253:
yabahiro	51:a0bdbddd08f7	1038	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1039	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1040	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1041	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1042	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1043	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1044	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1045	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1046	mtc=true;
yabahiro	51:a0bdbddd08f7	1047	break;
yabahiro	51:a0bdbddd08f7	1048	case 254:
yabahiro	51:a0bdbddd08f7	1049	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1050	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1051	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1052	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1053	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1054	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1055	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1056	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1057	mtc=true;
yabahiro	51:a0bdbddd08f7	1058	break;
yabahiro	51:a0bdbddd08f7	1059	case 1:
yabahiro	51:a0bdbddd08f7	1060	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1061	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1062	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1063	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1064	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1065	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1066	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1067	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1068	mtc=true;
yabahiro	51:a0bdbddd08f7	1069	break;
yabahiro	51:a0bdbddd08f7	1070	case 3:
yabahiro	51:a0bdbddd08f7	1071	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1072	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1073	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1074	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1075	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1076	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1077	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1078	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1079	mtc=true;
yabahiro	51:a0bdbddd08f7	1080	break;
yabahiro	51:a0bdbddd08f7	1081	case 2:
yabahiro	51:a0bdbddd08f7	1082	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1083	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1084	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1085	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1086	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1087	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1088	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1089	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1090	mtc=true;
yabahiro	51:a0bdbddd08f7	1091	break;
yabahiro	51:a0bdbddd08f7	1092	}
yabahiro	51:a0bdbddd08f7	1093	if(g[0]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1094	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1095	case 0:
yabahiro	51:a0bdbddd08f7	1096	mtc=false;
yabahiro	51:a0bdbddd08f7	1097	break;
yabahiro	51:a0bdbddd08f7	1098	case 255:
yabahiro	51:a0bdbddd08f7	1099	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1100	mtc=false;
yabahiro	51:a0bdbddd08f7	1101	break;
yabahiro	51:a0bdbddd08f7	1102	case 253:
yabahiro	51:a0bdbddd08f7	1103	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1104	mtc=false;
yabahiro	51:a0bdbddd08f7	1105	break;
yabahiro	51:a0bdbddd08f7	1106	case 254:
yabahiro	51:a0bdbddd08f7	1107	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1108	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1109	mtc=false;
yabahiro	51:a0bdbddd08f7	1110	break;
yabahiro	51:a0bdbddd08f7	1111	case 1:
yabahiro	51:a0bdbddd08f7	1112	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1113	mtc=false;
yabahiro	51:a0bdbddd08f7	1114	break;
yabahiro	51:a0bdbddd08f7	1115	case 3:
yabahiro	51:a0bdbddd08f7	1116	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1117	mtc=false;
yabahiro	51:a0bdbddd08f7	1118	break;
yabahiro	51:a0bdbddd08f7	1119	case 2:
yabahiro	51:a0bdbddd08f7	1120	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1121	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1122	mtc=false;
yabahiro	51:a0bdbddd08f7	1123	break;
yabahiro	51:a0bdbddd08f7	1124	}
yabahiro	51:a0bdbddd08f7	1125	}
yabahiro	51:a0bdbddd08f7	1126	}
yabahiro	51:a0bdbddd08f7	1127	break;
yabahiro	51:a0bdbddd08f7	1128	case 23:
yabahiro	51:a0bdbddd08f7	1129	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1130	switch(g[4]) {
yabahiro	51:a0bdbddd08f7	1131	case 98:
yabahiro	51:a0bdbddd08f7	1132	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1133	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1134	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1135	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1136	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1137	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1138	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1139	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1140	break;
yabahiro	51:a0bdbddd08f7	1141	case 99:
yabahiro	51:a0bdbddd08f7	1142	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1143	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1144	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1145	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1146	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1147	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1148	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1149	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1150	break;
yabahiro	51:a0bdbddd08f7	1151	case 0:
yabahiro	51:a0bdbddd08f7	1152	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1153	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1154	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1155	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1156	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1157	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1158	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1159	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1160	break;
yabahiro	51:a0bdbddd08f7	1161	case 255:
yabahiro	51:a0bdbddd08f7	1162	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1163	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1164	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1165	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1166	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1167	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1168	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1169	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1170	break;
yabahiro	51:a0bdbddd08f7	1171	case 253:
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 = slow;
yabahiro	51:a0bdbddd08f7	1175	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1176	motor[TIRE_BR].pwm = slow-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 254:
yabahiro	51:a0bdbddd08f7	1182	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1183	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1184	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1185	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1186	motor[TIRE_BR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1187	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1188	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1189	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1190	break;
yabahiro	51:a0bdbddd08f7	1191	case 1:
yabahiro	51:a0bdbddd08f7	1192	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1193	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1194	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1195	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1196	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1197	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1198	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1199	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1200	break;
yabahiro	51:a0bdbddd08f7	1201	case 3:
yabahiro	51:a0bdbddd08f7	1202	motor[TIRE_FR].pwm = slow-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 = slow-5;
yabahiro	51:a0bdbddd08f7	1209	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1210	break;
yabahiro	51:a0bdbddd08f7	1211	case 2:
yabahiro	51:a0bdbddd08f7	1212	motor[TIRE_FR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1213	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1214	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1215	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1216	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1217	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1218	motor[TIRE_BL].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1219	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1220	break;
yabahiro	51:a0bdbddd08f7	1221	}
yabahiro	58:bfc38c43dadb	1222
yabahiro	58:bfc38c43dadb	1223
yabahiro	58:bfc38c43dadb	1224	/*
yabahiro	58:bfc38c43dadb	1225	if(value>=3000) {
yabahiro	58:bfc38c43dadb	1226	mode=24;
yabahiro	58:bfc38c43dadb	1227	aime.reset();
yabahiro	58:bfc38c43dadb	1228	value=0;
yabahiro	58:bfc38c43dadb	1229	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	58:bfc38c43dadb	1230	countss=0;
yabahiro	58:bfc38c43dadb	1231	fast=80;
yabahiro	58:bfc38c43dadb	1232	normal=60;
yabahiro	58:bfc38c43dadb	1233	slow=30;
yabahiro	58:bfc38c43dadb	1234	}
yabahiro	51:a0bdbddd08f7	1235	if(g[0]==98) {
yabahiro	51:a0bdbddd08f7	1236	fast=20;
yabahiro	51:a0bdbddd08f7	1237	normal=15;
yabahiro	51:a0bdbddd08f7	1238	slow=10;
yabahiro	51:a0bdbddd08f7	1239	}
yabahiro	58:bfc38c43dadb	1240	*/
yabahiro	58:bfc38c43dadb	1241	if(value>=2000) {
yabahiro	58:bfc38c43dadb	1242	fast=20;
yabahiro	58:bfc38c43dadb	1243	normal=15;
yabahiro	58:bfc38c43dadb	1244	slow=10;
yabahiro	58:bfc38c43dadb	1245	}
yabahiro	58:bfc38c43dadb	1246	if(g[2]==254&&value>=2700) {
yabahiro	51:a0bdbddd08f7	1247	mode=24;
yabahiro	51:a0bdbddd08f7	1248	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	1249	countss=0;
yabahiro	58:bfc38c43dadb	1250	value=0;
yabahiro	58:bfc38c43dadb	1251	aime.reset();
yabahiro	54:4167f10ecad0	1252	fast=80;
yabahiro	54:4167f10ecad0	1253	normal=60;
yabahiro	54:4167f10ecad0	1254	slow=30;
yabahiro	51:a0bdbddd08f7	1255	}
yabahiro	51:a0bdbddd08f7	1256	} else {
yabahiro	51:a0bdbddd08f7	1257	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1258	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1259	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1260	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1261	fast=60;
yabahiro	51:a0bdbddd08f7	1262	normal=40;
yabahiro	53:694dbd7dfa0e	1263	slow=30;
yabahiro	51:a0bdbddd08f7	1264	countss=0;
yabahiro	58:bfc38c43dadb	1265	value=0;
yabahiro	58:bfc38c43dadb	1266	aime.reset();
yabahiro	51:a0bdbddd08f7	1267	mode=24;
yabahiro	51:a0bdbddd08f7	1268	}
yabahiro	51:a0bdbddd08f7	1269	} else {
yabahiro	51:a0bdbddd08f7	1270	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1271	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1272	}
yabahiro	51:a0bdbddd08f7	1273	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1274	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1275	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1276	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1277	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1278	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1279	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1280	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1281	}
yabahiro	51:a0bdbddd08f7	1282	break;
yabahiro	51:a0bdbddd08f7	1283	case 24:
yabahiro	51:a0bdbddd08f7	1284	if(YELLOW) {
yabahiro	58:bfc38c43dadb	1285	/*
yabahiro	51:a0bdbddd08f7	1286	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	1287	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1288	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	1289	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1290	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1291	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1292	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1293	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1294	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1295	}
yabahiro	51:a0bdbddd08f7	1296	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	1297	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1298	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1299	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1300	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1301	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1302	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	1303	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1304	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1305	}
yabahiro	51:a0bdbddd08f7	1306	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1307	case 0:
yabahiro	51:a0bdbddd08f7	1308	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1309	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1310	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1311	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1312	break;
yabahiro	51:a0bdbddd08f7	1313	case 255:
yabahiro	51:a0bdbddd08f7	1314	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1315	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1316	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1317	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1318	break;
yabahiro	51:a0bdbddd08f7	1319	case 253:
yabahiro	51:a0bdbddd08f7	1320	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1321	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1322	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1323	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1324	break;
yabahiro	51:a0bdbddd08f7	1325	case 254:
yabahiro	51:a0bdbddd08f7	1326	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1327	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1328	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1329	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1330	break;
yabahiro	51:a0bdbddd08f7	1331	case 1:
yabahiro	51:a0bdbddd08f7	1332	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1333	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1334	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1335	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1336	break;
yabahiro	51:a0bdbddd08f7	1337	case 3:
yabahiro	51:a0bdbddd08f7	1338	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1339	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1340	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1341	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1342	break;
yabahiro	51:a0bdbddd08f7	1343	case 2:
yabahiro	51:a0bdbddd08f7	1344	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1345	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1346	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1347	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1348	break;
yabahiro	51:a0bdbddd08f7	1349	}
yabahiro	51:a0bdbddd08f7	1350	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1351	case 0:
yabahiro	51:a0bdbddd08f7	1352	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1353	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1354	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1355	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1356	break;
yabahiro	51:a0bdbddd08f7	1357	case 255:
yabahiro	51:a0bdbddd08f7	1358	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1359	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1360	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1361	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1362	case 253:
yabahiro	51:a0bdbddd08f7	1363	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1364	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1365	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1366	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1367	break;
yabahiro	51:a0bdbddd08f7	1368	case 254:
yabahiro	53:694dbd7dfa0e	1369	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1370	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1371	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1372	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1373	break;
yabahiro	51:a0bdbddd08f7	1374	case 1:
yabahiro	53:694dbd7dfa0e	1375	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1376	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1377	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1378	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1379	break;
yabahiro	51:a0bdbddd08f7	1380	case 3:
yabahiro	53:694dbd7dfa0e	1381	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	1382	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1383	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1384	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1385	break;
yabahiro	51:a0bdbddd08f7	1386	case 2:
yabahiro	53:694dbd7dfa0e	1387	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1388	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1389	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1390	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1391	break;
yabahiro	51:a0bdbddd08f7	1392	}
yabahiro	58:bfc38c43dadb	1393
yabahiro	51:a0bdbddd08f7	1394	if(g[3]==0&&g[2]==0) {
yabahiro	51:a0bdbddd08f7	1395	mode=25;
yabahiro	51:a0bdbddd08f7	1396	}
yabahiro	58:bfc38c43dadb	1397	*/
yabahiro	58:bfc38c43dadb	1398	mode=25;
yabahiro	51:a0bdbddd08f7	1399	} else {
yabahiro	58:bfc38c43dadb	1400	if(g[0]==98&&value>=2000) {
yabahiro	51:a0bdbddd08f7	1401	mode=31;
yabahiro	53:694dbd7dfa0e	1402	fast=60;
yabahiro	53:694dbd7dfa0e	1403	normal=40;
yabahiro	53:694dbd7dfa0e	1404	slow=30;
yabahiro	51:a0bdbddd08f7	1405	countss=0;
yabahiro	51:a0bdbddd08f7	1406	}
yabahiro	51:a0bdbddd08f7	1407	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1408	case 98:
yabahiro	51:a0bdbddd08f7	1409	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1410	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1411	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1412	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1413	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1414	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1415	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1416	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1417	break;
yabahiro	51:a0bdbddd08f7	1418	case 0:
yabahiro	51:a0bdbddd08f7	1419	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1420	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1421	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1422	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1423	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1424	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1425	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1426	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1427	mtc=true;
yabahiro	51:a0bdbddd08f7	1428	break;
yabahiro	51:a0bdbddd08f7	1429	case 255:
yabahiro	51:a0bdbddd08f7	1430	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1431	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1432	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1433	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1434	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1435	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1436	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1437	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1438	mtc=true;
yabahiro	51:a0bdbddd08f7	1439	break;
yabahiro	51:a0bdbddd08f7	1440	case 253:
yabahiro	51:a0bdbddd08f7	1441	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1442	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1443	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1444	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1445	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1446	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1447	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1448	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1449	mtc=true;
yabahiro	51:a0bdbddd08f7	1450	break;
yabahiro	51:a0bdbddd08f7	1451	case 254:
yabahiro	51:a0bdbddd08f7	1452	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1453	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1454	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1455	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1456	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1457	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1458	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1459	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1460	mtc=true;
yabahiro	51:a0bdbddd08f7	1461	break;
yabahiro	51:a0bdbddd08f7	1462	case 1:
yabahiro	51:a0bdbddd08f7	1463	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1464	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1465	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1466	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1467	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1468	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1469	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1470	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1471	mtc=true;
yabahiro	51:a0bdbddd08f7	1472	break;
yabahiro	51:a0bdbddd08f7	1473	case 3:
yabahiro	51:a0bdbddd08f7	1474	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1475	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1476	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1477	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1478	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1479	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1480	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1481	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1482	mtc=true;
yabahiro	51:a0bdbddd08f7	1483	break;
yabahiro	51:a0bdbddd08f7	1484	case 2:
yabahiro	51:a0bdbddd08f7	1485	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1486	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1487	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1488	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1489	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1490	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1491	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1492	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1493	mtc=true;
yabahiro	51:a0bdbddd08f7	1494	break;
yabahiro	51:a0bdbddd08f7	1495	}
yabahiro	51:a0bdbddd08f7	1496	if(g[1]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1497	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	1498	case 0:
yabahiro	51:a0bdbddd08f7	1499	mtc=false;
yabahiro	51:a0bdbddd08f7	1500	break;
yabahiro	51:a0bdbddd08f7	1501	case 255:
yabahiro	51:a0bdbddd08f7	1502	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1503	mtc=false;
yabahiro	51:a0bdbddd08f7	1504	break;
yabahiro	51:a0bdbddd08f7	1505	case 253:
yabahiro	51:a0bdbddd08f7	1506	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1507	mtc=false;
yabahiro	51:a0bdbddd08f7	1508	break;
yabahiro	51:a0bdbddd08f7	1509	case 254:
yabahiro	51:a0bdbddd08f7	1510	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1511	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1512	mtc=false;
yabahiro	51:a0bdbddd08f7	1513	break;
yabahiro	51:a0bdbddd08f7	1514	case 1:
yabahiro	51:a0bdbddd08f7	1515	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1516	mtc=false;
yabahiro	51:a0bdbddd08f7	1517	break;
yabahiro	51:a0bdbddd08f7	1518	case 3:
yabahiro	51:a0bdbddd08f7	1519	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1520	mtc=false;
yabahiro	51:a0bdbddd08f7	1521	break;
yabahiro	51:a0bdbddd08f7	1522	case 2:
yabahiro	51:a0bdbddd08f7	1523	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1524	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1525	mtc=false;
yabahiro	51:a0bdbddd08f7	1526	break;
yabahiro	51:a0bdbddd08f7	1527	}
yabahiro	51:a0bdbddd08f7	1528	}
yabahiro	51:a0bdbddd08f7	1529	}
yabahiro	51:a0bdbddd08f7	1530	break;
yabahiro	51:a0bdbddd08f7	1531	case 25:
yabahiro	51:a0bdbddd08f7	1532	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1533	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1534	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1535	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1536	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1537	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1538	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1539	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1540	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1541	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1542	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1543	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1544	countss=0;
yabahiro	51:a0bdbddd08f7	1545	mode=26;
yabahiro	58:bfc38c43dadb	1546	value=0;
yabahiro	58:bfc38c43dadb	1547	aime.reset();
yabahiro	51:a0bdbddd08f7	1548	}
yabahiro	51:a0bdbddd08f7	1549	} else {
yabahiro	51:a0bdbddd08f7	1550	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1551	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1552	}
yabahiro	51:a0bdbddd08f7	1553	break;
yabahiro	51:a0bdbddd08f7	1554	case 26:
yabahiro	58:bfc38c43dadb	1555	if(g[0]==98&&value>=2500) {
yabahiro	53:694dbd7dfa0e	1556	mode=31;
yabahiro	53:694dbd7dfa0e	1557	}
yabahiro	50:87f5fa1bc460	1558	switch(g[4]) {
yabahiro	50:87f5fa1bc460	1559	case 98:
yabahiro	51:a0bdbddd08f7	1560	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1561	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1562	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1563	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1564	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1565	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1566	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1567	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1568	break;
yabahiro	50:87f5fa1bc460	1569	case 99:
yabahiro	50:87f5fa1bc460	1570	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1571	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1572	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1573	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1574	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1575	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1576	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1577	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1578	break;
yabahiro	50:87f5fa1bc460	1579	case 0:
yabahiro	51:a0bdbddd08f7	1580	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1581	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1582	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1583	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1584	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1585	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1586	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1587	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1588	break;
yabahiro	50:87f5fa1bc460	1589	case 255:
yabahiro	50:87f5fa1bc460	1590	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1591	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1592	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1593	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1594	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1595	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1596	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1597	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1598	break;
yabahiro	50:87f5fa1bc460	1599	case 253:
yabahiro	51:a0bdbddd08f7	1600	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1601	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1602	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1603	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1604	motor[TIRE_BR].pwm = 25;
yabahiro	50:87f5fa1bc460	1605	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1606	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1607	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1608	break;
yabahiro	50:87f5fa1bc460	1609	case 254:
yabahiro	51:a0bdbddd08f7	1610	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1611	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1612	motor[TIRE_FL].pwm = 45;
yabahiro	50:87f5fa1bc460	1613	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1614	motor[TIRE_BR].pwm = 40;
yabahiro	50:87f5fa1bc460	1615	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1616	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1617	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1618	break;
yabahiro	50:87f5fa1bc460	1619	case 1:
yabahiro	50:87f5fa1bc460	1620	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1621	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1622	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1623	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1624	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1625	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1626	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1627	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1628	break;
yabahiro	50:87f5fa1bc460	1629	case 3:
yabahiro	51:a0bdbddd08f7	1630	motor[TIRE_FR].pwm = 25;
yabahiro	50:87f5fa1bc460	1631	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1632	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1633	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1634	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1635	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1636	motor[TIRE_BL].pwm = 25;
yabahiro	50:87f5fa1bc460	1637	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1638	break;
yabahiro	50:87f5fa1bc460	1639	case 2:
yabahiro	51:a0bdbddd08f7	1640	motor[TIRE_FR].pwm = 40;
yabahiro	50:87f5fa1bc460	1641	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1642	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1643	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1644	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1645	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1646	motor[TIRE_BL].pwm = 40;
yabahiro	50:87f5fa1bc460	1647	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1648	break;
yabahiro	50:87f5fa1bc460	1649	}
yabahiro	51:a0bdbddd08f7	1650	break;
yabahiro	51:a0bdbddd08f7	1651	case 31:
yabahiro	53:694dbd7dfa0e	1652	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1653	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1654	motor[TIRE_FL].pwm = 5;
yabahiro	53:694dbd7dfa0e	1655	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1656	motor[TIRE_BR].pwm = 5;
yabahiro	53:694dbd7dfa0e	1657	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1658	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1659	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1660	if(g[2]==0) {
yabahiro	51:a0bdbddd08f7	1661	cross=0;
yabahiro	51:a0bdbddd08f7	1662	countss=0;
yabahiro	51:a0bdbddd08f7	1663	mode=40;
yabahiro	55:844ac0974740	1664	fast=70;
yabahiro	55:844ac0974740	1665	normal=50;
yabahiro	55:844ac0974740	1666	slow=40;
yabahiro	51:a0bdbddd08f7	1667	}
yabahiro	51:a0bdbddd08f7	1668	break;
yabahiro	51:a0bdbddd08f7	1669	case 40:
yabahiro	51:a0bdbddd08f7	1670	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1671	case 98:
yabahiro	53:694dbd7dfa0e	1672	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1673	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1674	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1675	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1676	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1677	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1678	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1679	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1680	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	1681	cross++;
yabahiro	51:a0bdbddd08f7	1682	countss=0;
yabahiro	51:a0bdbddd08f7	1683	}
yabahiro	51:a0bdbddd08f7	1684	mtc2=true;
yabahiro	51:a0bdbddd08f7	1685	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1686	if(cross==1) {
yabahiro	51:a0bdbddd08f7	1687	mode=41;
yabahiro	51:a0bdbddd08f7	1688	countss=0;
yabahiro	51:a0bdbddd08f7	1689	cross=0;
yabahiro	51:a0bdbddd08f7	1690	}
yabahiro	51:a0bdbddd08f7	1691	} else {
yabahiro	51:a0bdbddd08f7	1692	if(cross==3) {
yabahiro	53:694dbd7dfa0e	1693	fast=60;
yabahiro	53:694dbd7dfa0e	1694	normal=40;
yabahiro	53:694dbd7dfa0e	1695	slow=30;
yabahiro	51:a0bdbddd08f7	1696	mode=41;
yabahiro	51:a0bdbddd08f7	1697	countss=0;
yabahiro	51:a0bdbddd08f7	1698	cross=0;
yabahiro	51:a0bdbddd08f7	1699	}
yabahiro	51:a0bdbddd08f7	1700	}
yabahiro	51:a0bdbddd08f7	1701	break;
yabahiro	50:87f5fa1bc460	1702	case 0:
yabahiro	53:694dbd7dfa0e	1703	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1704	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1705	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1706	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1707	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1708	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1709	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1710	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1711	mtc2=true;
yabahiro	50:87f5fa1bc460	1712	break;
yabahiro	50:87f5fa1bc460	1713	case 255:
yabahiro	53:694dbd7dfa0e	1714	motor[TIRE_FR].pwm = slow;
yabahiro	50:87f5fa1bc460	1715	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1716	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1717	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1718	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1719	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1720	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1721	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1722	mtc2=true;
yabahiro	50:87f5fa1bc460	1723	break;
yabahiro	50:87f5fa1bc460	1724	case 253:
yabahiro	51:a0bdbddd08f7	1725	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1726	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1727	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1728	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1729	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1730	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1731	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1732	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1733	mtc2=true;
yabahiro	50:87f5fa1bc460	1734	break;
yabahiro	50:87f5fa1bc460	1735	case 254:
yabahiro	51:a0bdbddd08f7	1736	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1737	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1738	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1739	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1740	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1741	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1742	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1743	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1744	mtc2=true;
yabahiro	50:87f5fa1bc460	1745	break;
yabahiro	50:87f5fa1bc460	1746	case 1:
yabahiro	53:694dbd7dfa0e	1747	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1748	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1749	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1750	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1751	motor[TIRE_BR].pwm = slow;
yabahiro	50:87f5fa1bc460	1752	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1753	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1754	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1755	mtc2=true;
yabahiro	50:87f5fa1bc460	1756	break;
yabahiro	50:87f5fa1bc460	1757	case 3:
yabahiro	53:694dbd7dfa0e	1758	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1759	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1760	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1761	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1762	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1763	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1764	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1765	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1766	mtc2=true;
yabahiro	50:87f5fa1bc460	1767	break;
yabahiro	50:87f5fa1bc460	1768	case 2:
yabahiro	53:694dbd7dfa0e	1769	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1770	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1771	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1772	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1773	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1774	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1775	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1776	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1777	mtc2=true;
yabahiro	50:87f5fa1bc460	1778	break;
yabahiro	50:87f5fa1bc460	1779	}
yabahiro	51:a0bdbddd08f7	1780	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	1781	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1782	case 0:
yabahiro	51:a0bdbddd08f7	1783	mtc2=false;
yabahiro	51:a0bdbddd08f7	1784	break;
yabahiro	51:a0bdbddd08f7	1785	case 255:
yabahiro	51:a0bdbddd08f7	1786	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1787	mtc2=false;
yabahiro	51:a0bdbddd08f7	1788	break;
yabahiro	51:a0bdbddd08f7	1789	case 253:
yabahiro	51:a0bdbddd08f7	1790	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1791	mtc2=false;
yabahiro	51:a0bdbddd08f7	1792	break;
yabahiro	51:a0bdbddd08f7	1793	case 254:
yabahiro	51:a0bdbddd08f7	1794	motor[TIRE_FL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1795	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1796	mtc2=false;
yabahiro	51:a0bdbddd08f7	1797	break;
yabahiro	51:a0bdbddd08f7	1798	case 1:
yabahiro	51:a0bdbddd08f7	1799	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1800	mtc2=false;
yabahiro	51:a0bdbddd08f7	1801	break;
yabahiro	51:a0bdbddd08f7	1802	case 3:
yabahiro	51:a0bdbddd08f7	1803	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1804	mtc2=false;
yabahiro	51:a0bdbddd08f7	1805	break;
yabahiro	51:a0bdbddd08f7	1806	case 2:
yabahiro	51:a0bdbddd08f7	1807	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1808	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1809	mtc2=false;
yabahiro	51:a0bdbddd08f7	1810	break;
yabahiro	51:a0bdbddd08f7	1811	}
yabahiro	51:a0bdbddd08f7	1812	}
yabahiro	51:a0bdbddd08f7	1813	break;
yabahiro	51:a0bdbddd08f7	1814	case 41:
yabahiro	53:694dbd7dfa0e	1815	/*
yabahiro	53:694dbd7dfa0e	1816	if(LIF\|\|LIB) {
yabahiro	53:694dbd7dfa0e	1817	mode=42;
yabahiro	53:694dbd7dfa0e	1818	}
yabahiro	53:694dbd7dfa0e	1819	*/
yabahiro	53:694dbd7dfa0e	1820	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1821	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1822	motor[TIRE_FL].pwm = 0;
yabahiro	53:694dbd7dfa0e	1823	motor[TIRE_FL].dir = FREE;
yabahiro	53:694dbd7dfa0e	1824	motor[TIRE_BR].pwm = 0;
yabahiro	53:694dbd7dfa0e	1825	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1826	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1827	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1828	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1829	countss=0;
yabahiro	51:a0bdbddd08f7	1830	mode=70;
yabahiro	55:844ac0974740	1831	normal=120;
yabahiro	55:844ac0974740	1832	fast=140;
yabahiro	55:844ac0974740	1833	slow=100;
yabahiro	51:a0bdbddd08f7	1834	}
yabahiro	51:a0bdbddd08f7	1835	break;
yabahiro	51:a0bdbddd08f7	1836	case 42:
yabahiro	51:a0bdbddd08f7	1837	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1838	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1839	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1840	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1841	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1842	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1843	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1844	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1845	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1846	countss=0;
yabahiro	51:a0bdbddd08f7	1847	mode=70;
yabahiro	51:a0bdbddd08f7	1848	}
yabahiro	51:a0bdbddd08f7	1849	break;
yabahiro	51:a0bdbddd08f7	1850	case 70:
yabahiro	51:a0bdbddd08f7	1851	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1852	case 99:
yabahiro	51:a0bdbddd08f7	1853	if(countss>=100000) {
yabahiro	51:a0bdbddd08f7	1854	mode=100;
yabahiro	51:a0bdbddd08f7	1855	}
yabahiro	50:87f5fa1bc460	1856	break;
yabahiro	39:784552c26163	1857	case 98:
yabahiro	39:784552c26163	1858	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1859	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1860	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1861	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1862	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1863	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1864	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1865	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1866	break;
yabahiro	39:784552c26163	1867	case 0:
yabahiro	53:694dbd7dfa0e	1868	motor[TIRE_FR].pwm = 80;
yabahiro	39:784552c26163	1869	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1870	motor[TIRE_FL].pwm = 80;
yabahiro	39:784552c26163	1871	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1872	motor[TIRE_BR].pwm = 80;
yabahiro	39:784552c26163	1873	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1874	motor[TIRE_BL].pwm = 80;
yabahiro	39:784552c26163	1875	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1876	mtc=true;
yabahiro	39:784552c26163	1877	break;
yabahiro	39:784552c26163	1878	case 255:
yabahiro	39:784552c26163	1879	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1880	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1881	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1882	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1883	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1884	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1885	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1886	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1887	mtc=true;
yabahiro	39:784552c26163	1888	break;
yabahiro	39:784552c26163	1889	case 253:
yabahiro	39:784552c26163	1890	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1891	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1892	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1893	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1894	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1895	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1896	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1897	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1898	mtc=true;
yabahiro	39:784552c26163	1899	break;
yabahiro	39:784552c26163	1900	case 254:
yabahiro	39:784552c26163	1901	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1902	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1903	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1904	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1905	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1906	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1907	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1908	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1909	mtc=true;
yabahiro	39:784552c26163	1910	break;
yabahiro	39:784552c26163	1911	case 1:
yabahiro	39:784552c26163	1912	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1913	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1914	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1915	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1916	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1917	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1918	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1919	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1920	mtc=true;
yabahiro	39:784552c26163	1921	break;
yabahiro	39:784552c26163	1922	case 3:
yabahiro	39:784552c26163	1923	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1924	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1925	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1926	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1927	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1928	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1929	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1930	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1931	mtc=true;
yabahiro	39:784552c26163	1932	break;
yabahiro	39:784552c26163	1933	case 2:
yabahiro	39:784552c26163	1934	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1935	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1936	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1937	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1938	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1939	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1940	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1941	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1942	mtc=true;
yabahiro	39:784552c26163	1943	break;
yabahiro	39:784552c26163	1944	}
yabahiro	39:784552c26163	1945	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1946	switch(g[1]) {
yabahiro	39:784552c26163	1947	case 0:
yabahiro	39:784552c26163	1948	mtc=false;
yabahiro	39:784552c26163	1949	break;
yabahiro	39:784552c26163	1950	case 255:
yabahiro	39:784552c26163	1951	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1952	mtc=false;
yabahiro	39:784552c26163	1953	break;
yabahiro	39:784552c26163	1954	case 253:
yabahiro	39:784552c26163	1955	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1956	mtc=false;
yabahiro	39:784552c26163	1957	break;
yabahiro	39:784552c26163	1958	case 254:
yabahiro	39:784552c26163	1959	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1960	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1961	mtc=false;
yabahiro	39:784552c26163	1962	break;
yabahiro	39:784552c26163	1963	case 1:
yabahiro	39:784552c26163	1964	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1965	mtc=false;
yabahiro	39:784552c26163	1966	break;
yabahiro	39:784552c26163	1967	case 3:
yabahiro	39:784552c26163	1968	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1969	mtc=false;
yabahiro	39:784552c26163	1970	break;
yabahiro	39:784552c26163	1971	case 2:
yabahiro	39:784552c26163	1972	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1973	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1974	mtc=false;
yabahiro	39:784552c26163	1975	break;
yabahiro	39:784552c26163	1976	}
yabahiro	33:dd598bb23ad1	1977	}
yabahiro	51:a0bdbddd08f7	1978	break;
yabahiro	51:a0bdbddd08f7	1979	case 100:
yabahiro	54:4167f10ecad0	1980	motor[TIRE_FR].pwm = 47;
yabahiro	51:a0bdbddd08f7	1981	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1982	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1983	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1984	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1985	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1986	motor[TIRE_BL].pwm = 55;
yabahiro	51:a0bdbddd08f7	1987	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1988	break;
yabahiro	51:a0bdbddd08f7	1989	default:
yabahiro	51:a0bdbddd08f7	1990	motor[TIRE_FR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1991	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1992	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1993	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1994	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1995	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1996	motor[TIRE_BL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1997	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1998	break;
yabahiro	33:dd598bb23ad1	1999	}
kishibekairohan	13:b6e02d6261d7	2000	}
kishibekairohan	13:b6e02d6261d7	2001	#endif
kishibekairohan	13:b6e02d6261d7	2002
kishibekairohan	13:b6e02d6261d7	2003	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	2004	static void Process3()
kishibekairohan	13:b6e02d6261d7	2005	{
yabahiro	33:dd598bb23ad1	2006	//Clearly 赤ゾーン
kishibekairohan	35:33c6cdba5630	2007	LED::LED::TapeledMode(3);
yabahiro	58:bfc38c43dadb	2008	value=aime.read_ms();
yabahiro	33:dd598bb23ad1	2009	countss++;
yabahiro	54:4167f10ecad0	2010	switch(mode) {
yabahiro	54:4167f10ecad0	2011	case 1:
yabahiro	54:4167f10ecad0	2012	fast=40;
yabahiro	54:4167f10ecad0	2013	normal=30;
yabahiro	54:4167f10ecad0	2014	slow=20;
yabahiro	54:4167f10ecad0	2015	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2016	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2017	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2018	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2019	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2020	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2021	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2022	motor[TIRE_BL].dir = FOR;
yabahiro	58:bfc38c43dadb	2023	if(g[2]==0&&value>=1500) {
yabahiro	54:4167f10ecad0	2024	countss=100000;
yabahiro	54:4167f10ecad0	2025	cross=0;
yabahiro	54:4167f10ecad0	2026	mode=3;
yabahiro	54:4167f10ecad0	2027	}
yabahiro	54:4167f10ecad0	2028	break;
yabahiro	54:4167f10ecad0	2029	case 3:
yabahiro	54:4167f10ecad0	2030	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	2031	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2032	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2033	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2034	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2035	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2036	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	2037	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2038	if(g[0]==0) {
yabahiro	54:4167f10ecad0	2039	mode=10;
yabahiro	58:bfc38c43dadb	2040	aime.reset();
yabahiro	54:4167f10ecad0	2041	countss=100000;
yabahiro	56:61ebd4b759b4	2042	fast = 80;
yabahiro	56:61ebd4b759b4	2043	normal = 60;
yabahiro	56:61ebd4b759b4	2044	slow = 40;
yabahiro	54:4167f10ecad0	2045	}
yabahiro	54:4167f10ecad0	2046	break;
yabahiro	54:4167f10ecad0	2047	case 10:
yabahiro	54:4167f10ecad0	2048	switch(g[0]) {
yabahiro	54:4167f10ecad0	2049	case 98:
yabahiro	54:4167f10ecad0	2050	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2051	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2052	motor[TIRE_FL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2053	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2054	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2055	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2056	motor[TIRE_BL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2057	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2058	mtc=true;
yabahiro	58:bfc38c43dadb	2059	if(value>=1200) {
yabahiro	58:bfc38c43dadb	2060	cross++;
yabahiro	58:bfc38c43dadb	2061	countss=0;
yabahiro	58:bfc38c43dadb	2062	value=0;
yabahiro	58:bfc38c43dadb	2063	aime.reset();
yabahiro	58:bfc38c43dadb	2064	}
yabahiro	58:bfc38c43dadb	2065	/*
yabahiro	54:4167f10ecad0	2066	if(countss>80000) {
yabahiro	54:4167f10ecad0	2067	cross++;
yabahiro	54:4167f10ecad0	2068	countss=0;
yabahiro	54:4167f10ecad0	2069	}
yabahiro	58:bfc38c43dadb	2070	*/
yabahiro	54:4167f10ecad0	2071	if(cross==2) {
yabahiro	54:4167f10ecad0	2072	fast = 10;
yabahiro	54:4167f10ecad0	2073	normal = 10;
yabahiro	54:4167f10ecad0	2074	slow = 5;
yabahiro	54:4167f10ecad0	2075	}
yabahiro	46:68296caae1af	2076
yabahiro	53:694dbd7dfa0e	2077	if(cross==3) {
yabahiro	54:4167f10ecad0	2078	fast=40;
yabahiro	54:4167f10ecad0	2079	normal=30;
yabahiro	54:4167f10ecad0	2080	slow=20;
yabahiro	54:4167f10ecad0	2081	mode=11;
yabahiro	58:bfc38c43dadb	2082	aime.reset();
yabahiro	53:694dbd7dfa0e	2083	countss=0;
yabahiro	53:694dbd7dfa0e	2084	cross=0;
yabahiro	54:4167f10ecad0	2085
yabahiro	53:694dbd7dfa0e	2086	}
yabahiro	54:4167f10ecad0	2087	break;
yabahiro	38:40e7fdf3c694	2088	case 0:
yabahiro	54:4167f10ecad0	2089	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2090	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	2091	motor[TIRE_FL].pwm = fast+60;
yabahiro	54:4167f10ecad0	2092	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2093	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2094	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	2095	motor[TIRE_BL].pwm = fast+45;
yabahiro	54:4167f10ecad0	2096	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2097	mtc=true;
yabahiro	38:40e7fdf3c694	2098	break;
yabahiro	38:40e7fdf3c694	2099	case 255:
yabahiro	54:4167f10ecad0	2100	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2101	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	2102	motor[TIRE_FL].pwm = slow+60;
yabahiro	54:4167f10ecad0	2103	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2104	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2105	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	2106	motor[TIRE_BL].pwm = fast+45;
yabahiro	54:4167f10ecad0	2107	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2108	mtc=true;
yabahiro	53:694dbd7dfa0e	2109	break;
yabahiro	53:694dbd7dfa0e	2110	case 253:
yabahiro	54:4167f10ecad0	2111	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2112	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2113	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2114	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2115	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2116	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	2117	motor[TIRE_BL].pwm = slow+45;
yabahiro	54:4167f10ecad0	2118	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2119	mtc=true;
yabahiro	53:694dbd7dfa0e	2120	break;
yabahiro	53:694dbd7dfa0e	2121	case 254:
yabahiro	54:4167f10ecad0	2122	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2123	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2124	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2125	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2126	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2127	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	2128	motor[TIRE_BL].pwm = normal+45;
yabahiro	54:4167f10ecad0	2129	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2130	mtc=true;
yabahiro	53:694dbd7dfa0e	2131	break;
yabahiro	53:694dbd7dfa0e	2132	case 1:
yabahiro	54:4167f10ecad0	2133	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2134	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	2135	motor[TIRE_FL].pwm = fast+60;
yabahiro	54:4167f10ecad0	2136	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2137	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2138	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	2139	motor[TIRE_BL].pwm = slow+45;
yabahiro	54:4167f10ecad0	2140	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2141	mtc=true;
yabahiro	53:694dbd7dfa0e	2142	break;
yabahiro	53:694dbd7dfa0e	2143	case 3:
yabahiro	54:4167f10ecad0	2144	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2145	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	2146	motor[TIRE_FL].pwm = slow+60;
yabahiro	54:4167f10ecad0	2147	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2148	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2149	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2150	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2151	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2152	mtc=true;
yabahiro	53:694dbd7dfa0e	2153	break;
yabahiro	53:694dbd7dfa0e	2154	case 2:
yabahiro	54:4167f10ecad0	2155	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2156	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	2157	motor[TIRE_FL].pwm = normal+60;
yabahiro	54:4167f10ecad0	2158	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2159	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2160	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2161	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2162	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2163	mtc=true;
yabahiro	53:694dbd7dfa0e	2164	break;
yabahiro	53:694dbd7dfa0e	2165	}
yabahiro	54:4167f10ecad0	2166	if(g[0]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2167	switch(g[1]) {
yabahiro	54:4167f10ecad0	2168	case 0:
yabahiro	54:4167f10ecad0	2169	mtc=false;
yabahiro	54:4167f10ecad0	2170	break;
yabahiro	54:4167f10ecad0	2171	case 255:
yabahiro	54:4167f10ecad0	2172	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	2173	mtc=false;
yabahiro	54:4167f10ecad0	2174	break;
yabahiro	54:4167f10ecad0	2175	case 253:
yabahiro	54:4167f10ecad0	2176	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	2177	mtc=false;
yabahiro	54:4167f10ecad0	2178	break;
yabahiro	54:4167f10ecad0	2179	case 254:
yabahiro	54:4167f10ecad0	2180	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	2181	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2182	mtc=false;
yabahiro	54:4167f10ecad0	2183	break;
yabahiro	54:4167f10ecad0	2184	case 1:
yabahiro	54:4167f10ecad0	2185	motor[TIRE_BL].pwm += 3;
yabahiro	54:4167f10ecad0	2186	mtc=false;
yabahiro	54:4167f10ecad0	2187	break;
yabahiro	54:4167f10ecad0	2188	case 3:
yabahiro	54:4167f10ecad0	2189	motor[TIRE_BL].pwm += 6;
yabahiro	54:4167f10ecad0	2190	mtc=false;
yabahiro	54:4167f10ecad0	2191	break;
yabahiro	54:4167f10ecad0	2192	case 2:
yabahiro	54:4167f10ecad0	2193	motor[TIRE_BL].pwm += 9;
yabahiro	54:4167f10ecad0	2194	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2195	mtc=false;
yabahiro	54:4167f10ecad0	2196	break;
yabahiro	54:4167f10ecad0	2197	}
yabahiro	54:4167f10ecad0	2198	}
yabahiro	54:4167f10ecad0	2199	break;
yabahiro	54:4167f10ecad0	2200	case 11:
yabahiro	54:4167f10ecad0	2201	motor[TIRE_FR].pwm = 15;
yabahiro	54:4167f10ecad0	2202	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2203	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2204	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2205	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2206	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2207	motor[TIRE_BL].pwm = 15;
yabahiro	54:4167f10ecad0	2208	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2209	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	53:694dbd7dfa0e	2210	countss=0;
yabahiro	54:4167f10ecad0	2211	cross=0;
yabahiro	54:4167f10ecad0	2212	mode=20;
yabahiro	53:694dbd7dfa0e	2213	}
yabahiro	54:4167f10ecad0	2214	break;
yabahiro	54:4167f10ecad0	2215	case 20:
yabahiro	54:4167f10ecad0	2216	solenoid.solenoid4= SOLENOID_ON;
yabahiro	53:694dbd7dfa0e	2217	switch(g[2]) {
yabahiro	54:4167f10ecad0	2218	case 98:
yabahiro	54:4167f10ecad0	2219	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2220	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2221	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2222	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2223	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2224	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2225	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2226	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2227	if(countss>30000) {
yabahiro	54:4167f10ecad0	2228	cross++;
yabahiro	54:4167f10ecad0	2229	countss=0;
yabahiro	54:4167f10ecad0	2230	}
yabahiro	54:4167f10ecad0	2231	mtc2=true;
yabahiro	54:4167f10ecad0	2232
yabahiro	54:4167f10ecad0	2233	if(YELLOW) {
yabahiro	54:4167f10ecad0	2234	if(cross==1) {
yabahiro	54:4167f10ecad0	2235	fast=20;
yabahiro	54:4167f10ecad0	2236	normal=15;
yabahiro	54:4167f10ecad0	2237	slow=15;
yabahiro	54:4167f10ecad0	2238	} else if(cross==2) {
yabahiro	54:4167f10ecad0	2239	mode=21;
yabahiro	54:4167f10ecad0	2240	countss=0;
yabahiro	54:4167f10ecad0	2241	cross=0;
yabahiro	54:4167f10ecad0	2242	}
yabahiro	54:4167f10ecad0	2243	} else {
yabahiro	54:4167f10ecad0	2244	if(cross==3) {
yabahiro	54:4167f10ecad0	2245	mode=21;
yabahiro	54:4167f10ecad0	2246	countss=0;
yabahiro	54:4167f10ecad0	2247	cross=0;
yabahiro	54:4167f10ecad0	2248	}
yabahiro	54:4167f10ecad0	2249	}
yabahiro	54:4167f10ecad0	2250	break;
yabahiro	53:694dbd7dfa0e	2251	case 0:
yabahiro	54:4167f10ecad0	2252	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2253	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2254	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2255	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2256	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2257	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2258	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2259	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2260	mtc2=true;
yabahiro	53:694dbd7dfa0e	2261	break;
yabahiro	53:694dbd7dfa0e	2262	case 255:
yabahiro	54:4167f10ecad0	2263	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2264	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2265	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2266	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2267	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2268	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2269	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2270	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2271	mtc2=true;
yabahiro	38:40e7fdf3c694	2272	break;
yabahiro	38:40e7fdf3c694	2273	case 253:
yabahiro	54:4167f10ecad0	2274	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2275	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2276	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2277	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2278	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2279	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2280	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2281	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2282	mtc2=true;
yabahiro	38:40e7fdf3c694	2283	break;
yabahiro	38:40e7fdf3c694	2284	case 254:
yabahiro	54:4167f10ecad0	2285	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2286	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2287	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2288	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2289	motor[TIRE_BR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2290	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2291	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2292	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2293	mtc2=true;
yabahiro	53:694dbd7dfa0e	2294	break;
yabahiro	53:694dbd7dfa0e	2295	case 1:
yabahiro	54:4167f10ecad0	2296	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2297	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2298	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2299	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2300	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2301	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2302	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2303	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2304	mtc2=true;
yabahiro	53:694dbd7dfa0e	2305	break;
yabahiro	53:694dbd7dfa0e	2306	case 3:
yabahiro	54:4167f10ecad0	2307	motor[TIRE_FR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2308	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2309	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2310	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2311	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2312	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2313	motor[TIRE_BL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2314	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2315	mtc2=true;
yabahiro	53:694dbd7dfa0e	2316	break;
yabahiro	53:694dbd7dfa0e	2317	case 2:
yabahiro	54:4167f10ecad0	2318	motor[TIRE_FR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2319	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2320	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2321	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2322	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2323	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2324	motor[TIRE_BL].pwm = normal+20;
yabahiro	38:40e7fdf3c694	2325	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2326	mtc2=true;
yabahiro	38:40e7fdf3c694	2327	break;
yabahiro	33:dd598bb23ad1	2328	}
yabahiro	54:4167f10ecad0	2329	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	2330	switch(g[3]) {
yabahiro	54:4167f10ecad0	2331	case 0:
yabahiro	54:4167f10ecad0	2332	mtc2=false;
yabahiro	54:4167f10ecad0	2333	break;
yabahiro	54:4167f10ecad0	2334	case 255:
yabahiro	54:4167f10ecad0	2335	motor[TIRE_BL].pwm += 5;
yabahiro	54:4167f10ecad0	2336	mtc2=false;
yabahiro	54:4167f10ecad0	2337	break;
yabahiro	54:4167f10ecad0	2338	case 253:
yabahiro	54:4167f10ecad0	2339	motor[TIRE_BL].pwm += 10;
yabahiro	54:4167f10ecad0	2340	mtc2=false;
yabahiro	54:4167f10ecad0	2341	break;
yabahiro	54:4167f10ecad0	2342	case 254:
yabahiro	54:4167f10ecad0	2343	motor[TIRE_BL].pwm += 15;
yabahiro	54:4167f10ecad0	2344	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2345	mtc2=false;
yabahiro	54:4167f10ecad0	2346	break;
yabahiro	54:4167f10ecad0	2347	case 1:
yabahiro	54:4167f10ecad0	2348	motor[TIRE_FL].pwm += 5;
yabahiro	54:4167f10ecad0	2349	mtc2=false;
yabahiro	54:4167f10ecad0	2350	break;
yabahiro	54:4167f10ecad0	2351	case 3:
yabahiro	54:4167f10ecad0	2352	motor[TIRE_FL].pwm += 10;
yabahiro	54:4167f10ecad0	2353	mtc2=false;
yabahiro	54:4167f10ecad0	2354	break;
yabahiro	54:4167f10ecad0	2355	case 2:
yabahiro	54:4167f10ecad0	2356	motor[TIRE_FL].pwm += 15;
yabahiro	54:4167f10ecad0	2357	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2358	mtc2=false;
yabahiro	54:4167f10ecad0	2359	break;
yabahiro	54:4167f10ecad0	2360	}
yabahiro	38:40e7fdf3c694	2361	}
yabahiro	54:4167f10ecad0	2362	break;
yabahiro	54:4167f10ecad0	2363	case 21:
yabahiro	54:4167f10ecad0	2364	if(YELLOW) {
yabahiro	54:4167f10ecad0	2365	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2366	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2367	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2368	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2369	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2370	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2371	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2372	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2373	if(g[3]==98&&countss>=10000) {
yabahiro	54:4167f10ecad0	2374	mode=22;
yabahiro	58:bfc38c43dadb	2375	aime.reset();
yabahiro	54:4167f10ecad0	2376	countss=0;
yabahiro	54:4167f10ecad0	2377	fast=60;
yabahiro	54:4167f10ecad0	2378	normal=40;
yabahiro	54:4167f10ecad0	2379	slow=20;
yabahiro	54:4167f10ecad0	2380	}
yabahiro	54:4167f10ecad0	2381	} else {
yabahiro	38:40e7fdf3c694	2382	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2383	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2384	motor[TIRE_FL].pwm = 255;
yabahiro	54:4167f10ecad0	2385	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2386	motor[TIRE_BR].pwm = 255;
yabahiro	54:4167f10ecad0	2387	motor[TIRE_BR].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2388	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2389	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2390	if(g[1]==0) {
yabahiro	54:4167f10ecad0	2391	mode=22;
yabahiro	58:bfc38c43dadb	2392	aime.reset();
yabahiro	54:4167f10ecad0	2393	fast=60;
yabahiro	54:4167f10ecad0	2394	normal=40;
yabahiro	54:4167f10ecad0	2395	slow=25;
yabahiro	54:4167f10ecad0	2396	}
yabahiro	38:40e7fdf3c694	2397	}
yabahiro	54:4167f10ecad0	2398	break;
yabahiro	54:4167f10ecad0	2399	case 22:
yabahiro	54:4167f10ecad0	2400	if(YELLOW) {
yabahiro	54:4167f10ecad0	2401	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2402	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2403	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2404	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2405	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2406	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2407	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2408	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2409	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2410	}
yabahiro	54:4167f10ecad0	2411	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2412	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2413	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2414	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2415	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2416	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2417	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2418	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2419	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2420	}
yabahiro	54:4167f10ecad0	2421	switch(g[2]) {
yabahiro	54:4167f10ecad0	2422	case 0:
yabahiro	54:4167f10ecad0	2423	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2424	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2425	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2426	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2427	break;
yabahiro	54:4167f10ecad0	2428	case 255:
yabahiro	54:4167f10ecad0	2429	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2430	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2431	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2432	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2433	break;
yabahiro	54:4167f10ecad0	2434	case 253:
yabahiro	54:4167f10ecad0	2435	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2436	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2437	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2438	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2439	break;
yabahiro	54:4167f10ecad0	2440	case 254:
yabahiro	54:4167f10ecad0	2441	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2442	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2443	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2444	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2445	break;
yabahiro	54:4167f10ecad0	2446	case 1:
yabahiro	54:4167f10ecad0	2447	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2448	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2449	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2450	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2451	break;
yabahiro	54:4167f10ecad0	2452	case 3:
yabahiro	54:4167f10ecad0	2453	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2454	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2455	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2456	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2457	break;
yabahiro	54:4167f10ecad0	2458	case 2:
yabahiro	54:4167f10ecad0	2459	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2460	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2461	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2462	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2463	break;
yabahiro	54:4167f10ecad0	2464	}
yabahiro	54:4167f10ecad0	2465	switch(g[3]) {
yabahiro	54:4167f10ecad0	2466	case 0:
yabahiro	54:4167f10ecad0	2467	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2468	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2469	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2470	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2471	break;
yabahiro	54:4167f10ecad0	2472	case 255:
yabahiro	54:4167f10ecad0	2473	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2474	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2475	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2476	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2477	case 253:
yabahiro	54:4167f10ecad0	2478	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2479	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2480	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2481	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2482	break;
yabahiro	54:4167f10ecad0	2483	case 254:
yabahiro	54:4167f10ecad0	2484	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2485	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2486	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2487	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2488	break;
yabahiro	54:4167f10ecad0	2489	case 1:
yabahiro	54:4167f10ecad0	2490	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2491	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2492	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2493	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2494	break;
yabahiro	54:4167f10ecad0	2495	case 3:
yabahiro	54:4167f10ecad0	2496	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2497	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2498	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2499	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2500	break;
yabahiro	54:4167f10ecad0	2501	case 2:
yabahiro	54:4167f10ecad0	2502	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2503	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2504	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2505	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2506	break;
yabahiro	54:4167f10ecad0	2507	}
yabahiro	54:4167f10ecad0	2508	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2509	mode=23;
yabahiro	58:bfc38c43dadb	2510	aime.reset();
yabahiro	54:4167f10ecad0	2511	countss=0;
yabahiro	56:61ebd4b759b4	2512	fast = 60;
yabahiro	56:61ebd4b759b4	2513	normal = 40;
yabahiro	54:4167f10ecad0	2514	slow = 30;
yabahiro	54:4167f10ecad0	2515	}
yabahiro	54:4167f10ecad0	2516	} else {
yabahiro	58:bfc38c43dadb	2517	if(value>=2200) {
yabahiro	58:bfc38c43dadb	2518	slow=25;
yabahiro	58:bfc38c43dadb	2519	normal=30;
yabahiro	58:bfc38c43dadb	2520	fast=40;
yabahiro	58:bfc38c43dadb	2521	}
yabahiro	58:bfc38c43dadb	2522	/*
yabahiro	54:4167f10ecad0	2523	if(g[1]==98) {
yabahiro	54:4167f10ecad0	2524	slow=25;
yabahiro	54:4167f10ecad0	2525	normal=30;
yabahiro	54:4167f10ecad0	2526	fast=40;
yabahiro	54:4167f10ecad0	2527	}
yabahiro	58:bfc38c43dadb	2528	*/
yabahiro	58:bfc38c43dadb	2529	if(g[3]==0&&value>=2200) {
yabahiro	54:4167f10ecad0	2530	slow=25;
yabahiro	54:4167f10ecad0	2531	normal=40;
yabahiro	54:4167f10ecad0	2532	fast=60;
yabahiro	54:4167f10ecad0	2533	mode=23;
yabahiro	54:4167f10ecad0	2534	}
yabahiro	54:4167f10ecad0	2535	switch(g[1]) {
yabahiro	54:4167f10ecad0	2536	case 98:
yabahiro	54:4167f10ecad0	2537	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	54:4167f10ecad0	2538	fast=40;
yabahiro	54:4167f10ecad0	2539	normal=30;
yabahiro	54:4167f10ecad0	2540	slow=25;
yabahiro	54:4167f10ecad0	2541	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2542	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2543	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2544	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2545	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2546	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2547	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2548	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2549	break;
yabahiro	54:4167f10ecad0	2550	case 0:
yabahiro	54:4167f10ecad0	2551	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2552	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2553	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2554	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2555	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2556	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2557	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2558	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2559	mtc=true;
yabahiro	54:4167f10ecad0	2560	break;
yabahiro	54:4167f10ecad0	2561	case 255:
yabahiro	54:4167f10ecad0	2562	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2563	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2564	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2565	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2566	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2567	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2568	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2569	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2570	mtc=true;
yabahiro	54:4167f10ecad0	2571	break;
yabahiro	54:4167f10ecad0	2572	case 253:
yabahiro	54:4167f10ecad0	2573	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2574	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2575	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2576	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2577	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2578	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2579	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2580	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2581	mtc=true;
yabahiro	54:4167f10ecad0	2582	break;
yabahiro	54:4167f10ecad0	2583	case 254:
yabahiro	54:4167f10ecad0	2584	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2585	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2586	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2587	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2588	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2589	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2590	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2591	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2592	mtc=true;
yabahiro	54:4167f10ecad0	2593	break;
yabahiro	54:4167f10ecad0	2594	case 1:
yabahiro	54:4167f10ecad0	2595	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2596	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2597	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2598	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2599	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2600	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2601	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2602	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2603	mtc=true;
yabahiro	54:4167f10ecad0	2604	break;
yabahiro	54:4167f10ecad0	2605	case 3:
yabahiro	54:4167f10ecad0	2606	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2607	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2608	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2609	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2610	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2611	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2612	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2613	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2614	mtc=true;
yabahiro	54:4167f10ecad0	2615	break;
yabahiro	54:4167f10ecad0	2616	case 2:
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 = normal;
yabahiro	54:4167f10ecad0	2620	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2621	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2622	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2623	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2624	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2625	mtc=true;
yabahiro	54:4167f10ecad0	2626	break;
yabahiro	54:4167f10ecad0	2627	}
yabahiro	54:4167f10ecad0	2628	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2629	switch(g[0]) {
yabahiro	54:4167f10ecad0	2630	case 0:
yabahiro	54:4167f10ecad0	2631	mtc=false;
yabahiro	54:4167f10ecad0	2632	break;
yabahiro	54:4167f10ecad0	2633	case 255:
yabahiro	54:4167f10ecad0	2634	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	2635	mtc=false;
yabahiro	54:4167f10ecad0	2636	break;
yabahiro	54:4167f10ecad0	2637	case 253:
yabahiro	54:4167f10ecad0	2638	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	2639	mtc=false;
yabahiro	54:4167f10ecad0	2640	break;
yabahiro	54:4167f10ecad0	2641	case 254:
yabahiro	54:4167f10ecad0	2642	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	2643	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2644	mtc=false;
yabahiro	54:4167f10ecad0	2645	break;
yabahiro	54:4167f10ecad0	2646	case 1:
yabahiro	54:4167f10ecad0	2647	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	2648	mtc=false;
yabahiro	54:4167f10ecad0	2649	break;
yabahiro	54:4167f10ecad0	2650	case 3:
yabahiro	54:4167f10ecad0	2651	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	2652	mtc=false;
yabahiro	54:4167f10ecad0	2653	break;
yabahiro	54:4167f10ecad0	2654	case 2:
yabahiro	54:4167f10ecad0	2655	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	2656	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2657	mtc=false;
yabahiro	54:4167f10ecad0	2658	break;
yabahiro	54:4167f10ecad0	2659	}
yabahiro	54:4167f10ecad0	2660	}
yabahiro	54:4167f10ecad0	2661	}
yabahiro	54:4167f10ecad0	2662	break;
yabahiro	54:4167f10ecad0	2663	case 23:
yabahiro	54:4167f10ecad0	2664	if(YELLOW) {
yabahiro	54:4167f10ecad0	2665	switch(g[4]) {
yabahiro	54:4167f10ecad0	2666	case 98:
yabahiro	54:4167f10ecad0	2667	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2668	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2669	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2670	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2671	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2672	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2673	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2674	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2675	break;
yabahiro	54:4167f10ecad0	2676	case 99:
yabahiro	54:4167f10ecad0	2677	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2678	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2679	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2680	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2681	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2682	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2683	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2684	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2685	break;
yabahiro	54:4167f10ecad0	2686	case 0:
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 = fast-5;
yabahiro	54:4167f10ecad0	2690	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2691	motor[TIRE_BR].pwm = fast-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	case 255:
yabahiro	54:4167f10ecad0	2697	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2698	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2699	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2700	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2701	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2702	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2703	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2704	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2705	break;
yabahiro	54:4167f10ecad0	2706	case 253:
yabahiro	54:4167f10ecad0	2707	motor[TIRE_FR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2708	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2709	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2710	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2711	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2712	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2713	motor[TIRE_BL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2714	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2715	break;
yabahiro	54:4167f10ecad0	2716	case 254:
yabahiro	54:4167f10ecad0	2717	motor[TIRE_FR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2718	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2719	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2720	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2721	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2722	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2723	motor[TIRE_BL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2724	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2725	break;
yabahiro	54:4167f10ecad0	2726	case 1:
yabahiro	54:4167f10ecad0	2727	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2728	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2729	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2730	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2731	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2732	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2733	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2734	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2735	break;
yabahiro	54:4167f10ecad0	2736	case 3:
yabahiro	54:4167f10ecad0	2737	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2738	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2739	motor[TIRE_FL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2740	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2741	motor[TIRE_BR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2742	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2743	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2744	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2745	break;
yabahiro	54:4167f10ecad0	2746	case 2:
yabahiro	54:4167f10ecad0	2747	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2748	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2749	motor[TIRE_FL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2750	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2751	motor[TIRE_BR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2752	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2753	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2754	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2755	break;
yabahiro	54:4167f10ecad0	2756	}
yabahiro	58:bfc38c43dadb	2757	if(value>=2400) {
yabahiro	58:bfc38c43dadb	2758	fast=20;
yabahiro	58:bfc38c43dadb	2759	normal=15;
yabahiro	54:4167f10ecad0	2760	slow=10;
yabahiro	54:4167f10ecad0	2761	}
yabahiro	58:bfc38c43dadb	2762	if(g[3]==254&&value>=2700) {
yabahiro	54:4167f10ecad0	2763	mode=24;
yabahiro	54:4167f10ecad0	2764	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	56:61ebd4b759b4	2765	aime.reset();
yabahiro	54:4167f10ecad0	2766	countss=0;
yabahiro	54:4167f10ecad0	2767	fast=80;
yabahiro	54:4167f10ecad0	2768	normal=60;
yabahiro	54:4167f10ecad0	2769	slow=30;
yabahiro	54:4167f10ecad0	2770	}
yabahiro	58:bfc38c43dadb	2771
yabahiro	58:bfc38c43dadb	2772	/*
yabahiro	58:bfc38c43dadb	2773	if(value>=2500) {
yabahiro	58:bfc38c43dadb	2774	mode=24;
yabahiro	58:bfc38c43dadb	2775	aime.reset();
yabahiro	58:bfc38c43dadb	2776	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	58:bfc38c43dadb	2777	countss=0;
yabahiro	58:bfc38c43dadb	2778	fast=80;
yabahiro	58:bfc38c43dadb	2779	normal=60;
yabahiro	58:bfc38c43dadb	2780	slow=30;
yabahiro	58:bfc38c43dadb	2781	}
yabahiro	58:bfc38c43dadb	2782	if(g[1]==98) {
yabahiro	58:bfc38c43dadb	2783	fast=10;
yabahiro	58:bfc38c43dadb	2784	normal=10;
yabahiro	58:bfc38c43dadb	2785	slow=10;
yabahiro	58:bfc38c43dadb	2786	}
yabahiro	58:bfc38c43dadb	2787	*/
yabahiro	54:4167f10ecad0	2788	} else {
yabahiro	54:4167f10ecad0	2789	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2790	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2791	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	2792	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	2793	fast=60;
yabahiro	54:4167f10ecad0	2794	normal=40;
yabahiro	54:4167f10ecad0	2795	slow=30;
yabahiro	54:4167f10ecad0	2796	countss=0;
yabahiro	54:4167f10ecad0	2797	mode=24;
yabahiro	54:4167f10ecad0	2798	}
yabahiro	54:4167f10ecad0	2799	} else {
yabahiro	54:4167f10ecad0	2800	motor[MOTOR_0].pwm = 100;
yabahiro	54:4167f10ecad0	2801	motor[MOTOR_0].dir = BACK;
yabahiro	54:4167f10ecad0	2802	}
yabahiro	54:4167f10ecad0	2803	motor[TIRE_FR].pwm = 100;
yabahiro	54:4167f10ecad0	2804	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2805	motor[TIRE_FL].pwm = 100;
yabahiro	54:4167f10ecad0	2806	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2807	motor[TIRE_BR].pwm = 100;
yabahiro	54:4167f10ecad0	2808	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2809	motor[TIRE_BL].pwm = 100;
yabahiro	54:4167f10ecad0	2810	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2811	}
yabahiro	54:4167f10ecad0	2812	break;
yabahiro	54:4167f10ecad0	2813	case 24:
yabahiro	54:4167f10ecad0	2814	if(YELLOW) {
yabahiro	56:61ebd4b759b4	2815	value=aime.read_ms();
yabahiro	56:61ebd4b759b4	2816	if(value>=4000) {
yabahiro	56:61ebd4b759b4	2817	mode=25;
yabahiro	56:61ebd4b759b4	2818	}
yabahiro	54:4167f10ecad0	2819	if(g[4]==3\|\|g[4]==2) {
yabahiro	54:4167f10ecad0	2820	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2821	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2822	motor[TIRE_FL].pwm = 30;
yabahiro	53:694dbd7dfa0e	2823	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2824	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2825	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2826	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2827	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2828	}
yabahiro	54:4167f10ecad0	2829	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2830	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2831	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2832	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2833	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2834	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2835	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2836	motor[TIRE_BL].pwm = 30;
yabahiro	52:4394a1debceb	2837	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2838	}
yabahiro	54:4167f10ecad0	2839	switch(g[2]) {
yabahiro	54:4167f10ecad0	2840	case 0:
yabahiro	54:4167f10ecad0	2841	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2842	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2843	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2844	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2845	break;
yabahiro	54:4167f10ecad0	2846	case 255:
yabahiro	54:4167f10ecad0	2847	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2848	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2849	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2850	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2851	break;
yabahiro	54:4167f10ecad0	2852	case 253:
yabahiro	54:4167f10ecad0	2853	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2854	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2855	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2856	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2857	break;
yabahiro	54:4167f10ecad0	2858	case 254:
yabahiro	54:4167f10ecad0	2859	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2860	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2861	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2862	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2863	break;
yabahiro	54:4167f10ecad0	2864	case 1:
yabahiro	54:4167f10ecad0	2865	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2866	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2867	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2868	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2869	break;
yabahiro	54:4167f10ecad0	2870	case 3:
yabahiro	54:4167f10ecad0	2871	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2872	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2873	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2874	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2875	break;
yabahiro	54:4167f10ecad0	2876	case 2:
yabahiro	54:4167f10ecad0	2877	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2878	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2879	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2880	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2881	break;
yabahiro	54:4167f10ecad0	2882	}
yabahiro	54:4167f10ecad0	2883	switch(g[3]) {
yabahiro	54:4167f10ecad0	2884	case 0:
yabahiro	54:4167f10ecad0	2885	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2886	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2887	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2888	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2889	break;
yabahiro	54:4167f10ecad0	2890	case 255:
yabahiro	54:4167f10ecad0	2891	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2892	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2893	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2894	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2895	case 253:
yabahiro	54:4167f10ecad0	2896	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2897	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2898	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2899	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2900	break;
yabahiro	54:4167f10ecad0	2901	case 254:
yabahiro	54:4167f10ecad0	2902	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2903	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2904	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2905	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2906	break;
yabahiro	54:4167f10ecad0	2907	case 1:
yabahiro	54:4167f10ecad0	2908	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2909	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2910	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2911	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2912	break;
yabahiro	54:4167f10ecad0	2913	case 3:
yabahiro	54:4167f10ecad0	2914	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2915	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2916	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2917	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2918	break;
yabahiro	54:4167f10ecad0	2919	case 2:
yabahiro	54:4167f10ecad0	2920	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2921	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2922	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2923	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2924	break;
yabahiro	54:4167f10ecad0	2925	}
yabahiro	54:4167f10ecad0	2926	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2927	mode=25;
yabahiro	54:4167f10ecad0	2928	}
yabahiro	54:4167f10ecad0	2929	} else {
yabahiro	54:4167f10ecad0	2930	if(g[1]==98&&countss>=40000) {
yabahiro	54:4167f10ecad0	2931	mode=31;
yabahiro	54:4167f10ecad0	2932	fast = 60;
yabahiro	54:4167f10ecad0	2933	normal = 40;
yabahiro	54:4167f10ecad0	2934	slow = 30;
yabahiro	54:4167f10ecad0	2935	countss=0;
yabahiro	54:4167f10ecad0	2936	}
yabahiro	54:4167f10ecad0	2937	switch(g[1]) {
yabahiro	54:4167f10ecad0	2938	case 98:
yabahiro	54:4167f10ecad0	2939	fast=40;
yabahiro	54:4167f10ecad0	2940	normal=30;
yabahiro	54:4167f10ecad0	2941	slow=25;
yabahiro	54:4167f10ecad0	2942	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2943	motor[TIRE_FR].dir = FOR;
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 = normal;
yabahiro	54:4167f10ecad0	2949	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2950	break;
yabahiro	54:4167f10ecad0	2951	case 0:
yabahiro	54:4167f10ecad0	2952	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2953	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2954	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2955	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2956	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2957	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2958	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2959	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2960	mtc=true;
yabahiro	54:4167f10ecad0	2961	break;
yabahiro	54:4167f10ecad0	2962	case 255:
yabahiro	54:4167f10ecad0	2963	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2964	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2965	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2966	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2967	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2968	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2969	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2970	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2971	mtc=true;
yabahiro	54:4167f10ecad0	2972	break;
yabahiro	54:4167f10ecad0	2973	case 253:
yabahiro	54:4167f10ecad0	2974	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2975	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2976	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2977	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2978	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2979	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2980	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2981	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2982	mtc=true;
yabahiro	54:4167f10ecad0	2983	break;
yabahiro	54:4167f10ecad0	2984	case 254:
yabahiro	54:4167f10ecad0	2985	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2986	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2987	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2988	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2989	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2990	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2991	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2992	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2993	mtc=true;
yabahiro	54:4167f10ecad0	2994	break;
yabahiro	54:4167f10ecad0	2995	case 1:
yabahiro	54:4167f10ecad0	2996	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2997	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2998	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2999	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3000	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	3001	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3002	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	3003	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	3004	mtc=true;
yabahiro	54:4167f10ecad0	3005	break;
yabahiro	54:4167f10ecad0	3006	case 3:
yabahiro	54:4167f10ecad0	3007	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3008	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3009	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	3010	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3011	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	3012	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3013	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3014	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3015	mtc=true;
yabahiro	54:4167f10ecad0	3016	break;
yabahiro	54:4167f10ecad0	3017	case 2:
yabahiro	54:4167f10ecad0	3018	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3019	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3020	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	3021	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3022	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	3023	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3024	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3025	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3026	mtc=true;
yabahiro	54:4167f10ecad0	3027	break;
yabahiro	54:4167f10ecad0	3028	}
yabahiro	54:4167f10ecad0	3029	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	3030	switch(g[0]) {
yabahiro	54:4167f10ecad0	3031	case 0:
yabahiro	54:4167f10ecad0	3032	mtc=false;
yabahiro	54:4167f10ecad0	3033	break;
yabahiro	54:4167f10ecad0	3034	case 255:
yabahiro	54:4167f10ecad0	3035	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	3036	mtc=false;
yabahiro	54:4167f10ecad0	3037	break;
yabahiro	54:4167f10ecad0	3038	case 253:
yabahiro	54:4167f10ecad0	3039	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	3040	mtc=false;
yabahiro	54:4167f10ecad0	3041	break;
yabahiro	54:4167f10ecad0	3042	case 254:
yabahiro	54:4167f10ecad0	3043	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	3044	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3045	mtc=false;
yabahiro	54:4167f10ecad0	3046	break;
yabahiro	54:4167f10ecad0	3047	case 1:
yabahiro	54:4167f10ecad0	3048	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	3049	mtc=false;
yabahiro	54:4167f10ecad0	3050	break;
yabahiro	54:4167f10ecad0	3051	case 3:
yabahiro	54:4167f10ecad0	3052	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	3053	mtc=false;
yabahiro	54:4167f10ecad0	3054	break;
yabahiro	54:4167f10ecad0	3055	case 2:
yabahiro	54:4167f10ecad0	3056	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	3057	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3058	mtc=false;
yabahiro	54:4167f10ecad0	3059	break;
yabahiro	54:4167f10ecad0	3060	}
yabahiro	54:4167f10ecad0	3061	}
yabahiro	52:4394a1debceb	3062	}
yabahiro	54:4167f10ecad0	3063	break;
yabahiro	54:4167f10ecad0	3064	case 25:
kishibekairohan	47:a9cad8502999	3065	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	3066	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	3067	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	3068	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	3069	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	3070	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	3071	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	3072	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	3073	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	3074	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	3075	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	3076	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	3077	countss = 0;
yabahiro	54:4167f10ecad0	3078	mode=26;
yabahiro	54:4167f10ecad0	3079	}
yabahiro	46:68296caae1af	3080	} else {
yabahiro	46:68296caae1af	3081	motor[MOTOR_0].pwm = 100;
yabahiro	46:68296caae1af	3082	motor[MOTOR_0].dir = BACK;
yabahiro	46:68296caae1af	3083	}
yabahiro	54:4167f10ecad0	3084	break;
yabahiro	54:4167f10ecad0	3085	case 26:
yabahiro	56:61ebd4b759b4	3086	/*
yabahiro	56:61ebd4b759b4	3087	if (g[3] == 0&&countss>=30000) {
yabahiro	56:61ebd4b759b4	3088	mode = 40;
yabahiro	56:61ebd4b759b4	3089	}
yabahiro	56:61ebd4b759b4	3090	*/
yabahiro	56:61ebd4b759b4	3091	if (g[1] != 99) {
yabahiro	54:4167f10ecad0	3092	mode = 31;
yabahiro	54:4167f10ecad0	3093	}
yabahiro	38:40e7fdf3c694	3094	switch(g[4]) {
yabahiro	38:40e7fdf3c694	3095	case 98:
yabahiro	38:40e7fdf3c694	3096	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3097	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3098	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3099	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3100	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3101	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3102	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3103	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3104	break;
yabahiro	38:40e7fdf3c694	3105	case 99:
yabahiro	38:40e7fdf3c694	3106	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3107	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3108	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3109	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3110	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3111	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3112	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3113	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3114	break;
yabahiro	38:40e7fdf3c694	3115	case 0:
yabahiro	38:40e7fdf3c694	3116	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3117	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3118	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3119	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3120	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3121	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3122	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3123	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3124	break;
yabahiro	38:40e7fdf3c694	3125	case 255:
yabahiro	38:40e7fdf3c694	3126	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3127	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3128	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3129	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3130	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3131	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3132	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3133	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3134	break;
yabahiro	38:40e7fdf3c694	3135	case 253:
yabahiro	46:68296caae1af	3136	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	3137	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3138	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3139	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3140	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3141	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3142	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	3143	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3144	break;
yabahiro	38:40e7fdf3c694	3145	case 254:
yabahiro	38:40e7fdf3c694	3146	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3147	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3148	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3149	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3150	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3151	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3152	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3153	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3154	break;
yabahiro	38:40e7fdf3c694	3155	case 1:
yabahiro	38:40e7fdf3c694	3156	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3157	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3158	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3159	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3160	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3161	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3162	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3163	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3164	break;
yabahiro	38:40e7fdf3c694	3165	case 3:
yabahiro	38:40e7fdf3c694	3166	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3167	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	3168	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	3169	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3170	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	3171	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3172	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3173	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3174	break;
yabahiro	38:40e7fdf3c694	3175	case 2:
yabahiro	38:40e7fdf3c694	3176	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3177	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3178	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	3179	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3180	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	3181	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3182	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3183	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3184	break;
yabahiro	38:40e7fdf3c694	3185	}
yabahiro	54:4167f10ecad0	3186	break;
yabahiro	54:4167f10ecad0	3187	case 31:
yabahiro	54:4167f10ecad0	3188	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3189	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3190	motor[TIRE_FL].pwm = 45;
yabahiro	54:4167f10ecad0	3191	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3192	motor[TIRE_BR].pwm = 45;
yabahiro	54:4167f10ecad0	3193	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3194	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3195	motor[TIRE_BL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	3196	if(g[3]==0) {
yabahiro	54:4167f10ecad0	3197	cross=0;
yabahiro	54:4167f10ecad0	3198	countss=0;
yabahiro	54:4167f10ecad0	3199	mode=40;
yabahiro	56:61ebd4b759b4	3200	fast = 70;
yabahiro	56:61ebd4b759b4	3201	normal = 50;
yabahiro	54:4167f10ecad0	3202	slow = 30;
yabahiro	54:4167f10ecad0	3203	}
yabahiro	54:4167f10ecad0	3204	break;
yabahiro	54:4167f10ecad0	3205	case 40:
yabahiro	54:4167f10ecad0	3206	if(YELLOW) {
yabahiro	54:4167f10ecad0	3207	if(cross==1) {
yabahiro	54:4167f10ecad0	3208	mode=41;
yabahiro	54:4167f10ecad0	3209	countss=0;
yabahiro	54:4167f10ecad0	3210	cross=0;
yabahiro	54:4167f10ecad0	3211	}
yabahiro	54:4167f10ecad0	3212	} else {
yabahiro	54:4167f10ecad0	3213	if(cross==3) {
yabahiro	54:4167f10ecad0	3214	fast = 60;
yabahiro	54:4167f10ecad0	3215	normal = 40;
yabahiro	54:4167f10ecad0	3216	slow = 30;
yabahiro	54:4167f10ecad0	3217	mode=41;
yabahiro	54:4167f10ecad0	3218	countss=0;
yabahiro	54:4167f10ecad0	3219	cross=0;
yabahiro	54:4167f10ecad0	3220	}
yabahiro	54:4167f10ecad0	3221	}
yabahiro	54:4167f10ecad0	3222	/*
yabahiro	54:4167f10ecad0	3223	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3224	mode=42;
yabahiro	33:dd598bb23ad1	3225	}
yabahiro	54:4167f10ecad0	3226	*/
yabahiro	54:4167f10ecad0	3227	switch(g[3]) {
yabahiro	54:4167f10ecad0	3228	case 98:
yabahiro	54:4167f10ecad0	3229	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3230	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3231	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3232	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3233	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3234	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3235	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3236	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3237	if(countss>30000) {
yabahiro	54:4167f10ecad0	3238	cross++;
yabahiro	54:4167f10ecad0	3239	countss=0;
yabahiro	54:4167f10ecad0	3240	}
yabahiro	54:4167f10ecad0	3241	mtc2=true;
yabahiro	54:4167f10ecad0	3242	break;
yabahiro	54:4167f10ecad0	3243	case 0:
yabahiro	54:4167f10ecad0	3244	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3245	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3246	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3247	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3248	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3249	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3250	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3251	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3252	mtc2=true;
yabahiro	54:4167f10ecad0	3253	break;
yabahiro	54:4167f10ecad0	3254	case 255:
yabahiro	54:4167f10ecad0	3255	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3256	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3257	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3258	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3259	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3260	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3261	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3262	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3263	mtc2=true;
yabahiro	54:4167f10ecad0	3264	break;
yabahiro	54:4167f10ecad0	3265	case 253:
yabahiro	54:4167f10ecad0	3266	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3267	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3268	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3269	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3270	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3271	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3272	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3273	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3274	mtc2=true;
yabahiro	54:4167f10ecad0	3275	break;
yabahiro	54:4167f10ecad0	3276	case 254:
yabahiro	54:4167f10ecad0	3277	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3278	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3279	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3280	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3281	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3282	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3283	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3284	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3285	mtc2=true;
yabahiro	54:4167f10ecad0	3286	break;
yabahiro	54:4167f10ecad0	3287	case 1:
yabahiro	54:4167f10ecad0	3288	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3289	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3290	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3291	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3292	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3293	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3294	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3295	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3296	mtc2=true;
yabahiro	54:4167f10ecad0	3297	break;
yabahiro	54:4167f10ecad0	3298	case 3:
yabahiro	54:4167f10ecad0	3299	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3300	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3301	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3302	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3303	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3304	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3305	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3306	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3307	mtc2=true;
yabahiro	54:4167f10ecad0	3308	break;
yabahiro	54:4167f10ecad0	3309	case 2:
yabahiro	54:4167f10ecad0	3310	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3311	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3312	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3313	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3314	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3315	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3316	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3317	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3318	mtc2=true;
yabahiro	54:4167f10ecad0	3319	break;
yabahiro	54:4167f10ecad0	3320	}
yabahiro	54:4167f10ecad0	3321	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	3322	switch(g[2]) {
yabahiro	54:4167f10ecad0	3323	case 0:
yabahiro	54:4167f10ecad0	3324	mtc2=false;
yabahiro	54:4167f10ecad0	3325	break;
yabahiro	54:4167f10ecad0	3326	case 255:
yabahiro	54:4167f10ecad0	3327	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	3328	mtc2=false;
yabahiro	54:4167f10ecad0	3329	break;
yabahiro	54:4167f10ecad0	3330	case 253:
yabahiro	54:4167f10ecad0	3331	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	3332	mtc2=false;
yabahiro	54:4167f10ecad0	3333	break;
yabahiro	54:4167f10ecad0	3334	case 254:
yabahiro	54:4167f10ecad0	3335	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	3336	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3337	mtc2=false;
yabahiro	54:4167f10ecad0	3338	break;
yabahiro	54:4167f10ecad0	3339	case 1:
yabahiro	54:4167f10ecad0	3340	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	3341	mtc2=false;
yabahiro	54:4167f10ecad0	3342	break;
yabahiro	54:4167f10ecad0	3343	case 3:
yabahiro	54:4167f10ecad0	3344	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	3345	mtc2=false;
yabahiro	54:4167f10ecad0	3346	break;
yabahiro	54:4167f10ecad0	3347	case 2:
yabahiro	54:4167f10ecad0	3348	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	3349	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3350	mtc2=false;
yabahiro	54:4167f10ecad0	3351	break;
yabahiro	54:4167f10ecad0	3352	}
yabahiro	54:4167f10ecad0	3353	}
yabahiro	54:4167f10ecad0	3354	break;
yabahiro	54:4167f10ecad0	3355	case 41:
yabahiro	54:4167f10ecad0	3356	/*
yabahiro	54:4167f10ecad0	3357	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3358	mode=42;
yabahiro	54:4167f10ecad0	3359	}
yabahiro	54:4167f10ecad0	3360	*/
yabahiro	54:4167f10ecad0	3361	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3362	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3363	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	3364	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3365	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	3366	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3367	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3368	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3369	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3370	countss=0;
yabahiro	54:4167f10ecad0	3371	mode=70;
yabahiro	56:61ebd4b759b4	3372	normal = 120;
yabahiro	56:61ebd4b759b4	3373	fast = 140;
yabahiro	56:61ebd4b759b4	3374	slow = 100;
yabahiro	54:4167f10ecad0	3375	}
yabahiro	54:4167f10ecad0	3376	break;
yabahiro	54:4167f10ecad0	3377	case 42:
yabahiro	54:4167f10ecad0	3378	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3379	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3380	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3381	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3382	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3383	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3384	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3385	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3386	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3387	countss=0;
yabahiro	54:4167f10ecad0	3388	mode=70;
yabahiro	53:694dbd7dfa0e	3389	}
yabahiro	54:4167f10ecad0	3390	break;
yabahiro	54:4167f10ecad0	3391	case 70:
yabahiro	38:40e7fdf3c694	3392	switch(g[1]) {
yabahiro	54:4167f10ecad0	3393	case 99:
yabahiro	54:4167f10ecad0	3394	if(countss>=100000) {
yabahiro	54:4167f10ecad0	3395	mode=100;
yabahiro	54:4167f10ecad0	3396	}
yabahiro	54:4167f10ecad0	3397	break;
yabahiro	38:40e7fdf3c694	3398	case 98:
yabahiro	38:40e7fdf3c694	3399	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3400	motor[TIRE_FR].dir = FOR;
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 = normal;
yabahiro	38:40e7fdf3c694	3406	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3407	break;
yabahiro	38:40e7fdf3c694	3408	case 0:
yabahiro	54:4167f10ecad0	3409	motor[TIRE_FR].pwm = 100;
yabahiro	38:40e7fdf3c694	3410	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3411	motor[TIRE_FL].pwm = 100;
yabahiro	38:40e7fdf3c694	3412	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3413	motor[TIRE_BR].pwm = 105;
yabahiro	38:40e7fdf3c694	3414	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3415	motor[TIRE_BL].pwm = 100;
yabahiro	38:40e7fdf3c694	3416	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3417	mtc=true;
yabahiro	38:40e7fdf3c694	3418	break;
yabahiro	38:40e7fdf3c694	3419	case 255:
yabahiro	38:40e7fdf3c694	3420	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	3421	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3422	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3423	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3424	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3425	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3426	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	3427	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3428	mtc=true;
yabahiro	38:40e7fdf3c694	3429	break;
yabahiro	38:40e7fdf3c694	3430	case 253:
yabahiro	38:40e7fdf3c694	3431	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3432	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3433	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3434	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3435	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3436	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3437	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3438	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3439	mtc=true;
yabahiro	38:40e7fdf3c694	3440	break;
yabahiro	38:40e7fdf3c694	3441	case 254:
yabahiro	38:40e7fdf3c694	3442	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3443	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3444	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3445	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3446	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3447	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3448	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	3449	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3450	mtc=true;
yabahiro	38:40e7fdf3c694	3451	break;
yabahiro	38:40e7fdf3c694	3452	case 1:
yabahiro	38:40e7fdf3c694	3453	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3454	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3455	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	3456	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3457	motor[TIRE_BR].pwm = fast+5;
yabahiro	38:40e7fdf3c694	3458	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3459	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3460	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3461	mtc=true;
yabahiro	38:40e7fdf3c694	3462	break;
yabahiro	38:40e7fdf3c694	3463	case 3:
yabahiro	38:40e7fdf3c694	3464	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3465	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3466	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3467	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3468	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3469	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3470	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3471	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3472	mtc=true;
yabahiro	38:40e7fdf3c694	3473	break;
yabahiro	38:40e7fdf3c694	3474	case 2:
yabahiro	38:40e7fdf3c694	3475	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3476	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3477	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3478	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3479	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	3480	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3481	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3482	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3483	mtc=true;
yabahiro	38:40e7fdf3c694	3484	break;
yabahiro	38:40e7fdf3c694	3485	}
yabahiro	38:40e7fdf3c694	3486	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	3487	switch(g[0]) {
yabahiro	38:40e7fdf3c694	3488	case 0:
yabahiro	38:40e7fdf3c694	3489	mtc=false;
yabahiro	38:40e7fdf3c694	3490	break;
yabahiro	38:40e7fdf3c694	3491	case 255:
kishibekairohan	44:2aff0da5ebdb	3492	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	3493	mtc=false;
yabahiro	38:40e7fdf3c694	3494	break;
yabahiro	38:40e7fdf3c694	3495	case 253:
kishibekairohan	44:2aff0da5ebdb	3496	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	3497	mtc=false;
yabahiro	38:40e7fdf3c694	3498	break;
yabahiro	38:40e7fdf3c694	3499	case 254:
kishibekairohan	44:2aff0da5ebdb	3500	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	3501	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3502	mtc=false;
yabahiro	38:40e7fdf3c694	3503	break;
yabahiro	38:40e7fdf3c694	3504	case 1:
kishibekairohan	44:2aff0da5ebdb	3505	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	3506	mtc=false;
yabahiro	38:40e7fdf3c694	3507	break;
yabahiro	38:40e7fdf3c694	3508	case 3:
kishibekairohan	44:2aff0da5ebdb	3509	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	3510	mtc=false;
yabahiro	38:40e7fdf3c694	3511	break;
yabahiro	38:40e7fdf3c694	3512	case 2:
kishibekairohan	44:2aff0da5ebdb	3513	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	3514	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3515	mtc=false;
yabahiro	38:40e7fdf3c694	3516	break;
yabahiro	38:40e7fdf3c694	3517	}
yabahiro	33:dd598bb23ad1	3518	}
yabahiro	54:4167f10ecad0	3519	break;
yabahiro	54:4167f10ecad0	3520	case 100:
yabahiro	54:4167f10ecad0	3521	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3522	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3523	motor[TIRE_FL].pwm = 55;
yabahiro	54:4167f10ecad0	3524	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3525	motor[TIRE_BR].pwm = 60;
yabahiro	54:4167f10ecad0	3526	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3527	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3528	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	3529	break;
yabahiro	54:4167f10ecad0	3530	default:
yabahiro	54:4167f10ecad0	3531	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3532	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3533	motor[TIRE_FL].pwm = 50;
yabahiro	54:4167f10ecad0	3534	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3535	motor[TIRE_BR].pwm = 50;
yabahiro	54:4167f10ecad0	3536	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3537	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3538	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3539	break;
yabahiro	53:694dbd7dfa0e	3540	}
kishibekairohan	13:b6e02d6261d7	3541	}
kishibekairohan	13:b6e02d6261d7	3542	#endif
kishibekairohan	13:b6e02d6261d7	3543
kishibekairohan	13:b6e02d6261d7	3544	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	3545	static void Process4()
M_souta	22:7d93f79a3686	3546	{
yabahiro	48:5562a99479e5	3547	//Oh So 決勝青ゾーン
yabahiro	48:5562a99479e5	3548	LED::LED::TapeledMode(2);
yabahiro	48:5562a99479e5	3549	countss++;
yabahiro	48:5562a99479e5	3550	if(mode==1) {//スタートゾーンから白線検知
yabahiro	48:5562a99479e5	3551	fast=40;
yabahiro	48:5562a99479e5	3552	normal=30;
yabahiro	48:5562a99479e5	3553	slow=20;
yabahiro	48:5562a99479e5	3554	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3555	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3556	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3557	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3558	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3559	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3560	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3561	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3562	if(g[2]==0&&countss>=100000) {
yabahiro	48:5562a99479e5	3563	countss=100000;
yabahiro	48:5562a99479e5	3564	cross=0;
yabahiro	48:5562a99479e5	3565	mode=3;
yabahiro	48:5562a99479e5	3566	}
yabahiro	48:5562a99479e5	3567	} 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	3568	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3569	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3570	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	3571	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	3572	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	3573	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3574	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3575	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3576	if(g[1]==0) {
yabahiro	48:5562a99479e5	3577	mode=10;
yabahiro	48:5562a99479e5	3578	countss=100000;
yabahiro	48:5562a99479e5	3579	}
yabahiro	48:5562a99479e5	3580	} else if(mode==10) { //縦ライントレース
yabahiro	48:5562a99479e5	3581	switch(g[1]) {
yabahiro	48:5562a99479e5	3582	case 98:
yabahiro	48:5562a99479e5	3583	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3584	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3585	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3586	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3587	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3588	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3589	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3590	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3591	mtc=true;
yabahiro	49:697b4e9ce884	3592	if(YELLOW) {
yabahiro	49:697b4e9ce884	3593	if(countss>80000) {
yabahiro	49:697b4e9ce884	3594	cross++;
yabahiro	49:697b4e9ce884	3595	countss=0;
yabahiro	49:697b4e9ce884	3596	}
yabahiro	48:5562a99479e5	3597
yabahiro	49:697b4e9ce884	3598	if(cross==2) {
yabahiro	49:697b4e9ce884	3599	fast = 10;
yabahiro	49:697b4e9ce884	3600	normal = 10;
yabahiro	49:697b4e9ce884	3601	slow = 5;
yabahiro	49:697b4e9ce884	3602	}
yabahiro	48:5562a99479e5	3603
yabahiro	49:697b4e9ce884	3604	if(cross==3) {
yabahiro	49:697b4e9ce884	3605	fast=40;
yabahiro	49:697b4e9ce884	3606	normal=30;
yabahiro	49:697b4e9ce884	3607	slow=20;
yabahiro	49:697b4e9ce884	3608	mode=11;
yabahiro	49:697b4e9ce884	3609	countss=0;
yabahiro	49:697b4e9ce884	3610	cross=0;
yabahiro	49:697b4e9ce884	3611	}
yabahiro	49:697b4e9ce884	3612	} else {
yabahiro	48:5562a99479e5	3613	mode=11;
yabahiro	48:5562a99479e5	3614	}
yabahiro	48:5562a99479e5	3615	break;
yabahiro	48:5562a99479e5	3616	case 0:
yabahiro	48:5562a99479e5	3617	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3618	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3619	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3620	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3621	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3622	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3623	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3624	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3625	mtc=true;
yabahiro	48:5562a99479e5	3626	break;
yabahiro	48:5562a99479e5	3627	case 255:
yabahiro	48:5562a99479e5	3628	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3629	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3630	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3631	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3632	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3633	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3634	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3635	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3636	mtc=true;
yabahiro	48:5562a99479e5	3637	break;
yabahiro	48:5562a99479e5	3638	case 253:
yabahiro	48:5562a99479e5	3639	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3640	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3641	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3642	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3643	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3644	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3645	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3646	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3647	mtc=true;
yabahiro	48:5562a99479e5	3648	break;
yabahiro	48:5562a99479e5	3649	case 254:
yabahiro	48:5562a99479e5	3650	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3651	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3652	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3653	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3654	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3655	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3656	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3657	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3658	mtc=true;
yabahiro	48:5562a99479e5	3659	break;
yabahiro	48:5562a99479e5	3660	case 1:
yabahiro	48:5562a99479e5	3661	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3662	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3663	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3664	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3665	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3666	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3667	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3668	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3669	mtc=true;
yabahiro	48:5562a99479e5	3670	break;
yabahiro	48:5562a99479e5	3671	case 3:
yabahiro	48:5562a99479e5	3672	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3673	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3674	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3675	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3676	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3677	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3678	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3679	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3680	mtc=true;
yabahiro	48:5562a99479e5	3681	break;
yabahiro	48:5562a99479e5	3682	case 2:
yabahiro	48:5562a99479e5	3683	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3684	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3685	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3686	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3687	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3688	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3689	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3690	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3691	mtc=true;
yabahiro	48:5562a99479e5	3692	break;
yabahiro	48:5562a99479e5	3693	}
yabahiro	48:5562a99479e5	3694	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	3695	switch(g[0]) {
yabahiro	48:5562a99479e5	3696	case 0:
yabahiro	48:5562a99479e5	3697	mtc=false;
yabahiro	48:5562a99479e5	3698	break;
yabahiro	48:5562a99479e5	3699	case 255:
yabahiro	48:5562a99479e5	3700	motor[TIRE_FL].pwm += 3;
yabahiro	48:5562a99479e5	3701	mtc=false;
yabahiro	48:5562a99479e5	3702	break;
yabahiro	48:5562a99479e5	3703	case 253:
yabahiro	48:5562a99479e5	3704	motor[TIRE_FL].pwm += 6;
yabahiro	48:5562a99479e5	3705	mtc=false;
yabahiro	48:5562a99479e5	3706	break;
yabahiro	48:5562a99479e5	3707	case 254:
yabahiro	48:5562a99479e5	3708	motor[TIRE_FL].pwm += 9;
yabahiro	48:5562a99479e5	3709	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3710	mtc=false;
yabahiro	48:5562a99479e5	3711	break;
yabahiro	48:5562a99479e5	3712	case 1:
yabahiro	48:5562a99479e5	3713	motor[TIRE_FR].pwm += 3;
yabahiro	48:5562a99479e5	3714	mtc=false;
yabahiro	48:5562a99479e5	3715	break;
yabahiro	48:5562a99479e5	3716	case 3:
yabahiro	48:5562a99479e5	3717	motor[TIRE_FR].pwm += 6;
yabahiro	48:5562a99479e5	3718	mtc=false;
yabahiro	48:5562a99479e5	3719	break;
yabahiro	48:5562a99479e5	3720	case 2:
yabahiro	48:5562a99479e5	3721	motor[TIRE_FR].pwm += 9;
yabahiro	48:5562a99479e5	3722	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3723	mtc=false;
yabahiro	48:5562a99479e5	3724	break;
yabahiro	48:5562a99479e5	3725	}
yabahiro	48:5562a99479e5	3726	}
yabahiro	48:5562a99479e5	3727	} else if(mode==11) {
yabahiro	48:5562a99479e5	3728	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	3729	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	3730	motor[TIRE_FL].pwm = 50;
yabahiro	49:697b4e9ce884	3731	motor[TIRE_FL].dir = BRAKE;
yabahiro	49:697b4e9ce884	3732	motor[TIRE_BR].pwm = 50;
yabahiro	49:697b4e9ce884	3733	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3734	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	3735	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3736	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	48:5562a99479e5	3737	countss=0;
yabahiro	48:5562a99479e5	3738	cross=0;
yabahiro	48:5562a99479e5	3739	mode=20;
yabahiro	48:5562a99479e5	3740	}
yabahiro	48:5562a99479e5	3741	} else if(mode==20) {
yabahiro	48:5562a99479e5	3742	switch(g[2]) {
yabahiro	48:5562a99479e5	3743	case 98:
yabahiro	48:5562a99479e5	3744	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3745	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3746	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3747	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3748	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3749	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3750	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3751	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3752	if(countss>30000) {
yabahiro	48:5562a99479e5	3753	cross++;
yabahiro	48:5562a99479e5	3754	countss=0;
yabahiro	48:5562a99479e5	3755	}
yabahiro	48:5562a99479e5	3756	mtc2=true;
yabahiro	48:5562a99479e5	3757
yabahiro	48:5562a99479e5	3758	if(YELLOW) {
yabahiro	49:697b4e9ce884	3759	solenoid.solenoid4= SOLENOID_ON;
yabahiro	48:5562a99479e5	3760	if(cross==1) {
yabahiro	48:5562a99479e5	3761	fast=20;
yabahiro	48:5562a99479e5	3762	normal=15;
yabahiro	48:5562a99479e5	3763	slow=15;
yabahiro	48:5562a99479e5	3764	} else if(cross==2) {
yabahiro	48:5562a99479e5	3765	mode=21;
yabahiro	48:5562a99479e5	3766	countss=0;
yabahiro	48:5562a99479e5	3767	cross=0;
yabahiro	48:5562a99479e5	3768	}
yabahiro	48:5562a99479e5	3769	} else {
yabahiro	49:697b4e9ce884	3770	if(cross==2) {
yabahiro	49:697b4e9ce884	3771	fast=20;
yabahiro	49:697b4e9ce884	3772	normal=15;
yabahiro	49:697b4e9ce884	3773	slow=15;
yabahiro	49:697b4e9ce884	3774	}
yabahiro	48:5562a99479e5	3775	if(cross==3) {
yabahiro	48:5562a99479e5	3776	mode=21;
yabahiro	48:5562a99479e5	3777	countss=0;
yabahiro	48:5562a99479e5	3778	cross=0;
yabahiro	48:5562a99479e5	3779	}
yabahiro	48:5562a99479e5	3780	}
yabahiro	48:5562a99479e5	3781	break;
yabahiro	48:5562a99479e5	3782	case 0:
yabahiro	48:5562a99479e5	3783	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3784	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3785	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3786	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3787	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3788	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3789	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3790	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3791	mtc2=true;
yabahiro	48:5562a99479e5	3792	break;
yabahiro	48:5562a99479e5	3793	case 255:
yabahiro	48:5562a99479e5	3794	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3795	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3796	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3797	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3798	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3799	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3800	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3801	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3802	mtc2=true;
yabahiro	48:5562a99479e5	3803	break;
yabahiro	48:5562a99479e5	3804	case 253:
yabahiro	48:5562a99479e5	3805	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3806	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3807	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3808	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3809	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3810	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3811	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3812	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3813	mtc2=true;
yabahiro	48:5562a99479e5	3814	break;
yabahiro	48:5562a99479e5	3815	case 254:
yabahiro	48:5562a99479e5	3816	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3817	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3818	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3819	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3820	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3821	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3822	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3823	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3824	mtc2=true;
yabahiro	48:5562a99479e5	3825	break;
yabahiro	48:5562a99479e5	3826	case 1:
yabahiro	48:5562a99479e5	3827	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3828	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3829	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3830	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3831	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3832	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3833	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3834	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3835	mtc2=true;
yabahiro	48:5562a99479e5	3836	break;
yabahiro	48:5562a99479e5	3837	case 3:
yabahiro	48:5562a99479e5	3838	motor[TIRE_FR].pwm = slow+20;
yabahiro	48:5562a99479e5	3839	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3840	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3841	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3842	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3843	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3844	motor[TIRE_BL].pwm = slow+20;
yabahiro	48:5562a99479e5	3845	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3846	mtc2=true;
yabahiro	48:5562a99479e5	3847	break;
yabahiro	48:5562a99479e5	3848	case 2:
yabahiro	48:5562a99479e5	3849	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3850	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3851	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3852	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3853	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3854	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3855	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3856	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3857	mtc2=true;
yabahiro	48:5562a99479e5	3858	break;
yabahiro	48:5562a99479e5	3859	}
yabahiro	48:5562a99479e5	3860	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	3861	switch(g[3]) {
yabahiro	48:5562a99479e5	3862	case 0:
yabahiro	48:5562a99479e5	3863	mtc2=false;
yabahiro	48:5562a99479e5	3864	break;
yabahiro	48:5562a99479e5	3865	case 255:
yabahiro	48:5562a99479e5	3866	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	3867	mtc2=false;
yabahiro	48:5562a99479e5	3868	break;
yabahiro	48:5562a99479e5	3869	case 253:
yabahiro	48:5562a99479e5	3870	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	3871	mtc2=false;
yabahiro	48:5562a99479e5	3872	break;
yabahiro	48:5562a99479e5	3873	case 254:
yabahiro	48:5562a99479e5	3874	motor[TIRE_BL].pwm += 15;
yabahiro	48:5562a99479e5	3875	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3876	mtc2=false;
yabahiro	48:5562a99479e5	3877	break;
yabahiro	48:5562a99479e5	3878	case 1:
yabahiro	48:5562a99479e5	3879	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	3880	mtc2=false;
yabahiro	48:5562a99479e5	3881	break;
yabahiro	48:5562a99479e5	3882	case 3:
yabahiro	48:5562a99479e5	3883	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	3884	mtc2=false;
yabahiro	48:5562a99479e5	3885	break;
yabahiro	48:5562a99479e5	3886	case 2:
yabahiro	48:5562a99479e5	3887	motor[TIRE_FL].pwm += 15;
yabahiro	48:5562a99479e5	3888	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3889	mtc2=false;
yabahiro	48:5562a99479e5	3890	break;
yabahiro	48:5562a99479e5	3891	}
yabahiro	48:5562a99479e5	3892	}
yabahiro	48:5562a99479e5	3893	}
yabahiro	48:5562a99479e5	3894	if(YELLOW) {
yabahiro	48:5562a99479e5	3895	if(mode==21) {
yabahiro	48:5562a99479e5	3896	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3897	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3898	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3899	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3900	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3901	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3902	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3903	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3904	if(g[3]==98&&countss>=10000) {
yabahiro	48:5562a99479e5	3905	mode=22;
yabahiro	48:5562a99479e5	3906	countss=0;
yabahiro	48:5562a99479e5	3907	fast=60;
yabahiro	48:5562a99479e5	3908	normal=40;
yabahiro	48:5562a99479e5	3909	slow=20;
yabahiro	48:5562a99479e5	3910	}
yabahiro	48:5562a99479e5	3911	} else if(mode==22) {
yabahiro	48:5562a99479e5	3912	if(g[4]==3\|\|g[4]==2) {
yabahiro	48:5562a99479e5	3913	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3914	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3915	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3916	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3917	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3918	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3919	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3920	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3921	}
yabahiro	48:5562a99479e5	3922	if(g[4]==253\|\|g[4]==254) {
yabahiro	48:5562a99479e5	3923	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3924	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3925	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3926	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3927	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3928	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3929	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3930	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3931	}
yabahiro	48:5562a99479e5	3932	switch(g[2]) {
yabahiro	48:5562a99479e5	3933	case 0:
yabahiro	48:5562a99479e5	3934	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3935	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3936	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3937	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3938	break;
yabahiro	48:5562a99479e5	3939	case 255:
yabahiro	48:5562a99479e5	3940	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3941	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3942	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3943	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3944	break;
yabahiro	48:5562a99479e5	3945	case 253:
yabahiro	48:5562a99479e5	3946	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	3947	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3948	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3949	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3950	break;
yabahiro	48:5562a99479e5	3951	case 254:
yabahiro	48:5562a99479e5	3952	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3953	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3954	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3955	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3956	break;
yabahiro	48:5562a99479e5	3957	case 1:
yabahiro	48:5562a99479e5	3958	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3959	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3960	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3961	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3962	break;
yabahiro	48:5562a99479e5	3963	case 3:
yabahiro	48:5562a99479e5	3964	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3965	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3966	motor[TIRE_BR].pwm = 40;
yabahiro	48:5562a99479e5	3967	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3968	break;
yabahiro	48:5562a99479e5	3969	case 2:
yabahiro	48:5562a99479e5	3970	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3971	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3972	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3973	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3974	break;
yabahiro	48:5562a99479e5	3975	}
yabahiro	48:5562a99479e5	3976	switch(g[3]) {
yabahiro	48:5562a99479e5	3977	case 0:
yabahiro	48:5562a99479e5	3978	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3979	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3980	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3981	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3982	break;
yabahiro	48:5562a99479e5	3983	case 255:
yabahiro	48:5562a99479e5	3984	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3985	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3986	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3987	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3988	case 253:
yabahiro	48:5562a99479e5	3989	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3990	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3991	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	3992	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3993	break;
yabahiro	48:5562a99479e5	3994	case 254:
yabahiro	48:5562a99479e5	3995	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3996	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3997	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3998	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3999	break;
yabahiro	48:5562a99479e5	4000	case 1:
yabahiro	48:5562a99479e5	4001	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	4002	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4003	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	4004	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4005	break;
yabahiro	48:5562a99479e5	4006	case 3:
yabahiro	48:5562a99479e5	4007	motor[TIRE_FL].pwm = 40;
yabahiro	48:5562a99479e5	4008	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4009	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	4010	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4011	break;
yabahiro	48:5562a99479e5	4012	case 2:
yabahiro	48:5562a99479e5	4013	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	4014	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4015	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4016	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4017	break;
yabahiro	48:5562a99479e5	4018	}
yabahiro	48:5562a99479e5	4019	if(g[3]==0&&g[2]==0) {
yabahiro	48:5562a99479e5	4020	mode=23;
yabahiro	48:5562a99479e5	4021	countss=0;
yabahiro	48:5562a99479e5	4022	}
yabahiro	48:5562a99479e5	4023	} else if(mode==23) {
yabahiro	48:5562a99479e5	4024	switch(g[4]) {
yabahiro	48:5562a99479e5	4025	case 98:
yabahiro	48:5562a99479e5	4026	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	4027	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4028	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4029	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4030	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4031	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4032	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	4033	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4034	break;
yabahiro	48:5562a99479e5	4035	case 99:
yabahiro	48:5562a99479e5	4036	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4037	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4038	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4039	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4040	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4041	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4042	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4043	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4044	break;
yabahiro	48:5562a99479e5	4045	case 0:
yabahiro	48:5562a99479e5	4046	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	4047	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4048	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4049	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4050	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4051	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4052	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	4053	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4054	break;
yabahiro	48:5562a99479e5	4055	case 255:
yabahiro	48:5562a99479e5	4056	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4057	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4058	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4059	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4060	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4061	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4062	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4063	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4064	break;
yabahiro	48:5562a99479e5	4065	case 253:
yabahiro	48:5562a99479e5	4066	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	4067	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4068	motor[TIRE_FL].pwm = slow-5;
yabahiro	48:5562a99479e5	4069	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4070	motor[TIRE_BR].pwm = slow-5;
yabahiro	48:5562a99479e5	4071	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4072	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	4073	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4074	break;
yabahiro	48:5562a99479e5	4075	case 254:
yabahiro	48:5562a99479e5	4076	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	4077	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4078	motor[TIRE_FL].pwm = normal-5;
yabahiro	48:5562a99479e5	4079	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4080	motor[TIRE_BR].pwm = normal-5;
yabahiro	48:5562a99479e5	4081	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4082	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	4083	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4084	break;
yabahiro	48:5562a99479e5	4085	case 1:
yabahiro	48:5562a99479e5	4086	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4087	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4088	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4089	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4090	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4091	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4092	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4093	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4094	break;
yabahiro	48:5562a99479e5	4095	case 3:
yabahiro	48:5562a99479e5	4096	motor[TIRE_FR].pwm = slow-5;
yabahiro	48:5562a99479e5	4097	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4098	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4099	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4100	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4101	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4102	motor[TIRE_BL].pwm = slow-5;
yabahiro	48:5562a99479e5	4103	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4104	break;
yabahiro	48:5562a99479e5	4105	case 2:
yabahiro	48:5562a99479e5	4106	motor[TIRE_FR].pwm = normal-5;
yabahiro	48:5562a99479e5	4107	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4108	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4109	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4110	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4111	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4112	motor[TIRE_BL].pwm = normal-5;
yabahiro	48:5562a99479e5	4113	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4114	break;
yabahiro	48:5562a99479e5	4115	}
yabahiro	48:5562a99479e5	4116	if(g[2]==254&&countss>=100000) {
yabahiro	48:5562a99479e5	4117	mode=24;
yabahiro	48:5562a99479e5	4118	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	48:5562a99479e5	4119	countss=0;
yabahiro	48:5562a99479e5	4120	fast=60;
yabahiro	48:5562a99479e5	4121	normal=40;
yabahiro	48:5562a99479e5	4122	slow=20;
yabahiro	48:5562a99479e5	4123	}
yabahiro	48:5562a99479e5	4124	} else if(mode==24) {
yabahiro	48:5562a99479e5	4125	motor[TIRE_FR].pwm = 60;
yabahiro	48:5562a99479e5	4126	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4127	motor[TIRE_FL].pwm = 60;
yabahiro	48:5562a99479e5	4128	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4129	motor[TIRE_BR].pwm = 60;
yabahiro	48:5562a99479e5	4130	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4131	motor[TIRE_BL].pwm = 60;
yabahiro	48:5562a99479e5	4132	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4133	if(g[0]==0) {
yabahiro	48:5562a99479e5	4134	mode=25;
yabahiro	48:5562a99479e5	4135	}
yabahiro	48:5562a99479e5	4136	} else if(mode==25) {
yabahiro	48:5562a99479e5	4137	motor[TIRE_FR].pwm = 100;
yabahiro	48:5562a99479e5	4138	motor[TIRE_FR].dir = BRAKE;
yabahiro	48:5562a99479e5	4139	motor[TIRE_FL].pwm = 100;
yabahiro	48:5562a99479e5	4140	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4141	motor[TIRE_BR].pwm = 100;
yabahiro	48:5562a99479e5	4142	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4143	motor[TIRE_BL].pwm = 100;
yabahiro	48:5562a99479e5	4144	motor[TIRE_BL].dir = BRAKE;
yabahiro	48:5562a99479e5	4145	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	4146	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	4147	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	4148	mode=26;
yabahiro	48:5562a99479e5	4149	countss=0;
yabahiro	48:5562a99479e5	4150	} else {
yabahiro	48:5562a99479e5	4151	motor[MOTOR_0].pwm = 100;
yabahiro	48:5562a99479e5	4152	motor[MOTOR_0].dir = BACK;
yabahiro	48:5562a99479e5	4153	}
yabahiro	48:5562a99479e5	4154	} else if(mode==26) {
yabahiro	48:5562a99479e5	4155	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4156	mode=31;
yabahiro	48:5562a99479e5	4157	countss=0;
yabahiro	48:5562a99479e5	4158	}
yabahiro	48:5562a99479e5	4159	switch(g[0]) {
yabahiro	48:5562a99479e5	4160	case 98:
yabahiro	48:5562a99479e5	4161	fast=40;
yabahiro	48:5562a99479e5	4162	normal=30;
yabahiro	48:5562a99479e5	4163	slow=25;
yabahiro	48:5562a99479e5	4164	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4165	motor[TIRE_FR].dir = BACK;
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 = normal;
yabahiro	48:5562a99479e5	4171	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4172	break;
yabahiro	48:5562a99479e5	4173	case 0:
yabahiro	48:5562a99479e5	4174	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4175	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4176	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4177	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4178	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4179	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4180	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4181	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4182	mtc=true;
yabahiro	48:5562a99479e5	4183	break;
yabahiro	48:5562a99479e5	4184	case 255:
yabahiro	48:5562a99479e5	4185	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4186	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4187	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4188	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4189	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4190	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4191	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4192	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4193	mtc=true;
yabahiro	48:5562a99479e5	4194	break;
yabahiro	48:5562a99479e5	4195	case 253:
yabahiro	48:5562a99479e5	4196	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4197	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4198	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4199	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4200	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4201	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4202	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4203	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4204	mtc=true;
yabahiro	48:5562a99479e5	4205	break;
yabahiro	48:5562a99479e5	4206	case 254:
yabahiro	48:5562a99479e5	4207	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4208	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4209	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4210	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4211	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4212	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4213	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4214	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4215	mtc=true;
yabahiro	48:5562a99479e5	4216	break;
yabahiro	48:5562a99479e5	4217	case 1:
yabahiro	48:5562a99479e5	4218	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4219	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4220	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4221	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4222	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4223	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4224	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4225	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4226	mtc=true;
yabahiro	48:5562a99479e5	4227	break;
yabahiro	48:5562a99479e5	4228	case 3:
yabahiro	48:5562a99479e5	4229	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4230	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4231	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4232	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4233	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4234	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4235	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4236	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4237	mtc=true;
yabahiro	48:5562a99479e5	4238	break;
yabahiro	48:5562a99479e5	4239	case 2:
yabahiro	48:5562a99479e5	4240	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4241	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4242	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4243	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4244	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4245	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4246	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4247	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4248	mtc=true;
yabahiro	48:5562a99479e5	4249	break;
yabahiro	48:5562a99479e5	4250	}
yabahiro	48:5562a99479e5	4251	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4252	switch(g[1]) {
yabahiro	48:5562a99479e5	4253	case 0:
yabahiro	48:5562a99479e5	4254	mtc=false;
yabahiro	48:5562a99479e5	4255	break;
yabahiro	48:5562a99479e5	4256	case 255:
yabahiro	48:5562a99479e5	4257	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4258	mtc=false;
yabahiro	48:5562a99479e5	4259	break;
yabahiro	48:5562a99479e5	4260	case 253:
yabahiro	48:5562a99479e5	4261	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4262	mtc=false;
yabahiro	48:5562a99479e5	4263	break;
yabahiro	48:5562a99479e5	4264	case 254:
yabahiro	48:5562a99479e5	4265	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4266	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4267	mtc=false;
yabahiro	48:5562a99479e5	4268	break;
yabahiro	48:5562a99479e5	4269	case 1:
yabahiro	48:5562a99479e5	4270	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4271	mtc=false;
yabahiro	48:5562a99479e5	4272	break;
yabahiro	48:5562a99479e5	4273	case 3:
yabahiro	48:5562a99479e5	4274	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4275	mtc=false;
yabahiro	48:5562a99479e5	4276	break;
yabahiro	48:5562a99479e5	4277	case 2:
yabahiro	48:5562a99479e5	4278	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4279	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4280	mtc=false;
yabahiro	48:5562a99479e5	4281	break;
yabahiro	48:5562a99479e5	4282	}
yabahiro	48:5562a99479e5	4283	}
yabahiro	48:5562a99479e5	4284	}
yabahiro	48:5562a99479e5	4285	} else {
yabahiro	48:5562a99479e5	4286	if(mode==21) {
yabahiro	49:697b4e9ce884	4287	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4288	fast=60;
yabahiro	48:5562a99479e5	4289	normal=30;
yabahiro	48:5562a99479e5	4290	slow=25;
yabahiro	48:5562a99479e5	4291	mode=31;
yabahiro	48:5562a99479e5	4292	countss=0;
yabahiro	48:5562a99479e5	4293	}
yabahiro	48:5562a99479e5	4294	switch(g[0]) {
yabahiro	48:5562a99479e5	4295	case 98:
yabahiro	48:5562a99479e5	4296	fast=40;
yabahiro	48:5562a99479e5	4297	normal=30;
yabahiro	48:5562a99479e5	4298	slow=25;
yabahiro	48:5562a99479e5	4299	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4300	motor[TIRE_FR].dir = BACK;
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 = normal;
yabahiro	48:5562a99479e5	4306	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4307	break;
yabahiro	48:5562a99479e5	4308	case 0:
yabahiro	48:5562a99479e5	4309	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4310	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4311	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4312	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4313	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4314	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4315	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4316	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4317	mtc=true;
yabahiro	48:5562a99479e5	4318	break;
yabahiro	48:5562a99479e5	4319	case 255:
yabahiro	48:5562a99479e5	4320	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4321	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4322	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4323	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4324	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4325	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4326	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4327	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4328	mtc=true;
yabahiro	48:5562a99479e5	4329	break;
yabahiro	48:5562a99479e5	4330	case 253:
yabahiro	48:5562a99479e5	4331	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4332	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4333	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4334	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4335	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4336	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4337	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4338	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4339	mtc=true;
yabahiro	48:5562a99479e5	4340	break;
yabahiro	48:5562a99479e5	4341	case 254:
yabahiro	48:5562a99479e5	4342	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4343	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4344	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4345	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4346	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4347	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4348	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4349	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4350	mtc=true;
yabahiro	48:5562a99479e5	4351	break;
yabahiro	48:5562a99479e5	4352	case 1:
yabahiro	48:5562a99479e5	4353	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4354	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4355	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4356	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4357	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4358	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4359	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4360	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4361	mtc=true;
yabahiro	48:5562a99479e5	4362	break;
yabahiro	48:5562a99479e5	4363	case 3:
yabahiro	48:5562a99479e5	4364	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4365	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4366	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4367	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4368	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4369	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4370	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4371	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4372	mtc=true;
yabahiro	48:5562a99479e5	4373	break;
yabahiro	48:5562a99479e5	4374	case 2:
yabahiro	48:5562a99479e5	4375	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4376	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4377	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4378	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4379	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4380	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4381	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4382	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4383	mtc=true;
yabahiro	48:5562a99479e5	4384	break;
yabahiro	48:5562a99479e5	4385	}
yabahiro	48:5562a99479e5	4386	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4387	switch(g[1]) {
yabahiro	48:5562a99479e5	4388	case 0:
yabahiro	48:5562a99479e5	4389	mtc=false;
yabahiro	48:5562a99479e5	4390	break;
yabahiro	48:5562a99479e5	4391	case 255:
yabahiro	48:5562a99479e5	4392	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4393	mtc=false;
yabahiro	48:5562a99479e5	4394	break;
yabahiro	48:5562a99479e5	4395	case 253:
yabahiro	48:5562a99479e5	4396	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4397	mtc=false;
yabahiro	48:5562a99479e5	4398	break;
yabahiro	48:5562a99479e5	4399	case 254:
yabahiro	48:5562a99479e5	4400	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4401	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4402	mtc=false;
yabahiro	48:5562a99479e5	4403	break;
yabahiro	48:5562a99479e5	4404	case 1:
yabahiro	48:5562a99479e5	4405	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4406	mtc=false;
yabahiro	48:5562a99479e5	4407	break;
yabahiro	48:5562a99479e5	4408	case 3:
yabahiro	48:5562a99479e5	4409	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4410	mtc=false;
yabahiro	48:5562a99479e5	4411	break;
yabahiro	48:5562a99479e5	4412	case 2:
yabahiro	48:5562a99479e5	4413	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4414	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4415	mtc=false;
yabahiro	48:5562a99479e5	4416	break;
yabahiro	48:5562a99479e5	4417	}
yabahiro	48:5562a99479e5	4418	}
yabahiro	48:5562a99479e5	4419	}
yabahiro	48:5562a99479e5	4420	}
yabahiro	48:5562a99479e5	4421
yabahiro	48:5562a99479e5	4422	/*
yabahiro	48:5562a99479e5	4423	if(mode==31) {
yabahiro	48:5562a99479e5	4424	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4425	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4426	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4427	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4428	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4429	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4430	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4431	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4432	if(countss>=5000) {
yabahiro	48:5562a99479e5	4433	countss=0;
yabahiro	48:5562a99479e5	4434	mode=33;
yabahiro	48:5562a99479e5	4435	}
yabahiro	48:5562a99479e5	4436	} else if(mode==33) {
yabahiro	48:5562a99479e5	4437	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4438	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4439	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4440	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4441	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4442	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4443	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4444	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4445	if(g[3]==0) {
yabahiro	48:5562a99479e5	4446	cross=0;
yabahiro	48:5562a99479e5	4447	countss=0;
yabahiro	48:5562a99479e5	4448	mode=40;
yabahiro	48:5562a99479e5	4449	}
yabahiro	48:5562a99479e5	4450	} else
yabahiro	48:5562a99479e5	4451	*/
yabahiro	48:5562a99479e5	4452	if(mode==31) {
yabahiro	48:5562a99479e5	4453	motor[TIRE_FR].pwm = 45;
yabahiro	48:5562a99479e5	4454	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4455	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	4456	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4457	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	4458	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4459	motor[TIRE_BL].pwm = 45;
yabahiro	48:5562a99479e5	4460	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4461	if(g[3]==0) {
yabahiro	48:5562a99479e5	4462	cross=0;
yabahiro	48:5562a99479e5	4463	countss=0;
yabahiro	48:5562a99479e5	4464	mode=40;
yabahiro	48:5562a99479e5	4465	}
yabahiro	48:5562a99479e5	4466	} else if(mode==40) {
yabahiro	48:5562a99479e5	4467	switch(g[3]) {
yabahiro	48:5562a99479e5	4468	case 98:
yabahiro	48:5562a99479e5	4469	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4470	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4471	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4472	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4473	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4474	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4475	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4476	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4477	if(countss>10000) {
yabahiro	48:5562a99479e5	4478	cross++;
yabahiro	48:5562a99479e5	4479	countss=0;
yabahiro	48:5562a99479e5	4480	}
yabahiro	48:5562a99479e5	4481	mtc2=true;
yabahiro	48:5562a99479e5	4482	if(cross==1) {
yabahiro	48:5562a99479e5	4483	mode=41;
yabahiro	48:5562a99479e5	4484	countss=0;
yabahiro	48:5562a99479e5	4485	cross=0;
yabahiro	48:5562a99479e5	4486	}
yabahiro	48:5562a99479e5	4487	break;
yabahiro	48:5562a99479e5	4488	case 0:
yabahiro	48:5562a99479e5	4489	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4490	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4491	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4492	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4493	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4494	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4495	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4496	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4497	mtc2=true;
yabahiro	48:5562a99479e5	4498	break;
yabahiro	48:5562a99479e5	4499	case 255:
yabahiro	48:5562a99479e5	4500	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4501	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4502	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4503	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4504	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4505	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4506	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4507	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4508	mtc2=true;
yabahiro	48:5562a99479e5	4509	break;
yabahiro	48:5562a99479e5	4510	case 253:
yabahiro	48:5562a99479e5	4511	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4512	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4513	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4514	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4515	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4516	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4517	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4518	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4519	mtc2=true;
yabahiro	48:5562a99479e5	4520	break;
yabahiro	48:5562a99479e5	4521	case 254:
yabahiro	48:5562a99479e5	4522	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4523	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4524	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4525	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4526	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4527	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4528	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4529	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4530	mtc2=true;
yabahiro	48:5562a99479e5	4531	break;
yabahiro	48:5562a99479e5	4532	case 1:
yabahiro	48:5562a99479e5	4533	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4534	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4535	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4536	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4537	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4538	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4539	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4540	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4541	mtc2=true;
yabahiro	48:5562a99479e5	4542	break;
yabahiro	48:5562a99479e5	4543	case 3:
yabahiro	48:5562a99479e5	4544	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4545	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4546	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4547	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4548	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4549	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4550	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4551	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4552	mtc2=true;
yabahiro	48:5562a99479e5	4553	break;
yabahiro	48:5562a99479e5	4554	case 2:
yabahiro	48:5562a99479e5	4555	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4556	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4557	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4558	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4559	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4560	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4561	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4562	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4563	mtc2=true;
yabahiro	48:5562a99479e5	4564	break;
yabahiro	48:5562a99479e5	4565	}
yabahiro	48:5562a99479e5	4566	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	4567	switch(g[2]) {
yabahiro	48:5562a99479e5	4568	case 0:
yabahiro	48:5562a99479e5	4569	mtc2=false;
yabahiro	48:5562a99479e5	4570	break;
yabahiro	48:5562a99479e5	4571	case 255:
yabahiro	48:5562a99479e5	4572	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	4573	mtc2=false;
yabahiro	48:5562a99479e5	4574	break;
yabahiro	48:5562a99479e5	4575	case 253:
yabahiro	48:5562a99479e5	4576	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	4577	mtc2=false;
yabahiro	48:5562a99479e5	4578	break;
yabahiro	48:5562a99479e5	4579	case 254:
yabahiro	48:5562a99479e5	4580	motor[TIRE_FL].pwm += 20;
yabahiro	48:5562a99479e5	4581	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4582	mtc2=false;
yabahiro	48:5562a99479e5	4583	break;
yabahiro	48:5562a99479e5	4584	case 1:
yabahiro	48:5562a99479e5	4585	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4586	mtc2=false;
yabahiro	48:5562a99479e5	4587	break;
yabahiro	48:5562a99479e5	4588	case 3:
yabahiro	48:5562a99479e5	4589	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4590	mtc2=false;
yabahiro	48:5562a99479e5	4591	break;
yabahiro	48:5562a99479e5	4592	case 2:
yabahiro	48:5562a99479e5	4593	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4594	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4595	mtc2=false;
yabahiro	48:5562a99479e5	4596	break;
yabahiro	48:5562a99479e5	4597	}
yabahiro	48:5562a99479e5	4598	}
yabahiro	48:5562a99479e5	4599	} else if(mode==41) {
yabahiro	48:5562a99479e5	4600	if(LIF\|\|LIB) {
yabahiro	48:5562a99479e5	4601	mode=42;
yabahiro	48:5562a99479e5	4602	}
yabahiro	48:5562a99479e5	4603	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4604	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4605	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4606	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4607	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4608	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4609	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4610	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4611	if(g[1]==0) {
yabahiro	48:5562a99479e5	4612	countss=0;
yabahiro	48:5562a99479e5	4613	mode=70;
yabahiro	48:5562a99479e5	4614	normal=60;
yabahiro	48:5562a99479e5	4615	fast=70;
yabahiro	48:5562a99479e5	4616	slow=40;
yabahiro	48:5562a99479e5	4617	}
yabahiro	48:5562a99479e5	4618	} else if(mode==42) {
yabahiro	48:5562a99479e5	4619	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	4620	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	4621	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4622	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4623	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4624	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4625	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	4626	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	4627	if(g[1]==0) {
yabahiro	48:5562a99479e5	4628	countss=0;
yabahiro	48:5562a99479e5	4629	mode=70;
yabahiro	48:5562a99479e5	4630	}
yabahiro	48:5562a99479e5	4631	} else if(mode==70) {
yabahiro	48:5562a99479e5	4632	switch(g[0]) {
yabahiro	48:5562a99479e5	4633	case 99:
yabahiro	48:5562a99479e5	4634	if(countss>=100000) {
yabahiro	48:5562a99479e5	4635	mode=100;
yabahiro	48:5562a99479e5	4636	}
yabahiro	48:5562a99479e5	4637	break;
yabahiro	48:5562a99479e5	4638	case 98:
yabahiro	48:5562a99479e5	4639	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4640	motor[TIRE_FR].dir = BACK;
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 = normal;
yabahiro	48:5562a99479e5	4646	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4647	break;
yabahiro	48:5562a99479e5	4648	case 0:
yabahiro	48:5562a99479e5	4649	motor[TIRE_FR].pwm = 80;
yabahiro	48:5562a99479e5	4650	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4651	motor[TIRE_FL].pwm = 80;
yabahiro	48:5562a99479e5	4652	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4653	motor[TIRE_BR].pwm = 80;
yabahiro	48:5562a99479e5	4654	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4655	motor[TIRE_BL].pwm = 80;
yabahiro	48:5562a99479e5	4656	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4657	mtc=true;
yabahiro	48:5562a99479e5	4658	break;
yabahiro	48:5562a99479e5	4659	case 255:
yabahiro	48:5562a99479e5	4660	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4661	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4662	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4663	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4664	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4665	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4666	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4667	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4668	mtc=true;
yabahiro	48:5562a99479e5	4669	break;
yabahiro	48:5562a99479e5	4670	case 253:
yabahiro	48:5562a99479e5	4671	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4672	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4673	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4674	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4675	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4676	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4677	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4678	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4679	mtc=true;
yabahiro	48:5562a99479e5	4680	break;
yabahiro	48:5562a99479e5	4681	case 254:
yabahiro	48:5562a99479e5	4682	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4683	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4684	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4685	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4686	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4687	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4688	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4689	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4690	mtc=true;
yabahiro	48:5562a99479e5	4691	break;
yabahiro	48:5562a99479e5	4692	case 1:
yabahiro	48:5562a99479e5	4693	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4694	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4695	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4696	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4697	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4698	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4699	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4700	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4701	mtc=true;
yabahiro	48:5562a99479e5	4702	break;
yabahiro	48:5562a99479e5	4703	case 3:
yabahiro	48:5562a99479e5	4704	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4705	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4706	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4707	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4708	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4709	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4710	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4711	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4712	mtc=true;
yabahiro	48:5562a99479e5	4713	break;
yabahiro	48:5562a99479e5	4714	case 2:
yabahiro	48:5562a99479e5	4715	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4716	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4717	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4718	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4719	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4720	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4721	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4722	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4723	mtc=true;
yabahiro	48:5562a99479e5	4724	break;
yabahiro	48:5562a99479e5	4725	}
yabahiro	48:5562a99479e5	4726	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4727	switch(g[1]) {
yabahiro	48:5562a99479e5	4728	case 0:
yabahiro	48:5562a99479e5	4729	mtc=false;
yabahiro	48:5562a99479e5	4730	break;
yabahiro	48:5562a99479e5	4731	case 255:
yabahiro	48:5562a99479e5	4732	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4733	mtc=false;
yabahiro	48:5562a99479e5	4734	break;
yabahiro	48:5562a99479e5	4735	case 253:
yabahiro	48:5562a99479e5	4736	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4737	mtc=false;
yabahiro	48:5562a99479e5	4738	break;
yabahiro	48:5562a99479e5	4739	case 254:
yabahiro	48:5562a99479e5	4740	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4741	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4742	mtc=false;
yabahiro	48:5562a99479e5	4743	break;
yabahiro	48:5562a99479e5	4744	case 1:
yabahiro	48:5562a99479e5	4745	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4746	mtc=false;
yabahiro	48:5562a99479e5	4747	break;
yabahiro	48:5562a99479e5	4748	case 3:
yabahiro	48:5562a99479e5	4749	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4750	mtc=false;
yabahiro	48:5562a99479e5	4751	break;
yabahiro	48:5562a99479e5	4752	case 2:
yabahiro	48:5562a99479e5	4753	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4754	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4755	mtc=false;
yabahiro	48:5562a99479e5	4756	break;
yabahiro	48:5562a99479e5	4757	}
yabahiro	48:5562a99479e5	4758	}
yabahiro	48:5562a99479e5	4759	} else if(mode==100) {
yabahiro	48:5562a99479e5	4760	motor[TIRE_FR].pwm = 50;
yabahiro	48:5562a99479e5	4761	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4762	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	4763	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4764	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	4765	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4766	motor[TIRE_BL].pwm = 50;
yabahiro	48:5562a99479e5	4767	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4768	} else {
yabahiro	48:5562a99479e5	4769	}
yabahiro	33:dd598bb23ad1	4770
kishibekairohan	13:b6e02d6261d7	4771	}
kishibekairohan	13:b6e02d6261d7	4772	#endif
kishibekairohan	13:b6e02d6261d7	4773
kishibekairohan	13:b6e02d6261d7	4774	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	4775	static void Process5()
Ryosei	27:dd9f27fce7d1	4776	{
yabahiro	56:61ebd4b759b4	4777	countss++;
yabahiro	56:61ebd4b759b4	4778	switch(mode) {
yabahiro	56:61ebd4b759b4	4779	case 1:
yabahiro	56:61ebd4b759b4	4780	mode=2;
yabahiro	56:61ebd4b759b4	4781	countss=0;
yabahiro	56:61ebd4b759b4	4782	fast = 60;
yabahiro	56:61ebd4b759b4	4783	normal = 40;
yabahiro	56:61ebd4b759b4	4784	slow = 30;
yabahiro	56:61ebd4b759b4	4785	break;
yabahiro	56:61ebd4b759b4	4786	case 2:
yabahiro	56:61ebd4b759b4	4787	if(YELLOW) {
yabahiro	56:61ebd4b759b4	4788	switch(g[4]) {
yabahiro	56:61ebd4b759b4	4789	case 98:
yabahiro	56:61ebd4b759b4	4790	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4791	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4792	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4793	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4794	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4795	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4796	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4797	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4798	break;
yabahiro	56:61ebd4b759b4	4799	case 99:
yabahiro	56:61ebd4b759b4	4800	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	4801	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4802	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	4803	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4804	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	4805	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4806	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	4807	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4808	break;
yabahiro	56:61ebd4b759b4	4809	case 0:
yabahiro	56:61ebd4b759b4	4810	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4811	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4812	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4813	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4814	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4815	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4816	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4817	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4818	break;
yabahiro	56:61ebd4b759b4	4819	case 255:
yabahiro	56:61ebd4b759b4	4820	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	4821	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4822	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	4823	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4824	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	4825	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4826	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	4827	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4828	break;
yabahiro	56:61ebd4b759b4	4829	case 253:
yabahiro	56:61ebd4b759b4	4830	motor[TIRE_FR].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4831	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4832	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4833	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4834	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4835	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4836	motor[TIRE_BL].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4837	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4838	break;
yabahiro	56:61ebd4b759b4	4839	case 254:
yabahiro	56:61ebd4b759b4	4840	motor[TIRE_FR].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4841	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4842	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4843	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4844	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4845	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4846	motor[TIRE_BL].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4847	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4848	break;
yabahiro	56:61ebd4b759b4	4849	case 1:
yabahiro	56:61ebd4b759b4	4850	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	4851	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4852	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	4853	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4854	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	4855	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4856	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	4857	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4858	break;
yabahiro	56:61ebd4b759b4	4859	case 3:
yabahiro	56:61ebd4b759b4	4860	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4861	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4862	motor[TIRE_FL].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4863	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4864	motor[TIRE_BR].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4865	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4866	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4867	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4868	break;
yabahiro	56:61ebd4b759b4	4869	case 2:
yabahiro	56:61ebd4b759b4	4870	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4871	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4872	motor[TIRE_FL].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4873	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4874	motor[TIRE_BR].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4875	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4876	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4877	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4878	break;
yabahiro	56:61ebd4b759b4	4879	}
yabahiro	56:61ebd4b759b4	4880	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	4881	fast=10;
yabahiro	56:61ebd4b759b4	4882	normal=10;
yabahiro	56:61ebd4b759b4	4883	slow=10;
yabahiro	56:61ebd4b759b4	4884	}
yabahiro	56:61ebd4b759b4	4885	if(g[3]==254&&countss>=100000) {
yabahiro	56:61ebd4b759b4	4886	mode=3;
yabahiro	56:61ebd4b759b4	4887	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	56:61ebd4b759b4	4888	aime.start();
yabahiro	56:61ebd4b759b4	4889	aime.reset();
yabahiro	56:61ebd4b759b4	4890	countss=0;
yabahiro	56:61ebd4b759b4	4891	fast=80;
yabahiro	56:61ebd4b759b4	4892	normal=60;
yabahiro	56:61ebd4b759b4	4893	slow=30;
yabahiro	56:61ebd4b759b4	4894	}
yabahiro	56:61ebd4b759b4	4895	} else {
yabahiro	56:61ebd4b759b4	4896	if(UPLS\|\|DOLS) {
yabahiro	56:61ebd4b759b4	4897	if(UPLS\|\|DOLS) {
yabahiro	56:61ebd4b759b4	4898	motor[MOTOR_0].pwm = 200;
yabahiro	56:61ebd4b759b4	4899	motor[MOTOR_0].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4900	fast=60;
yabahiro	56:61ebd4b759b4	4901	normal=40;
yabahiro	56:61ebd4b759b4	4902	slow=30;
yabahiro	56:61ebd4b759b4	4903	countss=0;
yabahiro	56:61ebd4b759b4	4904	mode=24;
yabahiro	56:61ebd4b759b4	4905	}
yabahiro	56:61ebd4b759b4	4906	} else {
yabahiro	56:61ebd4b759b4	4907	motor[MOTOR_0].pwm = 100;
yabahiro	56:61ebd4b759b4	4908	motor[MOTOR_0].dir = BACK;
yabahiro	56:61ebd4b759b4	4909	}
yabahiro	56:61ebd4b759b4	4910	motor[TIRE_FR].pwm = 100;
yabahiro	56:61ebd4b759b4	4911	motor[TIRE_FR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4912	motor[TIRE_FL].pwm = 100;
yabahiro	56:61ebd4b759b4	4913	motor[TIRE_FL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4914	motor[TIRE_BR].pwm = 100;
yabahiro	56:61ebd4b759b4	4915	motor[TIRE_BR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4916	motor[TIRE_BL].pwm = 100;
yabahiro	56:61ebd4b759b4	4917	motor[TIRE_BL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4918	}
yabahiro	56:61ebd4b759b4	4919	break;
yabahiro	56:61ebd4b759b4	4920	case 3:
yabahiro	56:61ebd4b759b4	4921	if(YELLOW) {
yabahiro	56:61ebd4b759b4	4922	value=aime.read_ms();
yabahiro	56:61ebd4b759b4	4923	if(value>=5000) {
yabahiro	56:61ebd4b759b4	4924	mode=4;
yabahiro	56:61ebd4b759b4	4925	}
yabahiro	56:61ebd4b759b4	4926	if(g[4]==3\|\|g[4]==2) {
yabahiro	56:61ebd4b759b4	4927	motor[TIRE_FR].pwm = 20;
yabahiro	56:61ebd4b759b4	4928	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4929	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	4930	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	4931	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4932	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	4933	motor[TIRE_BL].pwm = 20;
yabahiro	56:61ebd4b759b4	4934	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4935	}
yabahiro	56:61ebd4b759b4	4936	if(g[4]==253\|\|g[4]==254) {
yabahiro	56:61ebd4b759b4	4937	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4938	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4939	motor[TIRE_FL].pwm = 20;
yabahiro	56:61ebd4b759b4	4940	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4941	motor[TIRE_BR].pwm = 20;
yabahiro	56:61ebd4b759b4	4942	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4943	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	4944	motor[TIRE_BL].dir = FOR;
yabahiro	56:61ebd4b759b4	4945	}
yabahiro	56:61ebd4b759b4	4946	switch(g[2]) {
yabahiro	56:61ebd4b759b4	4947	case 0:
yabahiro	56:61ebd4b759b4	4948	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	4949	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4950	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	4951	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4952	break;
yabahiro	56:61ebd4b759b4	4953	case 255:
yabahiro	56:61ebd4b759b4	4954	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4955	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4956	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	4957	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4958	break;
yabahiro	56:61ebd4b759b4	4959	case 253:
yabahiro	56:61ebd4b759b4	4960	motor[TIRE_FR].pwm = 40;
yabahiro	56:61ebd4b759b4	4961	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4962	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	4963	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4964	break;
yabahiro	56:61ebd4b759b4	4965	case 254:
yabahiro	56:61ebd4b759b4	4966	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4967	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4968	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4969	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	4970	break;
yabahiro	56:61ebd4b759b4	4971	case 1:
yabahiro	56:61ebd4b759b4	4972	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	4973	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4974	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4975	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4976	break;
yabahiro	56:61ebd4b759b4	4977	case 3:
yabahiro	56:61ebd4b759b4	4978	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	4979	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4980	motor[TIRE_BR].pwm = 40;
yabahiro	56:61ebd4b759b4	4981	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4982	break;
yabahiro	56:61ebd4b759b4	4983	case 2:
yabahiro	56:61ebd4b759b4	4984	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4985	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4986	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4987	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4988	break;
yabahiro	56:61ebd4b759b4	4989	}
yabahiro	56:61ebd4b759b4	4990	switch(g[3]) {
yabahiro	56:61ebd4b759b4	4991	case 0:
yabahiro	56:61ebd4b759b4	4992	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	4993	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4994	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	4995	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4996	break;
yabahiro	56:61ebd4b759b4	4997	case 255:
yabahiro	56:61ebd4b759b4	4998	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	4999	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5000	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	5001	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5002	case 253:
yabahiro	56:61ebd4b759b4	5003	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	5004	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5005	motor[TIRE_BL].pwm = 40;
yabahiro	56:61ebd4b759b4	5006	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5007	break;
yabahiro	56:61ebd4b759b4	5008	case 254:
yabahiro	56:61ebd4b759b4	5009	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	5010	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5011	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	5012	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5013	break;
yabahiro	56:61ebd4b759b4	5014	case 1:
yabahiro	56:61ebd4b759b4	5015	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	5016	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	5017	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	5018	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5019	break;
yabahiro	56:61ebd4b759b4	5020	case 3:
yabahiro	56:61ebd4b759b4	5021	motor[TIRE_FL].pwm = 40;
yabahiro	56:61ebd4b759b4	5022	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	5023	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	5024	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5025	break;
yabahiro	56:61ebd4b759b4	5026	case 2:
yabahiro	56:61ebd4b759b4	5027	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	5028	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	5029	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	5030	motor[TIRE_BL].dir = FOR;
yabahiro	56:61ebd4b759b4	5031	break;
yabahiro	56:61ebd4b759b4	5032	}
yabahiro	56:61ebd4b759b4	5033	if(g[3]==0&&g[2]==0) {
yabahiro	56:61ebd4b759b4	5034	mode=25;
yabahiro	56:61ebd4b759b4	5035	}
yabahiro	56:61ebd4b759b4	5036	} else {
yabahiro	56:61ebd4b759b4	5037	if(g[1]==98&&countss>=40000) {
yabahiro	56:61ebd4b759b4	5038	mode=31;
yabahiro	56:61ebd4b759b4	5039	fast = 60;
yabahiro	56:61ebd4b759b4	5040	normal = 40;
yabahiro	56:61ebd4b759b4	5041	slow = 30;
yabahiro	56:61ebd4b759b4	5042	countss=0;
yabahiro	56:61ebd4b759b4	5043	}
yabahiro	56:61ebd4b759b4	5044	switch(g[1]) {
yabahiro	56:61ebd4b759b4	5045	case 98:
yabahiro	56:61ebd4b759b4	5046	fast=40;
yabahiro	56:61ebd4b759b4	5047	normal=30;
yabahiro	56:61ebd4b759b4	5048	slow=25;
yabahiro	56:61ebd4b759b4	5049	motor[TIRE_FR].pwm = normal;
yabahiro	56:61ebd4b759b4	5050	motor[TIRE_FR].dir = FOR;
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 = normal;
yabahiro	56:61ebd4b759b4	5056	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5057	break;
yabahiro	56:61ebd4b759b4	5058	case 0:
yabahiro	56:61ebd4b759b4	5059	motor[TIRE_FR].pwm = fast;
yabahiro	56:61ebd4b759b4	5060	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5061	motor[TIRE_FL].pwm = fast;
yabahiro	56:61ebd4b759b4	5062	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5063	motor[TIRE_BR].pwm = fast;
yabahiro	56:61ebd4b759b4	5064	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5065	motor[TIRE_BL].pwm = fast;
yabahiro	56:61ebd4b759b4	5066	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5067	mtc=true;
yabahiro	56:61ebd4b759b4	5068	break;
yabahiro	56:61ebd4b759b4	5069	case 255:
yabahiro	56:61ebd4b759b4	5070	motor[TIRE_FR].pwm = fast;
yabahiro	56:61ebd4b759b4	5071	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5072	motor[TIRE_FL].pwm = slow;
yabahiro	56:61ebd4b759b4	5073	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5074	motor[TIRE_BR].pwm = slow;
yabahiro	56:61ebd4b759b4	5075	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5076	motor[TIRE_BL].pwm = fast;
yabahiro	56:61ebd4b759b4	5077	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5078	mtc=true;
yabahiro	56:61ebd4b759b4	5079	break;
yabahiro	56:61ebd4b759b4	5080	case 253:
yabahiro	56:61ebd4b759b4	5081	motor[TIRE_FR].pwm = slow;
yabahiro	56:61ebd4b759b4	5082	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5083	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5084	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5085	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5086	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5087	motor[TIRE_BL].pwm = slow;
yabahiro	56:61ebd4b759b4	5088	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5089	mtc=true;
yabahiro	56:61ebd4b759b4	5090	break;
yabahiro	56:61ebd4b759b4	5091	case 254:
yabahiro	56:61ebd4b759b4	5092	motor[TIRE_FR].pwm = normal;
yabahiro	56:61ebd4b759b4	5093	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5094	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5095	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5096	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5097	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5098	motor[TIRE_BL].pwm = normal;
yabahiro	56:61ebd4b759b4	5099	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5100	mtc=true;
yabahiro	56:61ebd4b759b4	5101	break;
yabahiro	56:61ebd4b759b4	5102	case 1:
yabahiro	56:61ebd4b759b4	5103	motor[TIRE_FR].pwm = slow;
yabahiro	56:61ebd4b759b4	5104	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5105	motor[TIRE_FL].pwm = fast;
yabahiro	56:61ebd4b759b4	5106	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5107	motor[TIRE_BR].pwm = fast;
yabahiro	56:61ebd4b759b4	5108	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5109	motor[TIRE_BL].pwm = slow;
yabahiro	56:61ebd4b759b4	5110	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5111	mtc=true;
yabahiro	56:61ebd4b759b4	5112	break;
yabahiro	56:61ebd4b759b4	5113	case 3:
yabahiro	56:61ebd4b759b4	5114	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5115	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5116	motor[TIRE_FL].pwm = slow;
yabahiro	56:61ebd4b759b4	5117	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5118	motor[TIRE_BR].pwm = slow;
yabahiro	56:61ebd4b759b4	5119	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5120	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5121	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5122	mtc=true;
yabahiro	56:61ebd4b759b4	5123	break;
yabahiro	56:61ebd4b759b4	5124	case 2:
yabahiro	56:61ebd4b759b4	5125	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5126	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5127	motor[TIRE_FL].pwm = normal;
yabahiro	56:61ebd4b759b4	5128	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5129	motor[TIRE_BR].pwm = normal;
yabahiro	56:61ebd4b759b4	5130	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5131	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5132	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5133	mtc=true;
yabahiro	56:61ebd4b759b4	5134	break;
yabahiro	56:61ebd4b759b4	5135	}
yabahiro	56:61ebd4b759b4	5136	if(g[1]!=98&&mtc==true) {
yabahiro	56:61ebd4b759b4	5137	switch(g[0]) {
yabahiro	56:61ebd4b759b4	5138	case 0:
yabahiro	56:61ebd4b759b4	5139	mtc=false;
yabahiro	56:61ebd4b759b4	5140	break;
yabahiro	56:61ebd4b759b4	5141	case 255:
yabahiro	56:61ebd4b759b4	5142	motor[TIRE_FL].pwm += 3;
yabahiro	56:61ebd4b759b4	5143	mtc=false;
yabahiro	56:61ebd4b759b4	5144	break;
yabahiro	56:61ebd4b759b4	5145	case 253:
yabahiro	56:61ebd4b759b4	5146	motor[TIRE_FL].pwm += 6;
yabahiro	56:61ebd4b759b4	5147	mtc=false;
yabahiro	56:61ebd4b759b4	5148	break;
yabahiro	56:61ebd4b759b4	5149	case 254:
yabahiro	56:61ebd4b759b4	5150	motor[TIRE_FL].pwm += 9;
yabahiro	56:61ebd4b759b4	5151	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5152	mtc=false;
yabahiro	56:61ebd4b759b4	5153	break;
yabahiro	56:61ebd4b759b4	5154	case 1:
yabahiro	56:61ebd4b759b4	5155	motor[TIRE_FR].pwm += 3;
yabahiro	56:61ebd4b759b4	5156	mtc=false;
yabahiro	56:61ebd4b759b4	5157	break;
yabahiro	56:61ebd4b759b4	5158	case 3:
yabahiro	56:61ebd4b759b4	5159	motor[TIRE_FR].pwm += 6;
yabahiro	56:61ebd4b759b4	5160	mtc=false;
yabahiro	56:61ebd4b759b4	5161	break;
yabahiro	56:61ebd4b759b4	5162	case 2:
yabahiro	56:61ebd4b759b4	5163	motor[TIRE_FR].pwm += 9;
yabahiro	56:61ebd4b759b4	5164	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5165	mtc=false;
yabahiro	56:61ebd4b759b4	5166	break;
yabahiro	56:61ebd4b759b4	5167	}
yabahiro	56:61ebd4b759b4	5168	}
yabahiro	56:61ebd4b759b4	5169	}
yabahiro	56:61ebd4b759b4	5170	break;
yabahiro	56:61ebd4b759b4	5171	case 4:
yabahiro	56:61ebd4b759b4	5172	motor[TIRE_FR].pwm = 100;
yabahiro	56:61ebd4b759b4	5173	motor[TIRE_FR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5174	motor[TIRE_FL].pwm = 100;
yabahiro	56:61ebd4b759b4	5175	motor[TIRE_FL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5176	motor[TIRE_BR].pwm = 100;
yabahiro	56:61ebd4b759b4	5177	motor[TIRE_BR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5178	motor[TIRE_BL].pwm = 100;
yabahiro	56:61ebd4b759b4	5179	motor[TIRE_BL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5180	if(UPLS==true\|\|DOLS==true) {
yabahiro	56:61ebd4b759b4	5181	if(UPLS==true\|\|DOLS==true) {
yabahiro	56:61ebd4b759b4	5182	motor[MOTOR_0].pwm = 200;
yabahiro	56:61ebd4b759b4	5183	motor[MOTOR_0].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5184	countss = 0;
yabahiro	56:61ebd4b759b4	5185	mode=26;
yabahiro	56:61ebd4b759b4	5186	}
yabahiro	56:61ebd4b759b4	5187	} else {
yabahiro	56:61ebd4b759b4	5188	motor[MOTOR_0].pwm = 100;
yabahiro	56:61ebd4b759b4	5189	motor[MOTOR_0].dir = BACK;
yabahiro	56:61ebd4b759b4	5190	}
yabahiro	56:61ebd4b759b4	5191	break;
yabahiro	56:61ebd4b759b4	5192	case 5:
yabahiro	56:61ebd4b759b4	5193	/*
yabahiro	56:61ebd4b759b4	5194	if (g[3] == 0&&countss>=30000) {
yabahiro	56:61ebd4b759b4	5195	mode = 40;
yabahiro	56:61ebd4b759b4	5196	}
yabahiro	56:61ebd4b759b4	5197	*/
yabahiro	56:61ebd4b759b4	5198	if (g[1] != 99) {
yabahiro	56:61ebd4b759b4	5199	mode = 31;
yabahiro	56:61ebd4b759b4	5200	}
yabahiro	56:61ebd4b759b4	5201	switch(g[4]) {
yabahiro	56:61ebd4b759b4	5202	case 98:
yabahiro	56:61ebd4b759b4	5203	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5204	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5205	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5206	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5207	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5208	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5209	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5210	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5211	break;
yabahiro	56:61ebd4b759b4	5212	case 99:
yabahiro	56:61ebd4b759b4	5213	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5214	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5215	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5216	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5217	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5218	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5219	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5220	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5221	break;
yabahiro	56:61ebd4b759b4	5222	case 0:
yabahiro	56:61ebd4b759b4	5223	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5224	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5225	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5226	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5227	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5228	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5229	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5230	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5231	break;
yabahiro	56:61ebd4b759b4	5232	case 255:
yabahiro	56:61ebd4b759b4	5233	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5234	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5235	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5236	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5237	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5238	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5239	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5240	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5241	break;
yabahiro	56:61ebd4b759b4	5242	case 253:
yabahiro	56:61ebd4b759b4	5243	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	5244	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5245	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5246	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5247	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5248	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5249	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	5250	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5251	break;
yabahiro	56:61ebd4b759b4	5252	case 254:
yabahiro	56:61ebd4b759b4	5253	motor[TIRE_FR].pwm = 40;
yabahiro	56:61ebd4b759b4	5254	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5255	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5256	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5257	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5258	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5259	motor[TIRE_BL].pwm = 40;
yabahiro	56:61ebd4b759b4	5260	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5261	break;
yabahiro	56:61ebd4b759b4	5262	case 1:
yabahiro	56:61ebd4b759b4	5263	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5264	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5265	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5266	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5267	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5268	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5269	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5270	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5271	break;
yabahiro	56:61ebd4b759b4	5272	case 3:
yabahiro	56:61ebd4b759b4	5273	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5274	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5275	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	5276	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5277	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	5278	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5279	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5280	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5281	break;
yabahiro	56:61ebd4b759b4	5282	case 2:
yabahiro	56:61ebd4b759b4	5283	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5284	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5285	motor[TIRE_FL].pwm = 40;
yabahiro	56:61ebd4b759b4	5286	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5287	motor[TIRE_BR].pwm = 40;
yabahiro	56:61ebd4b759b4	5288	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5289	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5290	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5291	break;
yabahiro	56:61ebd4b759b4	5292	}
yabahiro	56:61ebd4b759b4	5293	break;
yabahiro	56:61ebd4b759b4	5294	}
yabahiro	46:68296caae1af	5295
kishibekairohan	13:b6e02d6261d7	5296	}
kishibekairohan	13:b6e02d6261d7	5297	#endif
kishibekairohan	13:b6e02d6261d7	5298
kishibekairohan	13:b6e02d6261d7	5299	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	5300	static void Process6()
kishibekairohan	13:b6e02d6261d7	5301	{
Ryosei	27:dd9f27fce7d1	5302
kishibekairohan	13:b6e02d6261d7	5303	}
kishibekairohan	13:b6e02d6261d7	5304	#endif
kishibekairohan	13:b6e02d6261d7	5305
kishibekairohan	13:b6e02d6261d7	5306	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	5307	static void Process7()
kishibekairohan	13:b6e02d6261d7	5308	{
yabahiro	33:dd598bb23ad1	5309
kishibekairohan	12:c09b3e08a316	5310	}
kishibekairohan	12:c09b3e08a316	5311	#endif
kishibekairohan	12:c09b3e08a316	5312
Ryosei	27:dd9f27fce7d1	5313	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	5314	static void Process8()
kishibekairohan	12:c09b3e08a316	5315	{
yabahiro	33:dd598bb23ad1	5316
kishibekairohan	12:c09b3e08a316	5317	}
kishibekairohan	12:c09b3e08a316	5318	#endif
kishibekairohan	12:c09b3e08a316	5319
kishibekairohan	13:b6e02d6261d7	5320	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	5321	static void Process9()
kishibekairohan	12:c09b3e08a316	5322	{
Ryosei	27:dd9f27fce7d1	5323
t_yamamoto	0:669ef71cba68	5324	}
t_yamamoto	0:669ef71cba68	5325	#endif
t_yamamoto	0:669ef71cba68	5326	#endif
t_yamamoto	0:669ef71cba68	5327	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	5328
t_yamamoto	0:669ef71cba68	5329	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	5330	{
yabahiro	33:dd598bb23ad1	5331	#ifdef USE_SOLENOID
yabahiro	33:dd598bb23ad1	5332	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	5333	#endif
yabahiro	33:dd598bb23ad1	5334
yabahiro	33:dd598bb23ad1	5335	#ifdef USE_MOTOR
yabahiro	33:dd598bb23ad1	5336	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	33:dd598bb23ad1	5337	motor[i].dir = FREE;
yabahiro	33:dd598bb23ad1	5338	motor[i].pwm = 0;
yabahiro	33:dd598bb23ad1	5339	}
yabahiro	33:dd598bb23ad1	5340	#endif
t_yamamoto	0:669ef71cba68	5341	}
t_yamamoto	0:669ef71cba68	5342
kishibekairohan	16:3f2c2d89372b	5343	#pragma region USER-DEFINED-FUNCTIONS
M_souta	29:44d5454ce8fa	5344
M_souta	29:44d5454ce8fa	5345	uint8_t SetStatus(int pwmVal)
Ryosei	27:dd9f27fce7d1	5346	{
M_souta	29:44d5454ce8fa	5347	if (pwmVal < 0) return BACK;
M_souta	29:44d5454ce8fa	5348	else if (pwmVal > 0) return FOR;
M_souta	29:44d5454ce8fa	5349	else if (pwmVal == 0) return BRAKE;
M_souta	29:44d5454ce8fa	5350	else return BRAKE;
M_souta	22:7d93f79a3686	5351	}
kishibekairohan	16:3f2c2d89372b	5352
M_souta	29:44d5454ce8fa	5353	uint8_t SetPWM(int pwmVal)
Ryosei	27:dd9f27fce7d1	5354	{
M_souta	29:44d5454ce8fa	5355	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
M_souta	29:44d5454ce8fa	5356	else return abs(pwmVal);
M_souta	22:7d93f79a3686	5357	}
yabahiro	55:844ac0974740	5358	/*
yabahiro	55:844ac0974740	5359	void Count(){
yabahiro	55:844ac0974740	5360	num++;
yabahiro	55:844ac0974740	5361	}
yabahiro	55:844ac0974740	5362	*/
t_yamamoto	0:669ef71cba68	5363	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Nov 2019
Imports:	0
Forks:	0
Commits:	60
Dependents:	0
Dependencies:	1
Followers:	1

System/Process/Process.cpp@58:bfc38c43dadb, 2019-11-23 (annotated)

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