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大季矢花 / Mbed 2 deprecated MB2019_main_alltimes_old

System/Process/Process.cpp@56:61ebd4b759b4, 2019-11-19 (annotated)

Committer:: yabahiro
Date:: Tue Nov 19 08:35:12 2019 +0000
Revision:: 56:61ebd4b759b4
Parent:: 55:844ac0974740
Child:: 57:ccfd26b94d8a

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	56:61ebd4b759b4	283	current = 5;//1119変更した
yabahiro	33:dd598bb23ad1	284
yabahiro	33:dd598bb23ad1	285	} else {
kishibekairohan	34:2fce61e3ebc4	286	countss = 0;
yabahiro	33:dd598bb23ad1	287	mode=1;
yabahiro	56:61ebd4b759b4	288	current = 2;
yabahiro	33:dd598bb23ad1	289	}
yabahiro	33:dd598bb23ad1	290	}
yabahiro	33:dd598bb23ad1	291	if(DWSW\|\|DOSW) {
yabahiro	33:dd598bb23ad1	292	if(DWSW) {
yabahiro	33:dd598bb23ad1	293	zyouge=true;
yabahiro	33:dd598bb23ad1	294	}
yabahiro	33:dd598bb23ad1	295	if(DOSW) {
yabahiro	33:dd598bb23ad1	296	if(DOLS) {
yabahiro	33:dd598bb23ad1	297	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	298	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	299	} else {
yabahiro	38:40e7fdf3c694	300	motor[MOTOR_0].pwm = 200;
yabahiro	33:dd598bb23ad1	301	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	302	}
yabahiro	33:dd598bb23ad1	303	}
yabahiro	33:dd598bb23ad1	304	} else if(zyouge==false) {
yabahiro	33:dd598bb23ad1	305	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	306	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	307	}
yabahiro	33:dd598bb23ad1	308	if(zyouge) {
yabahiro	33:dd598bb23ad1	309	if(Twsh==1) {
yabahiro	38:40e7fdf3c694	310	motor[MOTOR_0].pwm = 255;
yabahiro	33:dd598bb23ad1	311	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	312	if(UPLS) {
yabahiro	33:dd598bb23ad1	313	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	314	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	315	zyouge=false;
yabahiro	33:dd598bb23ad1	316	}
yabahiro	33:dd598bb23ad1	317	}
yabahiro	33:dd598bb23ad1	318	if(Twsh==2) {
yabahiro	33:dd598bb23ad1	319	motor[MOTOR_0].pwm = 245;
yabahiro	33:dd598bb23ad1	320	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	321	if(UPLS2) {
yabahiro	33:dd598bb23ad1	322	motor[MOTOR_0].pwm = 100;
yabahiro	33:dd598bb23ad1	323	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	324	zyouge=false;
yabahiro	33:dd598bb23ad1	325	}
yabahiro	33:dd598bb23ad1	326	}
yabahiro	33:dd598bb23ad1	327	}
yabahiro	33:dd598bb23ad1	328	if(AIRSW) {
yabahiro	33:dd598bb23ad1	329	if(SW_flag==false) {
yabahiro	33:dd598bb23ad1	330	if(Air_flag==false) {
yabahiro	33:dd598bb23ad1	331	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	332	Air_flag=true;
yabahiro	33:dd598bb23ad1	333	SW_flag=true;
yabahiro	33:dd598bb23ad1	334	} else {
yabahiro	33:dd598bb23ad1	335	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	336	Air_flag=false;
yabahiro	33:dd598bb23ad1	337	SW_flag=true;
yabahiro	33:dd598bb23ad1	338	}
yabahiro	33:dd598bb23ad1	339	}
yabahiro	33:dd598bb23ad1	340	} else {
yabahiro	33:dd598bb23ad1	341	if(SW_flag==true) {
yabahiro	33:dd598bb23ad1	342	countss++;
yabahiro	33:dd598bb23ad1	343	if(countss>=2000) {
yabahiro	33:dd598bb23ad1	344	SW_flag=false;
yabahiro	33:dd598bb23ad1	345	countss=0;
yabahiro	33:dd598bb23ad1	346	}
yabahiro	33:dd598bb23ad1	347	}
yabahiro	33:dd598bb23ad1	348	}
yabahiro	33:dd598bb23ad1	349
yabahiro	33:dd598bb23ad1	350
yabahiro	33:dd598bb23ad1	351	#ifdef USE_MU
Ryosei	27:dd9f27fce7d1	352	controller = CONTROLLER::Controller::GetData();
yabahiro	33:dd598bb23ad1	353	#endif
yabahiro	33:dd598bb23ad1	354
Ryosei	27:dd9f27fce7d1	355
yabahiro	33:dd598bb23ad1	356	#ifdef USE_ERRORCHECK
yabahiro	38:40e7fdf3c694	357	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) {
Ryosei	27:dd9f27fce7d1	358	CONTROLLER::Controller::DataReset();
Ryosei	27:dd9f27fce7d1	359	AllActuatorReset();
Ryosei	27:dd9f27fce7d1	360	lock = true;
Ryosei	27:dd9f27fce7d1	361	} else
yabahiro	38:40e7fdf3c694	362
yabahiro	33:dd598bb23ad1	363	#endif
Ryosei	27:dd9f27fce7d1	364	{
Ryosei	27:dd9f27fce7d1	365
yabahiro	33:dd598bb23ad1	366	#ifdef USE_SUBPROCESS
Ryosei	27:dd9f27fce7d1	367	if(!lock) {
Ryosei	27:dd9f27fce7d1	368	Process[current]();
Ryosei	27:dd9f27fce7d1	369	} else
yabahiro	33:dd598bb23ad1	370	#endif
Ryosei	27:dd9f27fce7d1	371	{
Ryosei	27:dd9f27fce7d1	372	//ロック時の処理
Ryosei	27:dd9f27fce7d1	373	}
Ryosei	27:dd9f27fce7d1	374	}
yabahiro	33:dd598bb23ad1	375
Ryosei	27:dd9f27fce7d1	376	SystemProcessUpdate();
Ryosei	27:dd9f27fce7d1	377	}
t_yamamoto	0:669ef71cba68	378	}
t_yamamoto	0:669ef71cba68	379
kishibekairohan	2:c015739085d3	380
kishibekairohan	2:c015739085d3	381
kishibekairohan	2:c015739085d3	382
t_yamamoto	0:669ef71cba68	383	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	384	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	385	#if USE_PROCESS_NUM>0
Ryosei	27:dd9f27fce7d1	386	static void Process0()
Ryosei	27:dd9f27fce7d1	387	{
yabahiro	33:dd598bb23ad1	388
yabahiro	33:dd598bb23ad1	389	//AllActuatorReset();
t_yamamoto	0:669ef71cba68	390	}
t_yamamoto	0:669ef71cba68	391	#endif
t_yamamoto	0:669ef71cba68	392
t_yamamoto	0:669ef71cba68	393	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	394	static void Process1()
t_yamamoto	0:669ef71cba68	395	{
kishibekairohan	35:33c6cdba5630	396	LED::LED::TapeledMode(6);
yabahiro	33:dd598bb23ad1	397	start_flag = true;
yabahiro	33:dd598bb23ad1	398	mtc=false;
yabahiro	33:dd598bb23ad1	399	mtc2 = false;
yabahiro	33:dd598bb23ad1	400	mode=1;
yabahiro	33:dd598bb23ad1	401	cross=0;
yabahiro	33:dd598bb23ad1	402	Twsh=1;
yabahiro	33:dd598bb23ad1	403	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	404	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	405	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	33:dd598bb23ad1	406	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
Ryosei	27:dd9f27fce7d1	407
kishibekairohan	42:980af34f6fe3	408	motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	409	motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	410	motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan	42:980af34f6fe3	411	motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	33:dd598bb23ad1	412
yabahiro	33:dd598bb23ad1	413	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	414
yabahiro	33:dd598bb23ad1	415	if(controller->Button.UP) {
yabahiro	33:dd598bb23ad1	416	motor[MOTOR_0].pwm =200;
yabahiro	33:dd598bb23ad1	417	motor[MOTOR_0].dir = FOR;
yabahiro	33:dd598bb23ad1	418	if(UPLS) {
yabahiro	33:dd598bb23ad1	419	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	420	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	421	}
yabahiro	33:dd598bb23ad1	422	}
yabahiro	33:dd598bb23ad1	423	if(controller->Button.DOWN) {
yabahiro	33:dd598bb23ad1	424	motor[MOTOR_0].pwm = 50;
yabahiro	33:dd598bb23ad1	425	motor[MOTOR_0].dir = BACK;
yabahiro	33:dd598bb23ad1	426	}
yabahiro	33:dd598bb23ad1	427	} else {
yabahiro	33:dd598bb23ad1	428	motor[MOTOR_0].pwm = 0;
yabahiro	33:dd598bb23ad1	429	motor[MOTOR_0].dir = BRAKE;
yabahiro	33:dd598bb23ad1	430	}
yabahiro	33:dd598bb23ad1	431
yabahiro	33:dd598bb23ad1	432	if(controller->Button.Y) {
yabahiro	33:dd598bb23ad1	433	if(dz2==true) {
yabahiro	33:dd598bb23ad1	434	if(dz2i==false) {
yabahiro	33:dd598bb23ad1	435	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	436	dz2i=true;
yabahiro	33:dd598bb23ad1	437	} else {
yabahiro	33:dd598bb23ad1	438	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	439	dz2i=false;
yabahiro	33:dd598bb23ad1	440	}
yabahiro	33:dd598bb23ad1	441	dz2=false;
yabahiro	33:dd598bb23ad1	442	}
yabahiro	33:dd598bb23ad1	443	} else {
yabahiro	33:dd598bb23ad1	444	dz2=true;
yabahiro	33:dd598bb23ad1	445	}
yabahiro	33:dd598bb23ad1	446
yabahiro	33:dd598bb23ad1	447	if(controller->Button.A) {
yabahiro	33:dd598bb23ad1	448	if(dz3==true) {
yabahiro	33:dd598bb23ad1	449	if(dz3i==false) {
kishibekairohan	37:e77816810627	450	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	451	dz3i=true;
yabahiro	33:dd598bb23ad1	452	} else {
yabahiro	33:dd598bb23ad1	453	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	454	dz3i=false;
yabahiro	33:dd598bb23ad1	455	}
yabahiro	33:dd598bb23ad1	456	dz3=false;
yabahiro	33:dd598bb23ad1	457	}
yabahiro	33:dd598bb23ad1	458	} else {
yabahiro	33:dd598bb23ad1	459	dz3=true;
yabahiro	33:dd598bb23ad1	460	}
yabahiro	33:dd598bb23ad1	461
yabahiro	33:dd598bb23ad1	462	if(controller->Button.B) {
yabahiro	33:dd598bb23ad1	463	if(dz4==true) {
yabahiro	33:dd598bb23ad1	464	if(dz4i==false) {
yabahiro	38:40e7fdf3c694	465	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	33:dd598bb23ad1	466	dz4i=true;
yabahiro	33:dd598bb23ad1	467	} else {
yabahiro	38:40e7fdf3c694	468	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	469	dz4i=false;
yabahiro	33:dd598bb23ad1	470	}
yabahiro	33:dd598bb23ad1	471	dz4=false;
yabahiro	33:dd598bb23ad1	472	}
yabahiro	33:dd598bb23ad1	473	} else {
yabahiro	33:dd598bb23ad1	474	dz4=true;
yabahiro	33:dd598bb23ad1	475	}
t_yamamoto	0:669ef71cba68	476	}
t_yamamoto	0:669ef71cba68	477	#endif
t_yamamoto	0:669ef71cba68	478
t_yamamoto	0:669ef71cba68	479	#if USE_PROCESS_NUM>2
kishibekairohan	16:3f2c2d89372b	480	static void Process2()
Ryosei	27:dd9f27fce7d1	481	{
yabahiro	33:dd598bb23ad1	482	//Oh So 青ゾーン
yabahiro	53:694dbd7dfa0e	483	LED::LED::TapeledMode(4);
yabahiro	33:dd598bb23ad1	484	countss++;
yabahiro	50:87f5fa1bc460	485	switch(mode) {
yabahiro	50:87f5fa1bc460	486	case 1:
yabahiro	51:a0bdbddd08f7	487	fast=40;
yabahiro	51:a0bdbddd08f7	488	normal=30;
yabahiro	51:a0bdbddd08f7	489	slow=20;
yabahiro	51:a0bdbddd08f7	490	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	491	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	492	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	493	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	494	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	495	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	496	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	497	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	498	if(g[2]==0&&countss>=300000) {
yabahiro	51:a0bdbddd08f7	499	countss=100000;
yabahiro	51:a0bdbddd08f7	500	cross=0;
yabahiro	51:a0bdbddd08f7	501	mode=3;
yabahiro	51:a0bdbddd08f7	502	}
yabahiro	50:87f5fa1bc460	503	break;
yabahiro	51:a0bdbddd08f7	504	case 3:
yabahiro	51:a0bdbddd08f7	505	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	506	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	507	motor[TIRE_FL].pwm = 255;
yabahiro	51:a0bdbddd08f7	508	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	509	motor[TIRE_BR].pwm = 255;
yabahiro	51:a0bdbddd08f7	510	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	511	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	512	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	513	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	514	mode=10;
yabahiro	51:a0bdbddd08f7	515	countss=100000;
yabahiro	55:844ac0974740	516	fast=80;
yabahiro	55:844ac0974740	517	normal=60;
yabahiro	55:844ac0974740	518	slow=40;
yabahiro	51:a0bdbddd08f7	519	}
yabahiro	50:87f5fa1bc460	520	break;
yabahiro	50:87f5fa1bc460	521	case 10:
yabahiro	51:a0bdbddd08f7	522	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	523	case 98:
yabahiro	51:a0bdbddd08f7	524	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	525	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	526	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	527	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	528	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	529	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	530	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	531	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	532	mtc=true;
yabahiro	51:a0bdbddd08f7	533	if(countss>80000) {
yabahiro	51:a0bdbddd08f7	534	cross++;
yabahiro	51:a0bdbddd08f7	535	countss=0;
yabahiro	51:a0bdbddd08f7	536	}
yabahiro	46:68296caae1af	537
yabahiro	51:a0bdbddd08f7	538	if(cross==2) {
yabahiro	51:a0bdbddd08f7	539	fast = 10;
yabahiro	51:a0bdbddd08f7	540	normal = 10;
yabahiro	51:a0bdbddd08f7	541	slow = 5;
yabahiro	51:a0bdbddd08f7	542	}
yabahiro	46:68296caae1af	543
kishibekairohan	45:0cf48a0605cd	544	if(cross==3) {
yabahiro	51:a0bdbddd08f7	545	fast=40;
yabahiro	51:a0bdbddd08f7	546	normal=30;
yabahiro	51:a0bdbddd08f7	547	slow=20;
yabahiro	51:a0bdbddd08f7	548	mode=11;
yabahiro	39:784552c26163	549	countss=0;
yabahiro	39:784552c26163	550	cross=0;
yabahiro	39:784552c26163	551	}
yabahiro	39:784552c26163	552	break;
yabahiro	39:784552c26163	553	case 0:
yabahiro	51:a0bdbddd08f7	554	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	555	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	556	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	557	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	558	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	559	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	560	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	561	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	562	mtc=true;
yabahiro	39:784552c26163	563	break;
yabahiro	39:784552c26163	564	case 255:
yabahiro	51:a0bdbddd08f7	565	motor[TIRE_FR].pwm = fast+55;
yabahiro	51:a0bdbddd08f7	566	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	567	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	568	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	569	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	570	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	571	motor[TIRE_BL].pwm = fast+45;
yabahiro	51:a0bdbddd08f7	572	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	573	mtc=true;
yabahiro	39:784552c26163	574	break;
yabahiro	39:784552c26163	575	case 253:
yabahiro	51:a0bdbddd08f7	576	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	577	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	578	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	579	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	580	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	581	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	582	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	583	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	584	mtc=true;
yabahiro	39:784552c26163	585	break;
yabahiro	39:784552c26163	586	case 254:
yabahiro	51:a0bdbddd08f7	587	motor[TIRE_FR].pwm = normal+55;
yabahiro	51:a0bdbddd08f7	588	motor[TIRE_FR].dir = FOR;
yabahiro	39:784552c26163	589	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	590	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	591	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	592	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	593	motor[TIRE_BL].pwm = normal+45;
yabahiro	51:a0bdbddd08f7	594	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	595	mtc=true;
yabahiro	39:784552c26163	596	break;
yabahiro	39:784552c26163	597	case 1:
yabahiro	51:a0bdbddd08f7	598	motor[TIRE_FR].pwm = slow+55;
yabahiro	51:a0bdbddd08f7	599	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	600	motor[TIRE_FL].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	601	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	602	motor[TIRE_BR].pwm = fast+50;
yabahiro	51:a0bdbddd08f7	603	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	604	motor[TIRE_BL].pwm = slow+45;
yabahiro	51:a0bdbddd08f7	605	motor[TIRE_BL].dir = BACK;
yabahiro	39:784552c26163	606	mtc=true;
yabahiro	39:784552c26163	607	break;
yabahiro	39:784552c26163	608	case 3:
yabahiro	39:784552c26163	609	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	610	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	611	motor[TIRE_FL].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	612	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	613	motor[TIRE_BR].pwm = slow+50;
yabahiro	51:a0bdbddd08f7	614	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	615	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	616	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	617	mtc=true;
yabahiro	39:784552c26163	618	break;
yabahiro	39:784552c26163	619	case 2:
yabahiro	39:784552c26163	620	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	621	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	622	motor[TIRE_FL].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	623	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	624	motor[TIRE_BR].pwm = normal+50;
yabahiro	51:a0bdbddd08f7	625	motor[TIRE_BR].dir = FOR;
yabahiro	39:784552c26163	626	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	627	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	628	mtc=true;
yabahiro	39:784552c26163	629	break;
yabahiro	39:784552c26163	630	}
yabahiro	51:a0bdbddd08f7	631	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	632	switch(g[0]) {
yabahiro	39:784552c26163	633	case 0:
yabahiro	39:784552c26163	634	mtc=false;
yabahiro	39:784552c26163	635	break;
yabahiro	39:784552c26163	636	case 255:
yabahiro	51:a0bdbddd08f7	637	motor[TIRE_FL].pwm += 3;
yabahiro	39:784552c26163	638	mtc=false;
yabahiro	39:784552c26163	639	break;
yabahiro	39:784552c26163	640	case 253:
yabahiro	51:a0bdbddd08f7	641	motor[TIRE_FL].pwm += 6;
yabahiro	39:784552c26163	642	mtc=false;
yabahiro	39:784552c26163	643	break;
yabahiro	39:784552c26163	644	case 254:
yabahiro	51:a0bdbddd08f7	645	motor[TIRE_FL].pwm += 9;
yabahiro	51:a0bdbddd08f7	646	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	647	mtc=false;
yabahiro	39:784552c26163	648	break;
yabahiro	39:784552c26163	649	case 1:
yabahiro	51:a0bdbddd08f7	650	motor[TIRE_FR].pwm += 3;
yabahiro	39:784552c26163	651	mtc=false;
yabahiro	39:784552c26163	652	break;
yabahiro	39:784552c26163	653	case 3:
yabahiro	51:a0bdbddd08f7	654	motor[TIRE_FR].pwm += 6;
yabahiro	39:784552c26163	655	mtc=false;
yabahiro	39:784552c26163	656	break;
yabahiro	39:784552c26163	657	case 2:
yabahiro	51:a0bdbddd08f7	658	motor[TIRE_FR].pwm += 9;
yabahiro	51:a0bdbddd08f7	659	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	660	mtc=false;
yabahiro	39:784552c26163	661	break;
yabahiro	39:784552c26163	662	}
yabahiro	39:784552c26163	663	}
yabahiro	51:a0bdbddd08f7	664	break;
yabahiro	51:a0bdbddd08f7	665	case 11:
yabahiro	53:694dbd7dfa0e	666	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	667	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	668	motor[TIRE_FL].pwm = 15;
yabahiro	53:694dbd7dfa0e	669	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	670	motor[TIRE_BR].pwm = 15;
yabahiro	53:694dbd7dfa0e	671	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	672	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	673	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	674	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	51:a0bdbddd08f7	675	countss=0;
yabahiro	51:a0bdbddd08f7	676	cross=0;
yabahiro	51:a0bdbddd08f7	677	mode=20;
yabahiro	51:a0bdbddd08f7	678	}
yabahiro	51:a0bdbddd08f7	679	break;
yabahiro	51:a0bdbddd08f7	680	case 20:
yabahiro	51:a0bdbddd08f7	681	solenoid.solenoid2= SOLENOID_ON;
yabahiro	51:a0bdbddd08f7	682	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	683	case 98:
yabahiro	51:a0bdbddd08f7	684	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	685	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	686	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	687	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	688	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	689	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	690	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	691	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	692	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	693	cross++;
yabahiro	51:a0bdbddd08f7	694	countss=0;
yabahiro	51:a0bdbddd08f7	695	}
yabahiro	51:a0bdbddd08f7	696	mtc2=true;
yabahiro	51:a0bdbddd08f7	697	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	698	if(cross==1) {
yabahiro	51:a0bdbddd08f7	699	fast=20;
yabahiro	51:a0bdbddd08f7	700	normal=15;
yabahiro	51:a0bdbddd08f7	701	slow=15;
yabahiro	51:a0bdbddd08f7	702	}
yabahiro	51:a0bdbddd08f7	703	if(cross==2) {
yabahiro	51:a0bdbddd08f7	704	mode=21;
yabahiro	51:a0bdbddd08f7	705	countss=0;
yabahiro	51:a0bdbddd08f7	706	cross=0;
yabahiro	51:a0bdbddd08f7	707	}
yabahiro	51:a0bdbddd08f7	708	} else {
yabahiro	51:a0bdbddd08f7	709	if(cross==3) {
yabahiro	51:a0bdbddd08f7	710	mode=21;
yabahiro	51:a0bdbddd08f7	711	countss=0;
yabahiro	51:a0bdbddd08f7	712	cross=0;
yabahiro	51:a0bdbddd08f7	713	}
yabahiro	51:a0bdbddd08f7	714	}
yabahiro	51:a0bdbddd08f7	715	break;
yabahiro	51:a0bdbddd08f7	716	case 0:
yabahiro	51:a0bdbddd08f7	717	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	718	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	719	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	720	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	721	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	722	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	723	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	724	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	725	mtc2=true;
yabahiro	51:a0bdbddd08f7	726	break;
yabahiro	51:a0bdbddd08f7	727	case 255:
yabahiro	51:a0bdbddd08f7	728	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	729	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	730	motor[TIRE_FL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	731	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	732	motor[TIRE_BR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	733	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	734	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	735	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	736	mtc2=true;
yabahiro	51:a0bdbddd08f7	737	break;
yabahiro	51:a0bdbddd08f7	738	case 253:
yabahiro	51:a0bdbddd08f7	739	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	740	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	741	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	742	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	743	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	744	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	745	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	746	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	747	mtc2=true;
yabahiro	51:a0bdbddd08f7	748	break;
yabahiro	51:a0bdbddd08f7	749	case 254:
yabahiro	51:a0bdbddd08f7	750	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	751	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	752	motor[TIRE_FL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	753	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	754	motor[TIRE_BR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	755	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	756	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	757	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	758	mtc2=true;
yabahiro	51:a0bdbddd08f7	759	break;
yabahiro	51:a0bdbddd08f7	760	case 1:
yabahiro	51:a0bdbddd08f7	761	motor[TIRE_FR].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	762	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	763	motor[TIRE_FL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	764	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	765	motor[TIRE_BR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	766	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	767	motor[TIRE_BL].pwm = fast+20;
yabahiro	51:a0bdbddd08f7	768	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	769	mtc2=true;
yabahiro	51:a0bdbddd08f7	770	break;
yabahiro	51:a0bdbddd08f7	771	case 3:
yabahiro	51:a0bdbddd08f7	772	motor[TIRE_FR].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	773	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	774	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	775	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	776	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	777	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	778	motor[TIRE_BL].pwm = slow+20;
yabahiro	51:a0bdbddd08f7	779	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	780	mtc2=true;
yabahiro	51:a0bdbddd08f7	781	break;
yabahiro	51:a0bdbddd08f7	782	case 2:
yabahiro	51:a0bdbddd08f7	783	motor[TIRE_FR].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	784	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	785	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	786	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	787	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	788	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	789	motor[TIRE_BL].pwm = normal+20;
yabahiro	51:a0bdbddd08f7	790	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	791	mtc2=true;
yabahiro	51:a0bdbddd08f7	792	break;
yabahiro	51:a0bdbddd08f7	793	}
yabahiro	51:a0bdbddd08f7	794	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	795	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	796	case 0:
yabahiro	51:a0bdbddd08f7	797	mtc2=false;
yabahiro	51:a0bdbddd08f7	798	break;
yabahiro	51:a0bdbddd08f7	799	case 255:
yabahiro	51:a0bdbddd08f7	800	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	801	mtc2=false;
yabahiro	51:a0bdbddd08f7	802	break;
yabahiro	51:a0bdbddd08f7	803	case 253:
yabahiro	51:a0bdbddd08f7	804	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	805	mtc2=false;
yabahiro	51:a0bdbddd08f7	806	break;
yabahiro	51:a0bdbddd08f7	807	case 254:
yabahiro	51:a0bdbddd08f7	808	motor[TIRE_BL].pwm += 15;
yabahiro	51:a0bdbddd08f7	809	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	810	mtc2=false;
yabahiro	51:a0bdbddd08f7	811	break;
yabahiro	51:a0bdbddd08f7	812	case 1:
yabahiro	51:a0bdbddd08f7	813	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	814	mtc2=false;
yabahiro	51:a0bdbddd08f7	815	break;
yabahiro	51:a0bdbddd08f7	816	case 3:
yabahiro	51:a0bdbddd08f7	817	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	818	mtc2=false;
yabahiro	51:a0bdbddd08f7	819	break;
yabahiro	51:a0bdbddd08f7	820	case 2:
yabahiro	51:a0bdbddd08f7	821	motor[TIRE_FL].pwm += 15;
yabahiro	51:a0bdbddd08f7	822	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	823	mtc2=false;
yabahiro	51:a0bdbddd08f7	824	break;
yabahiro	51:a0bdbddd08f7	825	}
yabahiro	51:a0bdbddd08f7	826	}
yabahiro	51:a0bdbddd08f7	827	break;
yabahiro	51:a0bdbddd08f7	828	case 21:
yabahiro	51:a0bdbddd08f7	829	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	830	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	831	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	832	motor[TIRE_FL].pwm = 20;
yabahiro	51:a0bdbddd08f7	833	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	834	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	835	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	836	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	837	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	838	if(g[3]==98&&countss>=10000) {
yabahiro	51:a0bdbddd08f7	839	mode=22;
yabahiro	51:a0bdbddd08f7	840	countss=0;
yabahiro	51:a0bdbddd08f7	841	fast=60;
yabahiro	51:a0bdbddd08f7	842	normal=40;
yabahiro	51:a0bdbddd08f7	843	slow=20;
yabahiro	51:a0bdbddd08f7	844	}
yabahiro	51:a0bdbddd08f7	845	} else {
yabahiro	51:a0bdbddd08f7	846	motor[TIRE_FR].pwm = 255;
yabahiro	51:a0bdbddd08f7	847	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	848	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	849	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	850	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	851	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	852	motor[TIRE_BL].pwm = 255;
yabahiro	51:a0bdbddd08f7	853	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	854	if(g[0]==0) {
yabahiro	51:a0bdbddd08f7	855	mode=22;
yabahiro	51:a0bdbddd08f7	856	fast=60;
yabahiro	51:a0bdbddd08f7	857	normal=40;
yabahiro	51:a0bdbddd08f7	858	slow=25;
yabahiro	51:a0bdbddd08f7	859	}
yabahiro	51:a0bdbddd08f7	860	}
yabahiro	51:a0bdbddd08f7	861	break;
yabahiro	51:a0bdbddd08f7	862	case 22:
yabahiro	51:a0bdbddd08f7	863	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	864	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	865	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	866	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	867	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	868	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	869	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	870	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	871	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	872	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	873	}
yabahiro	51:a0bdbddd08f7	874	if(g[4]==253\|\|g[4]==254) {
yabahiro	51:a0bdbddd08f7	875	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	876	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	877	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	878	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	879	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	880	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	881	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	882	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	883	}
yabahiro	51:a0bdbddd08f7	884	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	885	case 0:
yabahiro	51:a0bdbddd08f7	886	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	887	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	888	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	889	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	890	break;
yabahiro	51:a0bdbddd08f7	891	case 255:
yabahiro	51:a0bdbddd08f7	892	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	893	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	894	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	895	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	896	break;
yabahiro	51:a0bdbddd08f7	897	case 253:
yabahiro	51:a0bdbddd08f7	898	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	899	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	900	motor[TIRE_BR].pwm = 20;
yabahiro	51:a0bdbddd08f7	901	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	902	break;
yabahiro	51:a0bdbddd08f7	903	case 254:
yabahiro	51:a0bdbddd08f7	904	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	905	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	906	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	907	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	908	break;
yabahiro	51:a0bdbddd08f7	909	case 1:
yabahiro	51:a0bdbddd08f7	910	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	911	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	912	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	913	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	914	break;
yabahiro	51:a0bdbddd08f7	915	case 3:
yabahiro	51:a0bdbddd08f7	916	motor[TIRE_FR].pwm = 20;
yabahiro	51:a0bdbddd08f7	917	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	918	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	919	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	920	break;
yabahiro	51:a0bdbddd08f7	921	case 2:
yabahiro	51:a0bdbddd08f7	922	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	923	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	924	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	925	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	926	break;
yabahiro	51:a0bdbddd08f7	927	}
yabahiro	51:a0bdbddd08f7	928	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	929	case 0:
yabahiro	53:694dbd7dfa0e	930	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	931	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	932	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	933	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	934	break;
yabahiro	51:a0bdbddd08f7	935	case 255:
yabahiro	53:694dbd7dfa0e	936	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	937	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	938	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	939	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	940	case 253:
yabahiro	53:694dbd7dfa0e	941	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	942	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	943	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	944	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	945	break;
yabahiro	51:a0bdbddd08f7	946	case 254:
yabahiro	53:694dbd7dfa0e	947	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	948	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	949	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	950	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	951	break;
yabahiro	51:a0bdbddd08f7	952	case 1:
yabahiro	53:694dbd7dfa0e	953	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	954	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	955	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	956	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	957	break;
yabahiro	51:a0bdbddd08f7	958	case 3:
yabahiro	53:694dbd7dfa0e	959	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	960	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	961	motor[TIRE_BL].pwm = 20;
yabahiro	51:a0bdbddd08f7	962	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	963	break;
yabahiro	51:a0bdbddd08f7	964	case 2:
yabahiro	53:694dbd7dfa0e	965	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	966	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	967	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	968	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	969	break;
yabahiro	51:a0bdbddd08f7	970	}
yabahiro	51:a0bdbddd08f7	971	if(g[3]==0&&g[2]==0) {
yabahiro	51:a0bdbddd08f7	972	mode=23;
yabahiro	51:a0bdbddd08f7	973	countss=0;
yabahiro	54:4167f10ecad0	974	fast=80;
yabahiro	54:4167f10ecad0	975	normal=60;
yabahiro	54:4167f10ecad0	976	slow=30;
yabahiro	51:a0bdbddd08f7	977	}
yabahiro	51:a0bdbddd08f7	978	} else {
yabahiro	51:a0bdbddd08f7	979	if(g[0]==98) {
yabahiro	51:a0bdbddd08f7	980	slow=25;
yabahiro	51:a0bdbddd08f7	981	normal=30;
yabahiro	53:694dbd7dfa0e	982	fast=30;
yabahiro	51:a0bdbddd08f7	983	}
yabahiro	51:a0bdbddd08f7	984	if(g[3]==0) {
yabahiro	51:a0bdbddd08f7	985	slow=25;
yabahiro	51:a0bdbddd08f7	986	normal=40;
yabahiro	51:a0bdbddd08f7	987	fast=60;
yabahiro	51:a0bdbddd08f7	988	mode=23;
yabahiro	51:a0bdbddd08f7	989	}
yabahiro	51:a0bdbddd08f7	990	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	991	case 98:
yabahiro	51:a0bdbddd08f7	992	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	993	fast=40;
yabahiro	51:a0bdbddd08f7	994	normal=30;
yabahiro	51:a0bdbddd08f7	995	slow=25;
yabahiro	51:a0bdbddd08f7	996	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	997	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	998	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	999	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1000	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1001	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1002	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1003	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1004	break;
yabahiro	51:a0bdbddd08f7	1005	case 0:
yabahiro	51:a0bdbddd08f7	1006	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1007	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1008	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1009	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1010	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1011	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1012	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1013	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1014	mtc=true;
yabahiro	51:a0bdbddd08f7	1015	break;
yabahiro	51:a0bdbddd08f7	1016	case 255:
yabahiro	51:a0bdbddd08f7	1017	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1018	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1019	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1020	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1021	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1022	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1023	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1024	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1025	mtc=true;
yabahiro	51:a0bdbddd08f7	1026	break;
yabahiro	51:a0bdbddd08f7	1027	case 253:
yabahiro	51:a0bdbddd08f7	1028	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1029	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1030	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1031	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1032	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1033	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1034	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1035	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1036	mtc=true;
yabahiro	51:a0bdbddd08f7	1037	break;
yabahiro	51:a0bdbddd08f7	1038	case 254:
yabahiro	51:a0bdbddd08f7	1039	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1040	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1041	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1042	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1043	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1044	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1045	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1046	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1047	mtc=true;
yabahiro	51:a0bdbddd08f7	1048	break;
yabahiro	51:a0bdbddd08f7	1049	case 1:
yabahiro	51:a0bdbddd08f7	1050	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1051	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1052	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1053	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1054	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1055	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1056	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1057	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1058	mtc=true;
yabahiro	51:a0bdbddd08f7	1059	break;
yabahiro	51:a0bdbddd08f7	1060	case 3:
yabahiro	51:a0bdbddd08f7	1061	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1062	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1063	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1064	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1065	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1066	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1067	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1068	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1069	mtc=true;
yabahiro	51:a0bdbddd08f7	1070	break;
yabahiro	51:a0bdbddd08f7	1071	case 2:
yabahiro	51:a0bdbddd08f7	1072	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1073	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1074	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1075	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1076	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1077	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1078	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1079	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1080	mtc=true;
yabahiro	51:a0bdbddd08f7	1081	break;
yabahiro	51:a0bdbddd08f7	1082	}
yabahiro	51:a0bdbddd08f7	1083	if(g[0]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1084	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1085	case 0:
yabahiro	51:a0bdbddd08f7	1086	mtc=false;
yabahiro	51:a0bdbddd08f7	1087	break;
yabahiro	51:a0bdbddd08f7	1088	case 255:
yabahiro	51:a0bdbddd08f7	1089	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1090	mtc=false;
yabahiro	51:a0bdbddd08f7	1091	break;
yabahiro	51:a0bdbddd08f7	1092	case 253:
yabahiro	51:a0bdbddd08f7	1093	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1094	mtc=false;
yabahiro	51:a0bdbddd08f7	1095	break;
yabahiro	51:a0bdbddd08f7	1096	case 254:
yabahiro	51:a0bdbddd08f7	1097	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1098	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1099	mtc=false;
yabahiro	51:a0bdbddd08f7	1100	break;
yabahiro	51:a0bdbddd08f7	1101	case 1:
yabahiro	51:a0bdbddd08f7	1102	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1103	mtc=false;
yabahiro	51:a0bdbddd08f7	1104	break;
yabahiro	51:a0bdbddd08f7	1105	case 3:
yabahiro	51:a0bdbddd08f7	1106	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1107	mtc=false;
yabahiro	51:a0bdbddd08f7	1108	break;
yabahiro	51:a0bdbddd08f7	1109	case 2:
yabahiro	51:a0bdbddd08f7	1110	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1111	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1112	mtc=false;
yabahiro	51:a0bdbddd08f7	1113	break;
yabahiro	51:a0bdbddd08f7	1114	}
yabahiro	51:a0bdbddd08f7	1115	}
yabahiro	51:a0bdbddd08f7	1116	}
yabahiro	51:a0bdbddd08f7	1117	break;
yabahiro	51:a0bdbddd08f7	1118	case 23:
yabahiro	51:a0bdbddd08f7	1119	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1120	switch(g[4]) {
yabahiro	51:a0bdbddd08f7	1121	case 98:
yabahiro	51:a0bdbddd08f7	1122	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1123	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1124	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1125	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1126	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1127	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1128	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1129	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1130	break;
yabahiro	51:a0bdbddd08f7	1131	case 99:
yabahiro	51:a0bdbddd08f7	1132	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1133	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1134	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1135	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1136	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1137	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1138	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1139	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1140	break;
yabahiro	51:a0bdbddd08f7	1141	case 0:
yabahiro	51:a0bdbddd08f7	1142	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1143	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1144	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1145	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1146	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1147	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1148	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1149	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1150	break;
yabahiro	51:a0bdbddd08f7	1151	case 255:
yabahiro	51:a0bdbddd08f7	1152	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1153	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1154	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1155	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1156	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1157	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1158	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1159	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1160	break;
yabahiro	51:a0bdbddd08f7	1161	case 253:
yabahiro	51:a0bdbddd08f7	1162	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1163	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1164	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1165	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1166	motor[TIRE_BR].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1167	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1168	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1169	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1170	break;
yabahiro	51:a0bdbddd08f7	1171	case 254:
yabahiro	51:a0bdbddd08f7	1172	motor[TIRE_FR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1173	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1174	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1175	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1176	motor[TIRE_BR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1177	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1178	motor[TIRE_BL].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1179	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1180	break;
yabahiro	51:a0bdbddd08f7	1181	case 1:
yabahiro	51:a0bdbddd08f7	1182	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1183	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1184	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1185	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1186	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1187	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1188	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1189	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1190	break;
yabahiro	51:a0bdbddd08f7	1191	case 3:
yabahiro	51:a0bdbddd08f7	1192	motor[TIRE_FR].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1193	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1194	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1195	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1196	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1197	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1198	motor[TIRE_BL].pwm = slow-5;
yabahiro	51:a0bdbddd08f7	1199	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1200	break;
yabahiro	51:a0bdbddd08f7	1201	case 2:
yabahiro	51:a0bdbddd08f7	1202	motor[TIRE_FR].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1203	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1204	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1205	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1206	motor[TIRE_BR].pwm = fast-5;
yabahiro	51:a0bdbddd08f7	1207	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1208	motor[TIRE_BL].pwm = normal-5;
yabahiro	51:a0bdbddd08f7	1209	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1210	break;
yabahiro	51:a0bdbddd08f7	1211	}
yabahiro	51:a0bdbddd08f7	1212	if(g[0]==98) {
yabahiro	51:a0bdbddd08f7	1213	fast=20;
yabahiro	51:a0bdbddd08f7	1214	normal=15;
yabahiro	51:a0bdbddd08f7	1215	slow=10;
yabahiro	51:a0bdbddd08f7	1216	}
yabahiro	51:a0bdbddd08f7	1217	if(g[2]==254&&countss>=100000) {
yabahiro	51:a0bdbddd08f7	1218	mode=24;
yabahiro	51:a0bdbddd08f7	1219	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	51:a0bdbddd08f7	1220	countss=0;
yabahiro	54:4167f10ecad0	1221	fast=80;
yabahiro	54:4167f10ecad0	1222	normal=60;
yabahiro	54:4167f10ecad0	1223	slow=30;
yabahiro	51:a0bdbddd08f7	1224	}
yabahiro	51:a0bdbddd08f7	1225	} else {
yabahiro	51:a0bdbddd08f7	1226	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1227	if(UPLS==true\|\|DOLS==true) {
yabahiro	51:a0bdbddd08f7	1228	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1229	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1230	fast=60;
yabahiro	51:a0bdbddd08f7	1231	normal=40;
yabahiro	53:694dbd7dfa0e	1232	slow=30;
yabahiro	51:a0bdbddd08f7	1233	countss=0;
yabahiro	51:a0bdbddd08f7	1234	mode=24;
yabahiro	51:a0bdbddd08f7	1235	}
yabahiro	51:a0bdbddd08f7	1236	} else {
yabahiro	51:a0bdbddd08f7	1237	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1238	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1239	}
yabahiro	51:a0bdbddd08f7	1240	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1241	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1242	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1243	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1244	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1245	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1246	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1247	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1248	}
yabahiro	51:a0bdbddd08f7	1249	break;
yabahiro	51:a0bdbddd08f7	1250	case 24:
yabahiro	51:a0bdbddd08f7	1251	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1252	if(g[4]==3\|\|g[4]==2) {
yabahiro	51:a0bdbddd08f7	1253	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1254	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	1255	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1256	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1257	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1258	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1259	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1260	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1261	}
yabahiro	51:a0bdbddd08f7	1262	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	1263	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1264	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1265	motor[TIRE_FL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1266	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1267	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1268	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	1269	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1270	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1271	}
yabahiro	51:a0bdbddd08f7	1272	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1273	case 0:
yabahiro	51:a0bdbddd08f7	1274	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1275	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1276	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1277	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1278	break;
yabahiro	51:a0bdbddd08f7	1279	case 255:
yabahiro	51:a0bdbddd08f7	1280	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1281	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1282	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1283	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1284	break;
yabahiro	51:a0bdbddd08f7	1285	case 253:
yabahiro	51:a0bdbddd08f7	1286	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1287	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1288	motor[TIRE_BR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1289	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1290	break;
yabahiro	51:a0bdbddd08f7	1291	case 254:
yabahiro	51:a0bdbddd08f7	1292	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1293	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1294	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1295	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1296	break;
yabahiro	51:a0bdbddd08f7	1297	case 1:
yabahiro	51:a0bdbddd08f7	1298	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1299	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1300	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1301	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1302	break;
yabahiro	51:a0bdbddd08f7	1303	case 3:
yabahiro	51:a0bdbddd08f7	1304	motor[TIRE_FR].pwm = 25;
yabahiro	51:a0bdbddd08f7	1305	motor[TIRE_FR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1306	motor[TIRE_BR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1307	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1308	break;
yabahiro	51:a0bdbddd08f7	1309	case 2:
yabahiro	51:a0bdbddd08f7	1310	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1311	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1312	motor[TIRE_BR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1313	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1314	break;
yabahiro	51:a0bdbddd08f7	1315	}
yabahiro	51:a0bdbddd08f7	1316	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1317	case 0:
yabahiro	51:a0bdbddd08f7	1318	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1319	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1320	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1321	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1322	break;
yabahiro	51:a0bdbddd08f7	1323	case 255:
yabahiro	51:a0bdbddd08f7	1324	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1325	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1326	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1327	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1328	case 253:
yabahiro	51:a0bdbddd08f7	1329	motor[TIRE_FL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1330	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1331	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1332	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1333	break;
yabahiro	51:a0bdbddd08f7	1334	case 254:
yabahiro	53:694dbd7dfa0e	1335	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1336	motor[TIRE_FL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1337	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1338	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1339	break;
yabahiro	51:a0bdbddd08f7	1340	case 1:
yabahiro	53:694dbd7dfa0e	1341	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1342	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1343	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1344	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1345	break;
yabahiro	51:a0bdbddd08f7	1346	case 3:
yabahiro	53:694dbd7dfa0e	1347	motor[TIRE_FL].pwm = 45;
yabahiro	51:a0bdbddd08f7	1348	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1349	motor[TIRE_BL].pwm = 25;
yabahiro	51:a0bdbddd08f7	1350	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1351	break;
yabahiro	51:a0bdbddd08f7	1352	case 2:
yabahiro	53:694dbd7dfa0e	1353	motor[TIRE_FL].pwm = 35;
yabahiro	51:a0bdbddd08f7	1354	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1355	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1356	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1357	break;
yabahiro	51:a0bdbddd08f7	1358	}
yabahiro	51:a0bdbddd08f7	1359	if(g[3]==0&&g[2]==0) {
yabahiro	51:a0bdbddd08f7	1360	mode=25;
yabahiro	51:a0bdbddd08f7	1361	}
yabahiro	51:a0bdbddd08f7	1362	} else {
yabahiro	53:694dbd7dfa0e	1363	if(g[0]==98&&countss>=40000) {
yabahiro	51:a0bdbddd08f7	1364	mode=31;
yabahiro	53:694dbd7dfa0e	1365	fast=60;
yabahiro	53:694dbd7dfa0e	1366	normal=40;
yabahiro	53:694dbd7dfa0e	1367	slow=30;
yabahiro	51:a0bdbddd08f7	1368	countss=0;
yabahiro	51:a0bdbddd08f7	1369	}
yabahiro	51:a0bdbddd08f7	1370	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1371	case 98:
yabahiro	51:a0bdbddd08f7	1372	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1373	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1374	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1375	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1376	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1377	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1378	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1379	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1380	break;
yabahiro	51:a0bdbddd08f7	1381	case 0:
yabahiro	51:a0bdbddd08f7	1382	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1383	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1384	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1385	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1386	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1387	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1388	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1389	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1390	mtc=true;
yabahiro	51:a0bdbddd08f7	1391	break;
yabahiro	51:a0bdbddd08f7	1392	case 255:
yabahiro	51:a0bdbddd08f7	1393	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1394	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1395	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1396	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1397	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1398	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1399	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1400	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1401	mtc=true;
yabahiro	51:a0bdbddd08f7	1402	break;
yabahiro	51:a0bdbddd08f7	1403	case 253:
yabahiro	51:a0bdbddd08f7	1404	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1405	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1406	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1407	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1408	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1409	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1410	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1411	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1412	mtc=true;
yabahiro	51:a0bdbddd08f7	1413	break;
yabahiro	51:a0bdbddd08f7	1414	case 254:
yabahiro	51:a0bdbddd08f7	1415	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1416	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1417	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1418	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1419	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1420	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1421	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1422	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1423	mtc=true;
yabahiro	51:a0bdbddd08f7	1424	break;
yabahiro	51:a0bdbddd08f7	1425	case 1:
yabahiro	51:a0bdbddd08f7	1426	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1427	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1428	motor[TIRE_FL].pwm = fast+5;
yabahiro	51:a0bdbddd08f7	1429	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1430	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1431	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1432	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1433	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1434	mtc=true;
yabahiro	51:a0bdbddd08f7	1435	break;
yabahiro	51:a0bdbddd08f7	1436	case 3:
yabahiro	51:a0bdbddd08f7	1437	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1438	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1439	motor[TIRE_FL].pwm = slow+5;
yabahiro	51:a0bdbddd08f7	1440	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1441	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1442	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1443	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1444	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1445	mtc=true;
yabahiro	51:a0bdbddd08f7	1446	break;
yabahiro	51:a0bdbddd08f7	1447	case 2:
yabahiro	51:a0bdbddd08f7	1448	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1449	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1450	motor[TIRE_FL].pwm = normal+5;
yabahiro	51:a0bdbddd08f7	1451	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1452	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1453	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1454	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1455	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1456	mtc=true;
yabahiro	51:a0bdbddd08f7	1457	break;
yabahiro	51:a0bdbddd08f7	1458	}
yabahiro	51:a0bdbddd08f7	1459	if(g[1]!=98&&mtc==true) {
yabahiro	51:a0bdbddd08f7	1460	switch(g[1]) {
yabahiro	51:a0bdbddd08f7	1461	case 0:
yabahiro	51:a0bdbddd08f7	1462	mtc=false;
yabahiro	51:a0bdbddd08f7	1463	break;
yabahiro	51:a0bdbddd08f7	1464	case 255:
yabahiro	51:a0bdbddd08f7	1465	motor[TIRE_BR].pwm += 5;
yabahiro	51:a0bdbddd08f7	1466	mtc=false;
yabahiro	51:a0bdbddd08f7	1467	break;
yabahiro	51:a0bdbddd08f7	1468	case 253:
yabahiro	51:a0bdbddd08f7	1469	motor[TIRE_BR].pwm += 10;
yabahiro	51:a0bdbddd08f7	1470	mtc=false;
yabahiro	51:a0bdbddd08f7	1471	break;
yabahiro	51:a0bdbddd08f7	1472	case 254:
yabahiro	51:a0bdbddd08f7	1473	motor[TIRE_BR].pwm += 20;
yabahiro	51:a0bdbddd08f7	1474	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1475	mtc=false;
yabahiro	51:a0bdbddd08f7	1476	break;
yabahiro	51:a0bdbddd08f7	1477	case 1:
yabahiro	51:a0bdbddd08f7	1478	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1479	mtc=false;
yabahiro	51:a0bdbddd08f7	1480	break;
yabahiro	51:a0bdbddd08f7	1481	case 3:
yabahiro	51:a0bdbddd08f7	1482	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1483	mtc=false;
yabahiro	51:a0bdbddd08f7	1484	break;
yabahiro	51:a0bdbddd08f7	1485	case 2:
yabahiro	51:a0bdbddd08f7	1486	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1487	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1488	mtc=false;
yabahiro	51:a0bdbddd08f7	1489	break;
yabahiro	51:a0bdbddd08f7	1490	}
yabahiro	51:a0bdbddd08f7	1491	}
yabahiro	51:a0bdbddd08f7	1492	}
yabahiro	51:a0bdbddd08f7	1493	break;
yabahiro	51:a0bdbddd08f7	1494	case 25:
yabahiro	51:a0bdbddd08f7	1495	motor[TIRE_FR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1496	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1497	motor[TIRE_FL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1498	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1499	motor[TIRE_BR].pwm = 100;
yabahiro	51:a0bdbddd08f7	1500	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1501	motor[TIRE_BL].pwm = 100;
yabahiro	51:a0bdbddd08f7	1502	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1503	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1504	if(DOLS==true\|\|UPLS==true) {
yabahiro	51:a0bdbddd08f7	1505	motor[MOTOR_0].pwm = 200;
yabahiro	51:a0bdbddd08f7	1506	motor[MOTOR_0].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1507	countss=0;
yabahiro	51:a0bdbddd08f7	1508	mode=26;
yabahiro	51:a0bdbddd08f7	1509	}
yabahiro	51:a0bdbddd08f7	1510	} else {
yabahiro	51:a0bdbddd08f7	1511	motor[MOTOR_0].pwm = 100;
yabahiro	51:a0bdbddd08f7	1512	motor[MOTOR_0].dir = BACK;
yabahiro	51:a0bdbddd08f7	1513	}
yabahiro	51:a0bdbddd08f7	1514	break;
yabahiro	51:a0bdbddd08f7	1515	case 26:
yabahiro	53:694dbd7dfa0e	1516	if(g[0]==98) {
yabahiro	53:694dbd7dfa0e	1517	mode=31;
yabahiro	53:694dbd7dfa0e	1518	}
yabahiro	50:87f5fa1bc460	1519	switch(g[4]) {
yabahiro	50:87f5fa1bc460	1520	case 98:
yabahiro	51:a0bdbddd08f7	1521	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1522	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1523	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1524	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1525	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1526	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1527	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1528	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1529	break;
yabahiro	50:87f5fa1bc460	1530	case 99:
yabahiro	50:87f5fa1bc460	1531	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1532	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1533	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1534	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1535	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1536	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1537	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1538	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1539	break;
yabahiro	50:87f5fa1bc460	1540	case 0:
yabahiro	51:a0bdbddd08f7	1541	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1542	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1543	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1544	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1545	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1546	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1547	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1548	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1549	break;
yabahiro	50:87f5fa1bc460	1550	case 255:
yabahiro	50:87f5fa1bc460	1551	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1552	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1553	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1554	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1555	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1556	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1557	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1558	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1559	break;
yabahiro	50:87f5fa1bc460	1560	case 253:
yabahiro	51:a0bdbddd08f7	1561	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1562	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1563	motor[TIRE_FL].pwm = 30;
yabahiro	50:87f5fa1bc460	1564	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1565	motor[TIRE_BR].pwm = 25;
yabahiro	50:87f5fa1bc460	1566	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1567	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1568	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1569	break;
yabahiro	50:87f5fa1bc460	1570	case 254:
yabahiro	51:a0bdbddd08f7	1571	motor[TIRE_FR].pwm = 60;
yabahiro	50:87f5fa1bc460	1572	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1573	motor[TIRE_FL].pwm = 45;
yabahiro	50:87f5fa1bc460	1574	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1575	motor[TIRE_BR].pwm = 40;
yabahiro	50:87f5fa1bc460	1576	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1577	motor[TIRE_BL].pwm = 60;
yabahiro	50:87f5fa1bc460	1578	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1579	break;
yabahiro	50:87f5fa1bc460	1580	case 1:
yabahiro	50:87f5fa1bc460	1581	motor[TIRE_FR].pwm = 0;
yabahiro	50:87f5fa1bc460	1582	motor[TIRE_FR].dir = FREE;
yabahiro	50:87f5fa1bc460	1583	motor[TIRE_FL].pwm = 0;
yabahiro	50:87f5fa1bc460	1584	motor[TIRE_FL].dir = FREE;
yabahiro	50:87f5fa1bc460	1585	motor[TIRE_BR].pwm = 0;
yabahiro	50:87f5fa1bc460	1586	motor[TIRE_BR].dir = FREE;
yabahiro	50:87f5fa1bc460	1587	motor[TIRE_BL].pwm = 0;
yabahiro	50:87f5fa1bc460	1588	motor[TIRE_BL].dir = FREE;
yabahiro	50:87f5fa1bc460	1589	break;
yabahiro	50:87f5fa1bc460	1590	case 3:
yabahiro	51:a0bdbddd08f7	1591	motor[TIRE_FR].pwm = 25;
yabahiro	50:87f5fa1bc460	1592	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1593	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1594	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1595	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1596	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1597	motor[TIRE_BL].pwm = 25;
yabahiro	50:87f5fa1bc460	1598	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1599	break;
yabahiro	50:87f5fa1bc460	1600	case 2:
yabahiro	51:a0bdbddd08f7	1601	motor[TIRE_FR].pwm = 40;
yabahiro	50:87f5fa1bc460	1602	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1603	motor[TIRE_FL].pwm = 65;
yabahiro	50:87f5fa1bc460	1604	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1605	motor[TIRE_BR].pwm = 60;
yabahiro	50:87f5fa1bc460	1606	motor[TIRE_BR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1607	motor[TIRE_BL].pwm = 40;
yabahiro	50:87f5fa1bc460	1608	motor[TIRE_BL].dir = FOR;
yabahiro	50:87f5fa1bc460	1609	break;
yabahiro	50:87f5fa1bc460	1610	}
yabahiro	51:a0bdbddd08f7	1611	break;
yabahiro	51:a0bdbddd08f7	1612	case 31:
yabahiro	53:694dbd7dfa0e	1613	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1614	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1615	motor[TIRE_FL].pwm = 5;
yabahiro	53:694dbd7dfa0e	1616	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1617	motor[TIRE_BR].pwm = 5;
yabahiro	53:694dbd7dfa0e	1618	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1619	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1620	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1621	if(g[2]==0) {
yabahiro	51:a0bdbddd08f7	1622	cross=0;
yabahiro	51:a0bdbddd08f7	1623	countss=0;
yabahiro	51:a0bdbddd08f7	1624	mode=40;
yabahiro	55:844ac0974740	1625	fast=70;
yabahiro	55:844ac0974740	1626	normal=50;
yabahiro	55:844ac0974740	1627	slow=40;
yabahiro	51:a0bdbddd08f7	1628	}
yabahiro	51:a0bdbddd08f7	1629	break;
yabahiro	51:a0bdbddd08f7	1630	case 40:
yabahiro	51:a0bdbddd08f7	1631	switch(g[3]) {
yabahiro	51:a0bdbddd08f7	1632	case 98:
yabahiro	53:694dbd7dfa0e	1633	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1634	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1635	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1636	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1637	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1638	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1639	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1640	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1641	if(countss>30000) {
yabahiro	51:a0bdbddd08f7	1642	cross++;
yabahiro	51:a0bdbddd08f7	1643	countss=0;
yabahiro	51:a0bdbddd08f7	1644	}
yabahiro	51:a0bdbddd08f7	1645	mtc2=true;
yabahiro	51:a0bdbddd08f7	1646	if(YELLOW) {
yabahiro	51:a0bdbddd08f7	1647	if(cross==1) {
yabahiro	51:a0bdbddd08f7	1648	mode=41;
yabahiro	51:a0bdbddd08f7	1649	countss=0;
yabahiro	51:a0bdbddd08f7	1650	cross=0;
yabahiro	51:a0bdbddd08f7	1651	}
yabahiro	51:a0bdbddd08f7	1652	} else {
yabahiro	51:a0bdbddd08f7	1653	if(cross==3) {
yabahiro	53:694dbd7dfa0e	1654	fast=60;
yabahiro	53:694dbd7dfa0e	1655	normal=40;
yabahiro	53:694dbd7dfa0e	1656	slow=30;
yabahiro	51:a0bdbddd08f7	1657	mode=41;
yabahiro	51:a0bdbddd08f7	1658	countss=0;
yabahiro	51:a0bdbddd08f7	1659	cross=0;
yabahiro	51:a0bdbddd08f7	1660	}
yabahiro	51:a0bdbddd08f7	1661	}
yabahiro	51:a0bdbddd08f7	1662	break;
yabahiro	50:87f5fa1bc460	1663	case 0:
yabahiro	53:694dbd7dfa0e	1664	motor[TIRE_FR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1665	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1666	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1667	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1668	motor[TIRE_BR].pwm = fast;
yabahiro	51:a0bdbddd08f7	1669	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1670	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1671	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1672	mtc2=true;
yabahiro	50:87f5fa1bc460	1673	break;
yabahiro	50:87f5fa1bc460	1674	case 255:
yabahiro	53:694dbd7dfa0e	1675	motor[TIRE_FR].pwm = slow;
yabahiro	50:87f5fa1bc460	1676	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1677	motor[TIRE_FL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1678	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1679	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1680	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1681	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1682	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1683	mtc2=true;
yabahiro	50:87f5fa1bc460	1684	break;
yabahiro	50:87f5fa1bc460	1685	case 253:
yabahiro	51:a0bdbddd08f7	1686	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1687	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1688	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1689	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1690	motor[TIRE_BR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1691	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1692	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1693	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1694	mtc2=true;
yabahiro	50:87f5fa1bc460	1695	break;
yabahiro	50:87f5fa1bc460	1696	case 254:
yabahiro	51:a0bdbddd08f7	1697	motor[TIRE_FR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1698	motor[TIRE_FR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1699	motor[TIRE_FL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1700	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1701	motor[TIRE_BR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1702	motor[TIRE_BR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1703	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1704	motor[TIRE_BL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1705	mtc2=true;
yabahiro	50:87f5fa1bc460	1706	break;
yabahiro	50:87f5fa1bc460	1707	case 1:
yabahiro	53:694dbd7dfa0e	1708	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1709	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1710	motor[TIRE_FL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1711	motor[TIRE_FL].dir = BACK;
yabahiro	53:694dbd7dfa0e	1712	motor[TIRE_BR].pwm = slow;
yabahiro	50:87f5fa1bc460	1713	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	1714	motor[TIRE_BL].pwm = fast;
yabahiro	51:a0bdbddd08f7	1715	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1716	mtc2=true;
yabahiro	50:87f5fa1bc460	1717	break;
yabahiro	50:87f5fa1bc460	1718	case 3:
yabahiro	53:694dbd7dfa0e	1719	motor[TIRE_FR].pwm = slow;
yabahiro	51:a0bdbddd08f7	1720	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1721	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1722	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1723	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1724	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1725	motor[TIRE_BL].pwm = slow;
yabahiro	51:a0bdbddd08f7	1726	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1727	mtc2=true;
yabahiro	50:87f5fa1bc460	1728	break;
yabahiro	50:87f5fa1bc460	1729	case 2:
yabahiro	53:694dbd7dfa0e	1730	motor[TIRE_FR].pwm = normal;
yabahiro	51:a0bdbddd08f7	1731	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1732	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1733	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1734	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1735	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1736	motor[TIRE_BL].pwm = normal;
yabahiro	51:a0bdbddd08f7	1737	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1738	mtc2=true;
yabahiro	50:87f5fa1bc460	1739	break;
yabahiro	50:87f5fa1bc460	1740	}
yabahiro	51:a0bdbddd08f7	1741	if(g[2]!=98&&mtc2==true) {
yabahiro	51:a0bdbddd08f7	1742	switch(g[2]) {
yabahiro	51:a0bdbddd08f7	1743	case 0:
yabahiro	51:a0bdbddd08f7	1744	mtc2=false;
yabahiro	51:a0bdbddd08f7	1745	break;
yabahiro	51:a0bdbddd08f7	1746	case 255:
yabahiro	51:a0bdbddd08f7	1747	motor[TIRE_FL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1748	mtc2=false;
yabahiro	51:a0bdbddd08f7	1749	break;
yabahiro	51:a0bdbddd08f7	1750	case 253:
yabahiro	51:a0bdbddd08f7	1751	motor[TIRE_FL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1752	mtc2=false;
yabahiro	51:a0bdbddd08f7	1753	break;
yabahiro	51:a0bdbddd08f7	1754	case 254:
yabahiro	51:a0bdbddd08f7	1755	motor[TIRE_FL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1756	motor[TIRE_BL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1757	mtc2=false;
yabahiro	51:a0bdbddd08f7	1758	break;
yabahiro	51:a0bdbddd08f7	1759	case 1:
yabahiro	51:a0bdbddd08f7	1760	motor[TIRE_BL].pwm += 5;
yabahiro	51:a0bdbddd08f7	1761	mtc2=false;
yabahiro	51:a0bdbddd08f7	1762	break;
yabahiro	51:a0bdbddd08f7	1763	case 3:
yabahiro	51:a0bdbddd08f7	1764	motor[TIRE_BL].pwm += 10;
yabahiro	51:a0bdbddd08f7	1765	mtc2=false;
yabahiro	51:a0bdbddd08f7	1766	break;
yabahiro	51:a0bdbddd08f7	1767	case 2:
yabahiro	51:a0bdbddd08f7	1768	motor[TIRE_BL].pwm += 20;
yabahiro	51:a0bdbddd08f7	1769	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1770	mtc2=false;
yabahiro	51:a0bdbddd08f7	1771	break;
yabahiro	51:a0bdbddd08f7	1772	}
yabahiro	51:a0bdbddd08f7	1773	}
yabahiro	51:a0bdbddd08f7	1774	break;
yabahiro	51:a0bdbddd08f7	1775	case 41:
yabahiro	53:694dbd7dfa0e	1776	/*
yabahiro	53:694dbd7dfa0e	1777	if(LIF\|\|LIB) {
yabahiro	53:694dbd7dfa0e	1778	mode=42;
yabahiro	53:694dbd7dfa0e	1779	}
yabahiro	53:694dbd7dfa0e	1780	*/
yabahiro	53:694dbd7dfa0e	1781	motor[TIRE_FR].pwm = 30;
yabahiro	51:a0bdbddd08f7	1782	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1783	motor[TIRE_FL].pwm = 0;
yabahiro	53:694dbd7dfa0e	1784	motor[TIRE_FL].dir = FREE;
yabahiro	53:694dbd7dfa0e	1785	motor[TIRE_BR].pwm = 0;
yabahiro	53:694dbd7dfa0e	1786	motor[TIRE_BR].dir = FREE;
yabahiro	53:694dbd7dfa0e	1787	motor[TIRE_BL].pwm = 30;
yabahiro	51:a0bdbddd08f7	1788	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1789	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1790	countss=0;
yabahiro	51:a0bdbddd08f7	1791	mode=70;
yabahiro	55:844ac0974740	1792	normal=120;
yabahiro	55:844ac0974740	1793	fast=140;
yabahiro	55:844ac0974740	1794	slow=100;
yabahiro	51:a0bdbddd08f7	1795	}
yabahiro	51:a0bdbddd08f7	1796	break;
yabahiro	51:a0bdbddd08f7	1797	case 42:
yabahiro	51:a0bdbddd08f7	1798	motor[TIRE_FR].pwm = 40;
yabahiro	51:a0bdbddd08f7	1799	motor[TIRE_FR].dir = FOR;
yabahiro	51:a0bdbddd08f7	1800	motor[TIRE_FL].pwm = 0;
yabahiro	51:a0bdbddd08f7	1801	motor[TIRE_FL].dir = FREE;
yabahiro	51:a0bdbddd08f7	1802	motor[TIRE_BR].pwm = 0;
yabahiro	51:a0bdbddd08f7	1803	motor[TIRE_BR].dir = FREE;
yabahiro	51:a0bdbddd08f7	1804	motor[TIRE_BL].pwm = 40;
yabahiro	51:a0bdbddd08f7	1805	motor[TIRE_BL].dir = BACK;
yabahiro	51:a0bdbddd08f7	1806	if(g[1]==0) {
yabahiro	51:a0bdbddd08f7	1807	countss=0;
yabahiro	51:a0bdbddd08f7	1808	mode=70;
yabahiro	51:a0bdbddd08f7	1809	}
yabahiro	51:a0bdbddd08f7	1810	break;
yabahiro	51:a0bdbddd08f7	1811	case 70:
yabahiro	51:a0bdbddd08f7	1812	switch(g[0]) {
yabahiro	51:a0bdbddd08f7	1813	case 99:
yabahiro	51:a0bdbddd08f7	1814	if(countss>=100000) {
yabahiro	51:a0bdbddd08f7	1815	mode=100;
yabahiro	51:a0bdbddd08f7	1816	}
yabahiro	50:87f5fa1bc460	1817	break;
yabahiro	39:784552c26163	1818	case 98:
yabahiro	39:784552c26163	1819	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1820	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1821	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1822	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1823	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1824	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1825	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1826	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1827	break;
yabahiro	39:784552c26163	1828	case 0:
yabahiro	53:694dbd7dfa0e	1829	motor[TIRE_FR].pwm = 80;
yabahiro	39:784552c26163	1830	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1831	motor[TIRE_FL].pwm = 80;
yabahiro	39:784552c26163	1832	motor[TIRE_FL].dir = FOR;
yabahiro	53:694dbd7dfa0e	1833	motor[TIRE_BR].pwm = 80;
yabahiro	39:784552c26163	1834	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	1835	motor[TIRE_BL].pwm = 80;
yabahiro	39:784552c26163	1836	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1837	mtc=true;
yabahiro	39:784552c26163	1838	break;
yabahiro	39:784552c26163	1839	case 255:
yabahiro	39:784552c26163	1840	motor[TIRE_FR].pwm = fast;
yabahiro	39:784552c26163	1841	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1842	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1843	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1844	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1845	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1846	motor[TIRE_BL].pwm = fast;
yabahiro	39:784552c26163	1847	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1848	mtc=true;
yabahiro	39:784552c26163	1849	break;
yabahiro	39:784552c26163	1850	case 253:
yabahiro	39:784552c26163	1851	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1852	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1853	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1854	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1855	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1856	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1857	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1858	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1859	mtc=true;
yabahiro	39:784552c26163	1860	break;
yabahiro	39:784552c26163	1861	case 254:
yabahiro	39:784552c26163	1862	motor[TIRE_FR].pwm = normal;
yabahiro	39:784552c26163	1863	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1864	motor[TIRE_FL].pwm = 0;
yabahiro	39:784552c26163	1865	motor[TIRE_FL].dir = FREE;
yabahiro	39:784552c26163	1866	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1867	motor[TIRE_BR].dir = FREE;
yabahiro	39:784552c26163	1868	motor[TIRE_BL].pwm = normal;
yabahiro	39:784552c26163	1869	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1870	mtc=true;
yabahiro	39:784552c26163	1871	break;
yabahiro	39:784552c26163	1872	case 1:
yabahiro	39:784552c26163	1873	motor[TIRE_FR].pwm = slow;
yabahiro	39:784552c26163	1874	motor[TIRE_FR].dir = BACK;
yabahiro	39:784552c26163	1875	motor[TIRE_FL].pwm = fast;
yabahiro	39:784552c26163	1876	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1877	motor[TIRE_BR].pwm = fast;
yabahiro	39:784552c26163	1878	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1879	motor[TIRE_BL].pwm = slow;
yabahiro	39:784552c26163	1880	motor[TIRE_BL].dir = FOR;
yabahiro	39:784552c26163	1881	mtc=true;
yabahiro	39:784552c26163	1882	break;
yabahiro	39:784552c26163	1883	case 3:
yabahiro	39:784552c26163	1884	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1885	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1886	motor[TIRE_FL].pwm = slow;
yabahiro	39:784552c26163	1887	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1888	motor[TIRE_BR].pwm = slow;
yabahiro	39:784552c26163	1889	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1890	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1891	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1892	mtc=true;
yabahiro	39:784552c26163	1893	break;
yabahiro	39:784552c26163	1894	case 2:
yabahiro	39:784552c26163	1895	motor[TIRE_FR].pwm = 0;
yabahiro	39:784552c26163	1896	motor[TIRE_FR].dir = FREE;
yabahiro	39:784552c26163	1897	motor[TIRE_FL].pwm = normal;
yabahiro	39:784552c26163	1898	motor[TIRE_FL].dir = FOR;
yabahiro	39:784552c26163	1899	motor[TIRE_BR].pwm = normal;
yabahiro	39:784552c26163	1900	motor[TIRE_BR].dir = BACK;
yabahiro	39:784552c26163	1901	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1902	motor[TIRE_BL].dir = FREE;
yabahiro	39:784552c26163	1903	mtc=true;
yabahiro	39:784552c26163	1904	break;
yabahiro	39:784552c26163	1905	}
yabahiro	39:784552c26163	1906	if(g[1]!=98&&mtc==true) {
yabahiro	39:784552c26163	1907	switch(g[1]) {
yabahiro	39:784552c26163	1908	case 0:
yabahiro	39:784552c26163	1909	mtc=false;
yabahiro	39:784552c26163	1910	break;
yabahiro	39:784552c26163	1911	case 255:
yabahiro	39:784552c26163	1912	motor[TIRE_BR].pwm += 5;
yabahiro	39:784552c26163	1913	mtc=false;
yabahiro	39:784552c26163	1914	break;
yabahiro	39:784552c26163	1915	case 253:
yabahiro	39:784552c26163	1916	motor[TIRE_BR].pwm += 10;
yabahiro	39:784552c26163	1917	mtc=false;
yabahiro	39:784552c26163	1918	break;
yabahiro	39:784552c26163	1919	case 254:
yabahiro	39:784552c26163	1920	motor[TIRE_BR].pwm += 20;
yabahiro	39:784552c26163	1921	motor[TIRE_BL].pwm = 0;
yabahiro	39:784552c26163	1922	mtc=false;
yabahiro	39:784552c26163	1923	break;
yabahiro	39:784552c26163	1924	case 1:
yabahiro	39:784552c26163	1925	motor[TIRE_BL].pwm += 5;
yabahiro	39:784552c26163	1926	mtc=false;
yabahiro	39:784552c26163	1927	break;
yabahiro	39:784552c26163	1928	case 3:
yabahiro	39:784552c26163	1929	motor[TIRE_BL].pwm += 10;
yabahiro	39:784552c26163	1930	mtc=false;
yabahiro	39:784552c26163	1931	break;
yabahiro	39:784552c26163	1932	case 2:
yabahiro	39:784552c26163	1933	motor[TIRE_BL].pwm += 20;
yabahiro	39:784552c26163	1934	motor[TIRE_BR].pwm = 0;
yabahiro	39:784552c26163	1935	mtc=false;
yabahiro	39:784552c26163	1936	break;
yabahiro	39:784552c26163	1937	}
yabahiro	33:dd598bb23ad1	1938	}
yabahiro	51:a0bdbddd08f7	1939	break;
yabahiro	51:a0bdbddd08f7	1940	case 100:
yabahiro	54:4167f10ecad0	1941	motor[TIRE_FR].pwm = 47;
yabahiro	51:a0bdbddd08f7	1942	motor[TIRE_FR].dir = BACK;
yabahiro	51:a0bdbddd08f7	1943	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1944	motor[TIRE_FL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1945	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1946	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1947	motor[TIRE_BL].pwm = 55;
yabahiro	51:a0bdbddd08f7	1948	motor[TIRE_BL].dir = FOR;
yabahiro	51:a0bdbddd08f7	1949	break;
yabahiro	51:a0bdbddd08f7	1950	default:
yabahiro	51:a0bdbddd08f7	1951	motor[TIRE_FR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1952	motor[TIRE_FR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1953	motor[TIRE_FL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1954	motor[TIRE_FL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1955	motor[TIRE_BR].pwm = 50;
yabahiro	51:a0bdbddd08f7	1956	motor[TIRE_BR].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1957	motor[TIRE_BL].pwm = 50;
yabahiro	51:a0bdbddd08f7	1958	motor[TIRE_BL].dir = BRAKE;
yabahiro	51:a0bdbddd08f7	1959	break;
yabahiro	33:dd598bb23ad1	1960	}
kishibekairohan	13:b6e02d6261d7	1961	}
kishibekairohan	13:b6e02d6261d7	1962	#endif
kishibekairohan	13:b6e02d6261d7	1963
kishibekairohan	13:b6e02d6261d7	1964	#if USE_PROCESS_NUM>3
Ryosei	27:dd9f27fce7d1	1965	static void Process3()
kishibekairohan	13:b6e02d6261d7	1966	{
yabahiro	33:dd598bb23ad1	1967	//Clearly 赤ゾーン
kishibekairohan	35:33c6cdba5630	1968	LED::LED::TapeledMode(3);
yabahiro	33:dd598bb23ad1	1969	countss++;
yabahiro	54:4167f10ecad0	1970	switch(mode) {
yabahiro	54:4167f10ecad0	1971	case 1:
yabahiro	54:4167f10ecad0	1972	fast=40;
yabahiro	54:4167f10ecad0	1973	normal=30;
yabahiro	54:4167f10ecad0	1974	slow=20;
yabahiro	54:4167f10ecad0	1975	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	1976	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	1977	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	1978	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1979	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	1980	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1981	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	1982	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	1983	if(g[2]==0&&countss>=300000) {
yabahiro	54:4167f10ecad0	1984	countss=100000;
yabahiro	54:4167f10ecad0	1985	cross=0;
yabahiro	54:4167f10ecad0	1986	mode=3;
yabahiro	54:4167f10ecad0	1987	}
yabahiro	54:4167f10ecad0	1988	break;
yabahiro	54:4167f10ecad0	1989	case 3:
yabahiro	54:4167f10ecad0	1990	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	1991	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	1992	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	1993	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	1994	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	1995	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	1996	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	1997	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	1998	if(g[0]==0) {
yabahiro	54:4167f10ecad0	1999	mode=10;
yabahiro	54:4167f10ecad0	2000	countss=100000;
yabahiro	56:61ebd4b759b4	2001	fast = 80;
yabahiro	56:61ebd4b759b4	2002	normal = 60;
yabahiro	56:61ebd4b759b4	2003	slow = 40;
yabahiro	54:4167f10ecad0	2004	}
yabahiro	54:4167f10ecad0	2005	break;
yabahiro	54:4167f10ecad0	2006	case 10:
yabahiro	54:4167f10ecad0	2007	switch(g[0]) {
yabahiro	54:4167f10ecad0	2008	case 98:
yabahiro	54:4167f10ecad0	2009	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2010	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2011	motor[TIRE_FL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2012	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2013	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2014	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2015	motor[TIRE_BL].pwm = normal+50;
yabahiro	54:4167f10ecad0	2016	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2017	mtc=true;
yabahiro	54:4167f10ecad0	2018	if(countss>80000) {
yabahiro	54:4167f10ecad0	2019	cross++;
yabahiro	54:4167f10ecad0	2020	countss=0;
yabahiro	54:4167f10ecad0	2021	}
yabahiro	54:4167f10ecad0	2022	if(cross==2) {
yabahiro	54:4167f10ecad0	2023	fast = 10;
yabahiro	54:4167f10ecad0	2024	normal = 10;
yabahiro	54:4167f10ecad0	2025	slow = 5;
yabahiro	54:4167f10ecad0	2026	}
yabahiro	46:68296caae1af	2027
yabahiro	53:694dbd7dfa0e	2028	if(cross==3) {
yabahiro	54:4167f10ecad0	2029	fast=40;
yabahiro	54:4167f10ecad0	2030	normal=30;
yabahiro	54:4167f10ecad0	2031	slow=20;
yabahiro	54:4167f10ecad0	2032	mode=11;
yabahiro	53:694dbd7dfa0e	2033	countss=0;
yabahiro	53:694dbd7dfa0e	2034	cross=0;
yabahiro	54:4167f10ecad0	2035
yabahiro	53:694dbd7dfa0e	2036	}
yabahiro	54:4167f10ecad0	2037	break;
yabahiro	38:40e7fdf3c694	2038	case 0:
yabahiro	54:4167f10ecad0	2039	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2040	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	2041	motor[TIRE_FL].pwm = fast+60;
yabahiro	54:4167f10ecad0	2042	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2043	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2044	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	2045	motor[TIRE_BL].pwm = fast+45;
yabahiro	54:4167f10ecad0	2046	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2047	mtc=true;
yabahiro	38:40e7fdf3c694	2048	break;
yabahiro	38:40e7fdf3c694	2049	case 255:
yabahiro	54:4167f10ecad0	2050	motor[TIRE_FR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2051	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	2052	motor[TIRE_FL].pwm = slow+60;
yabahiro	54:4167f10ecad0	2053	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2054	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2055	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	2056	motor[TIRE_BL].pwm = fast+45;
yabahiro	54:4167f10ecad0	2057	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2058	mtc=true;
yabahiro	53:694dbd7dfa0e	2059	break;
yabahiro	53:694dbd7dfa0e	2060	case 253:
yabahiro	54:4167f10ecad0	2061	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2062	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2063	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2064	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2065	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2066	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	2067	motor[TIRE_BL].pwm = slow+45;
yabahiro	54:4167f10ecad0	2068	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2069	mtc=true;
yabahiro	53:694dbd7dfa0e	2070	break;
yabahiro	53:694dbd7dfa0e	2071	case 254:
yabahiro	54:4167f10ecad0	2072	motor[TIRE_FR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2073	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2074	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2075	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2076	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2077	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	2078	motor[TIRE_BL].pwm = normal+45;
yabahiro	54:4167f10ecad0	2079	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2080	mtc=true;
yabahiro	53:694dbd7dfa0e	2081	break;
yabahiro	53:694dbd7dfa0e	2082	case 1:
yabahiro	54:4167f10ecad0	2083	motor[TIRE_FR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2084	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	2085	motor[TIRE_FL].pwm = fast+60;
yabahiro	54:4167f10ecad0	2086	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2087	motor[TIRE_BR].pwm = fast+50;
yabahiro	54:4167f10ecad0	2088	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	2089	motor[TIRE_BL].pwm = slow+45;
yabahiro	54:4167f10ecad0	2090	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2091	mtc=true;
yabahiro	53:694dbd7dfa0e	2092	break;
yabahiro	53:694dbd7dfa0e	2093	case 3:
yabahiro	54:4167f10ecad0	2094	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2095	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	2096	motor[TIRE_FL].pwm = slow+60;
yabahiro	54:4167f10ecad0	2097	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2098	motor[TIRE_BR].pwm = slow+50;
yabahiro	54:4167f10ecad0	2099	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2100	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2101	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2102	mtc=true;
yabahiro	53:694dbd7dfa0e	2103	break;
yabahiro	53:694dbd7dfa0e	2104	case 2:
yabahiro	54:4167f10ecad0	2105	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2106	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	2107	motor[TIRE_FL].pwm = normal+60;
yabahiro	54:4167f10ecad0	2108	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2109	motor[TIRE_BR].pwm = normal+50;
yabahiro	54:4167f10ecad0	2110	motor[TIRE_BR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2111	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2112	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2113	mtc=true;
yabahiro	53:694dbd7dfa0e	2114	break;
yabahiro	53:694dbd7dfa0e	2115	}
yabahiro	54:4167f10ecad0	2116	if(g[0]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2117	switch(g[1]) {
yabahiro	54:4167f10ecad0	2118	case 0:
yabahiro	54:4167f10ecad0	2119	mtc=false;
yabahiro	54:4167f10ecad0	2120	break;
yabahiro	54:4167f10ecad0	2121	case 255:
yabahiro	54:4167f10ecad0	2122	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	2123	mtc=false;
yabahiro	54:4167f10ecad0	2124	break;
yabahiro	54:4167f10ecad0	2125	case 253:
yabahiro	54:4167f10ecad0	2126	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	2127	mtc=false;
yabahiro	54:4167f10ecad0	2128	break;
yabahiro	54:4167f10ecad0	2129	case 254:
yabahiro	54:4167f10ecad0	2130	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	2131	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2132	mtc=false;
yabahiro	54:4167f10ecad0	2133	break;
yabahiro	54:4167f10ecad0	2134	case 1:
yabahiro	54:4167f10ecad0	2135	motor[TIRE_BL].pwm += 3;
yabahiro	54:4167f10ecad0	2136	mtc=false;
yabahiro	54:4167f10ecad0	2137	break;
yabahiro	54:4167f10ecad0	2138	case 3:
yabahiro	54:4167f10ecad0	2139	motor[TIRE_BL].pwm += 6;
yabahiro	54:4167f10ecad0	2140	mtc=false;
yabahiro	54:4167f10ecad0	2141	break;
yabahiro	54:4167f10ecad0	2142	case 2:
yabahiro	54:4167f10ecad0	2143	motor[TIRE_BL].pwm += 9;
yabahiro	54:4167f10ecad0	2144	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2145	mtc=false;
yabahiro	54:4167f10ecad0	2146	break;
yabahiro	54:4167f10ecad0	2147	}
yabahiro	54:4167f10ecad0	2148	}
yabahiro	54:4167f10ecad0	2149	break;
yabahiro	54:4167f10ecad0	2150	case 11:
yabahiro	54:4167f10ecad0	2151	motor[TIRE_FR].pwm = 15;
yabahiro	54:4167f10ecad0	2152	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2153	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2154	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2155	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2156	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2157	motor[TIRE_BL].pwm = 15;
yabahiro	54:4167f10ecad0	2158	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2159	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	53:694dbd7dfa0e	2160	countss=0;
yabahiro	54:4167f10ecad0	2161	cross=0;
yabahiro	54:4167f10ecad0	2162	mode=20;
yabahiro	53:694dbd7dfa0e	2163	}
yabahiro	54:4167f10ecad0	2164	break;
yabahiro	54:4167f10ecad0	2165	case 20:
yabahiro	54:4167f10ecad0	2166	solenoid.solenoid4= SOLENOID_ON;
yabahiro	53:694dbd7dfa0e	2167	switch(g[2]) {
yabahiro	54:4167f10ecad0	2168	case 98:
yabahiro	54:4167f10ecad0	2169	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2170	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2171	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2172	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2173	motor[TIRE_BR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2174	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2175	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2176	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2177	if(countss>30000) {
yabahiro	54:4167f10ecad0	2178	cross++;
yabahiro	54:4167f10ecad0	2179	countss=0;
yabahiro	54:4167f10ecad0	2180	}
yabahiro	54:4167f10ecad0	2181	mtc2=true;
yabahiro	54:4167f10ecad0	2182
yabahiro	54:4167f10ecad0	2183	if(YELLOW) {
yabahiro	54:4167f10ecad0	2184	if(cross==1) {
yabahiro	54:4167f10ecad0	2185	fast=20;
yabahiro	54:4167f10ecad0	2186	normal=15;
yabahiro	54:4167f10ecad0	2187	slow=15;
yabahiro	54:4167f10ecad0	2188	} else if(cross==2) {
yabahiro	54:4167f10ecad0	2189	mode=21;
yabahiro	54:4167f10ecad0	2190	countss=0;
yabahiro	54:4167f10ecad0	2191	cross=0;
yabahiro	54:4167f10ecad0	2192	}
yabahiro	54:4167f10ecad0	2193	} else {
yabahiro	54:4167f10ecad0	2194	if(cross==3) {
yabahiro	54:4167f10ecad0	2195	mode=21;
yabahiro	54:4167f10ecad0	2196	countss=0;
yabahiro	54:4167f10ecad0	2197	cross=0;
yabahiro	54:4167f10ecad0	2198	}
yabahiro	54:4167f10ecad0	2199	}
yabahiro	54:4167f10ecad0	2200	break;
yabahiro	53:694dbd7dfa0e	2201	case 0:
yabahiro	54:4167f10ecad0	2202	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2203	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2204	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2205	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2206	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2207	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2208	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2209	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2210	mtc2=true;
yabahiro	53:694dbd7dfa0e	2211	break;
yabahiro	53:694dbd7dfa0e	2212	case 255:
yabahiro	54:4167f10ecad0	2213	motor[TIRE_FR].pwm = normal+20;
yabahiro	54:4167f10ecad0	2214	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2215	motor[TIRE_FL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2216	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2217	motor[TIRE_BR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2218	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2219	motor[TIRE_BL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2220	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2221	mtc2=true;
yabahiro	38:40e7fdf3c694	2222	break;
yabahiro	38:40e7fdf3c694	2223	case 253:
yabahiro	54:4167f10ecad0	2224	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2225	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2226	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2227	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2228	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2229	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2230	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2231	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2232	mtc2=true;
yabahiro	38:40e7fdf3c694	2233	break;
yabahiro	38:40e7fdf3c694	2234	case 254:
yabahiro	54:4167f10ecad0	2235	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2236	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2237	motor[TIRE_FL].pwm = normal+20;
yabahiro	54:4167f10ecad0	2238	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2239	motor[TIRE_BR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2240	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2241	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2242	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2243	mtc2=true;
yabahiro	53:694dbd7dfa0e	2244	break;
yabahiro	53:694dbd7dfa0e	2245	case 1:
yabahiro	54:4167f10ecad0	2246	motor[TIRE_FR].pwm = fast+20;
yabahiro	54:4167f10ecad0	2247	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2248	motor[TIRE_FL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2249	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2250	motor[TIRE_BR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2251	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2252	motor[TIRE_BL].pwm = fast+20;
yabahiro	54:4167f10ecad0	2253	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2254	mtc2=true;
yabahiro	53:694dbd7dfa0e	2255	break;
yabahiro	53:694dbd7dfa0e	2256	case 3:
yabahiro	54:4167f10ecad0	2257	motor[TIRE_FR].pwm = slow+20;
yabahiro	54:4167f10ecad0	2258	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2259	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2260	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2261	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2262	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2263	motor[TIRE_BL].pwm = slow+20;
yabahiro	54:4167f10ecad0	2264	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2265	mtc2=true;
yabahiro	53:694dbd7dfa0e	2266	break;
yabahiro	53:694dbd7dfa0e	2267	case 2:
yabahiro	54:4167f10ecad0	2268	motor[TIRE_FR].pwm = normal+20;
yabahiro	53:694dbd7dfa0e	2269	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	2270	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	2271	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	2272	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	2273	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2274	motor[TIRE_BL].pwm = normal+20;
yabahiro	38:40e7fdf3c694	2275	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2276	mtc2=true;
yabahiro	38:40e7fdf3c694	2277	break;
yabahiro	33:dd598bb23ad1	2278	}
yabahiro	54:4167f10ecad0	2279	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	2280	switch(g[3]) {
yabahiro	54:4167f10ecad0	2281	case 0:
yabahiro	54:4167f10ecad0	2282	mtc2=false;
yabahiro	54:4167f10ecad0	2283	break;
yabahiro	54:4167f10ecad0	2284	case 255:
yabahiro	54:4167f10ecad0	2285	motor[TIRE_BL].pwm += 5;
yabahiro	54:4167f10ecad0	2286	mtc2=false;
yabahiro	54:4167f10ecad0	2287	break;
yabahiro	54:4167f10ecad0	2288	case 253:
yabahiro	54:4167f10ecad0	2289	motor[TIRE_BL].pwm += 10;
yabahiro	54:4167f10ecad0	2290	mtc2=false;
yabahiro	54:4167f10ecad0	2291	break;
yabahiro	54:4167f10ecad0	2292	case 254:
yabahiro	54:4167f10ecad0	2293	motor[TIRE_BL].pwm += 15;
yabahiro	54:4167f10ecad0	2294	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2295	mtc2=false;
yabahiro	54:4167f10ecad0	2296	break;
yabahiro	54:4167f10ecad0	2297	case 1:
yabahiro	54:4167f10ecad0	2298	motor[TIRE_FL].pwm += 5;
yabahiro	54:4167f10ecad0	2299	mtc2=false;
yabahiro	54:4167f10ecad0	2300	break;
yabahiro	54:4167f10ecad0	2301	case 3:
yabahiro	54:4167f10ecad0	2302	motor[TIRE_FL].pwm += 10;
yabahiro	54:4167f10ecad0	2303	mtc2=false;
yabahiro	54:4167f10ecad0	2304	break;
yabahiro	54:4167f10ecad0	2305	case 2:
yabahiro	54:4167f10ecad0	2306	motor[TIRE_FL].pwm += 15;
yabahiro	54:4167f10ecad0	2307	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2308	mtc2=false;
yabahiro	54:4167f10ecad0	2309	break;
yabahiro	54:4167f10ecad0	2310	}
yabahiro	38:40e7fdf3c694	2311	}
yabahiro	54:4167f10ecad0	2312	break;
yabahiro	54:4167f10ecad0	2313	case 21:
yabahiro	54:4167f10ecad0	2314	if(YELLOW) {
yabahiro	54:4167f10ecad0	2315	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2316	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2317	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2318	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2319	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2320	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2321	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2322	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2323	if(g[3]==98&&countss>=10000) {
yabahiro	54:4167f10ecad0	2324	mode=22;
yabahiro	54:4167f10ecad0	2325	countss=0;
yabahiro	54:4167f10ecad0	2326	fast=60;
yabahiro	54:4167f10ecad0	2327	normal=40;
yabahiro	54:4167f10ecad0	2328	slow=20;
yabahiro	54:4167f10ecad0	2329	}
yabahiro	54:4167f10ecad0	2330	} else {
yabahiro	38:40e7fdf3c694	2331	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2332	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2333	motor[TIRE_FL].pwm = 255;
yabahiro	54:4167f10ecad0	2334	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2335	motor[TIRE_BR].pwm = 255;
yabahiro	54:4167f10ecad0	2336	motor[TIRE_BR].dir = BRAKE;
yabahiro	38:40e7fdf3c694	2337	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2338	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2339	if(g[1]==0) {
yabahiro	54:4167f10ecad0	2340	mode=22;
yabahiro	54:4167f10ecad0	2341	fast=60;
yabahiro	54:4167f10ecad0	2342	normal=40;
yabahiro	54:4167f10ecad0	2343	slow=25;
yabahiro	54:4167f10ecad0	2344	}
yabahiro	38:40e7fdf3c694	2345	}
yabahiro	54:4167f10ecad0	2346	break;
yabahiro	54:4167f10ecad0	2347	case 22:
yabahiro	54:4167f10ecad0	2348	if(YELLOW) {
yabahiro	54:4167f10ecad0	2349	if(g[4]==3\|\|g[4]==2) {
yabahiro	38:40e7fdf3c694	2350	motor[TIRE_FR].pwm = 30;
yabahiro	38:40e7fdf3c694	2351	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2352	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2353	motor[TIRE_FL].dir = FOR;
yabahiro	38:40e7fdf3c694	2354	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2355	motor[TIRE_BR].dir = BACK;
yabahiro	38:40e7fdf3c694	2356	motor[TIRE_BL].pwm = 30;
yabahiro	38:40e7fdf3c694	2357	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2358	}
yabahiro	54:4167f10ecad0	2359	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2360	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2361	motor[TIRE_FR].dir = BACK;
yabahiro	38:40e7fdf3c694	2362	motor[TIRE_FL].pwm = 30;
yabahiro	38:40e7fdf3c694	2363	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2364	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2365	motor[TIRE_BR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2366	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2367	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2368	}
yabahiro	54:4167f10ecad0	2369	switch(g[2]) {
yabahiro	54:4167f10ecad0	2370	case 0:
yabahiro	54:4167f10ecad0	2371	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2372	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2373	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2374	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2375	break;
yabahiro	54:4167f10ecad0	2376	case 255:
yabahiro	54:4167f10ecad0	2377	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2378	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2379	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2380	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2381	break;
yabahiro	54:4167f10ecad0	2382	case 253:
yabahiro	54:4167f10ecad0	2383	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2384	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2385	motor[TIRE_BR].pwm = 20;
yabahiro	54:4167f10ecad0	2386	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2387	break;
yabahiro	54:4167f10ecad0	2388	case 254:
yabahiro	54:4167f10ecad0	2389	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2390	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2391	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2392	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2393	break;
yabahiro	54:4167f10ecad0	2394	case 1:
yabahiro	54:4167f10ecad0	2395	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2396	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2397	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2398	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2399	break;
yabahiro	54:4167f10ecad0	2400	case 3:
yabahiro	54:4167f10ecad0	2401	motor[TIRE_FR].pwm = 20;
yabahiro	54:4167f10ecad0	2402	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2403	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2404	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2405	break;
yabahiro	54:4167f10ecad0	2406	case 2:
yabahiro	54:4167f10ecad0	2407	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2408	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2409	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2410	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2411	break;
yabahiro	54:4167f10ecad0	2412	}
yabahiro	54:4167f10ecad0	2413	switch(g[3]) {
yabahiro	54:4167f10ecad0	2414	case 0:
yabahiro	54:4167f10ecad0	2415	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2416	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2417	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2418	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2419	break;
yabahiro	54:4167f10ecad0	2420	case 255:
yabahiro	54:4167f10ecad0	2421	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2422	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2423	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2424	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2425	case 253:
yabahiro	54:4167f10ecad0	2426	motor[TIRE_FL].pwm = 20;
yabahiro	54:4167f10ecad0	2427	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2428	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2429	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2430	break;
yabahiro	54:4167f10ecad0	2431	case 254:
yabahiro	54:4167f10ecad0	2432	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2433	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2434	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2435	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2436	break;
yabahiro	54:4167f10ecad0	2437	case 1:
yabahiro	54:4167f10ecad0	2438	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2439	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2440	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2441	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2442	break;
yabahiro	54:4167f10ecad0	2443	case 3:
yabahiro	54:4167f10ecad0	2444	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2445	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2446	motor[TIRE_BL].pwm = 20;
yabahiro	54:4167f10ecad0	2447	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2448	break;
yabahiro	54:4167f10ecad0	2449	case 2:
yabahiro	54:4167f10ecad0	2450	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2451	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2452	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2453	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2454	break;
yabahiro	54:4167f10ecad0	2455	}
yabahiro	54:4167f10ecad0	2456	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2457	mode=23;
yabahiro	54:4167f10ecad0	2458	countss=0;
yabahiro	56:61ebd4b759b4	2459	fast = 60;
yabahiro	56:61ebd4b759b4	2460	normal = 40;
yabahiro	54:4167f10ecad0	2461	slow = 30;
yabahiro	54:4167f10ecad0	2462	}
yabahiro	54:4167f10ecad0	2463	} else {
yabahiro	54:4167f10ecad0	2464	if(g[1]==98) {
yabahiro	54:4167f10ecad0	2465	slow=25;
yabahiro	54:4167f10ecad0	2466	normal=30;
yabahiro	54:4167f10ecad0	2467	fast=40;
yabahiro	54:4167f10ecad0	2468	}
yabahiro	54:4167f10ecad0	2469	if(g[3]==0) {
yabahiro	54:4167f10ecad0	2470	slow=25;
yabahiro	54:4167f10ecad0	2471	normal=40;
yabahiro	54:4167f10ecad0	2472	fast=60;
yabahiro	54:4167f10ecad0	2473	mode=23;
yabahiro	54:4167f10ecad0	2474	}
yabahiro	54:4167f10ecad0	2475	switch(g[1]) {
yabahiro	54:4167f10ecad0	2476	case 98:
yabahiro	54:4167f10ecad0	2477	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	54:4167f10ecad0	2478	fast=40;
yabahiro	54:4167f10ecad0	2479	normal=30;
yabahiro	54:4167f10ecad0	2480	slow=25;
yabahiro	54:4167f10ecad0	2481	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2482	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2483	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2484	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2485	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2486	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2487	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2488	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2489	break;
yabahiro	54:4167f10ecad0	2490	case 0:
yabahiro	54:4167f10ecad0	2491	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2492	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2493	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2494	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2495	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2496	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2497	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2498	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2499	mtc=true;
yabahiro	54:4167f10ecad0	2500	break;
yabahiro	54:4167f10ecad0	2501	case 255:
yabahiro	54:4167f10ecad0	2502	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2503	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2504	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2505	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2506	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2507	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2508	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2509	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2510	mtc=true;
yabahiro	54:4167f10ecad0	2511	break;
yabahiro	54:4167f10ecad0	2512	case 253:
yabahiro	54:4167f10ecad0	2513	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2514	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2515	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2516	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2517	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2518	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2519	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2520	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2521	mtc=true;
yabahiro	54:4167f10ecad0	2522	break;
yabahiro	54:4167f10ecad0	2523	case 254:
yabahiro	54:4167f10ecad0	2524	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2525	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2526	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2527	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2528	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2529	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2530	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2531	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2532	mtc=true;
yabahiro	54:4167f10ecad0	2533	break;
yabahiro	54:4167f10ecad0	2534	case 1:
yabahiro	54:4167f10ecad0	2535	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2536	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2537	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2538	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2539	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2540	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2541	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2542	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2543	mtc=true;
yabahiro	54:4167f10ecad0	2544	break;
yabahiro	54:4167f10ecad0	2545	case 3:
yabahiro	54:4167f10ecad0	2546	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2547	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2548	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2549	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2550	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2551	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2552	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2553	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2554	mtc=true;
yabahiro	54:4167f10ecad0	2555	break;
yabahiro	54:4167f10ecad0	2556	case 2:
yabahiro	54:4167f10ecad0	2557	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2558	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2559	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2560	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2561	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2562	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2563	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2564	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2565	mtc=true;
yabahiro	54:4167f10ecad0	2566	break;
yabahiro	54:4167f10ecad0	2567	}
yabahiro	54:4167f10ecad0	2568	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2569	switch(g[0]) {
yabahiro	54:4167f10ecad0	2570	case 0:
yabahiro	54:4167f10ecad0	2571	mtc=false;
yabahiro	54:4167f10ecad0	2572	break;
yabahiro	54:4167f10ecad0	2573	case 255:
yabahiro	54:4167f10ecad0	2574	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	2575	mtc=false;
yabahiro	54:4167f10ecad0	2576	break;
yabahiro	54:4167f10ecad0	2577	case 253:
yabahiro	54:4167f10ecad0	2578	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	2579	mtc=false;
yabahiro	54:4167f10ecad0	2580	break;
yabahiro	54:4167f10ecad0	2581	case 254:
yabahiro	54:4167f10ecad0	2582	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	2583	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2584	mtc=false;
yabahiro	54:4167f10ecad0	2585	break;
yabahiro	54:4167f10ecad0	2586	case 1:
yabahiro	54:4167f10ecad0	2587	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	2588	mtc=false;
yabahiro	54:4167f10ecad0	2589	break;
yabahiro	54:4167f10ecad0	2590	case 3:
yabahiro	54:4167f10ecad0	2591	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	2592	mtc=false;
yabahiro	54:4167f10ecad0	2593	break;
yabahiro	54:4167f10ecad0	2594	case 2:
yabahiro	54:4167f10ecad0	2595	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	2596	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2597	mtc=false;
yabahiro	54:4167f10ecad0	2598	break;
yabahiro	54:4167f10ecad0	2599	}
yabahiro	54:4167f10ecad0	2600	}
yabahiro	54:4167f10ecad0	2601	}
yabahiro	54:4167f10ecad0	2602	break;
yabahiro	54:4167f10ecad0	2603	case 23:
yabahiro	54:4167f10ecad0	2604	if(YELLOW) {
yabahiro	54:4167f10ecad0	2605	switch(g[4]) {
yabahiro	54:4167f10ecad0	2606	case 98:
yabahiro	54:4167f10ecad0	2607	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2608	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2609	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2610	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2611	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2612	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2613	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2614	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2615	break;
yabahiro	54:4167f10ecad0	2616	case 99:
yabahiro	54:4167f10ecad0	2617	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2618	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2619	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2620	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2621	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2622	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2623	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2624	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2625	break;
yabahiro	54:4167f10ecad0	2626	case 0:
yabahiro	54:4167f10ecad0	2627	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2628	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2629	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2630	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2631	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2632	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2633	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2634	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2635	break;
yabahiro	54:4167f10ecad0	2636	case 255:
yabahiro	54:4167f10ecad0	2637	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2638	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2639	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2640	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2641	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2642	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2643	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2644	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2645	break;
yabahiro	54:4167f10ecad0	2646	case 253:
yabahiro	54:4167f10ecad0	2647	motor[TIRE_FR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2648	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2649	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2650	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2651	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2652	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2653	motor[TIRE_BL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2654	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2655	break;
yabahiro	54:4167f10ecad0	2656	case 254:
yabahiro	54:4167f10ecad0	2657	motor[TIRE_FR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2658	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2659	motor[TIRE_FL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2660	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2661	motor[TIRE_BR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2662	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2663	motor[TIRE_BL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2664	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2665	break;
yabahiro	54:4167f10ecad0	2666	case 1:
yabahiro	54:4167f10ecad0	2667	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2668	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2669	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2670	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2671	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2672	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2673	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2674	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2675	break;
yabahiro	54:4167f10ecad0	2676	case 3:
yabahiro	54:4167f10ecad0	2677	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2678	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2679	motor[TIRE_FL].pwm = slow+5;
yabahiro	54:4167f10ecad0	2680	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2681	motor[TIRE_BR].pwm = slow+5;
yabahiro	54:4167f10ecad0	2682	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2683	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2684	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2685	break;
yabahiro	54:4167f10ecad0	2686	case 2:
yabahiro	54:4167f10ecad0	2687	motor[TIRE_FR].pwm = fast-5;
yabahiro	54:4167f10ecad0	2688	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2689	motor[TIRE_FL].pwm = normal+5;
yabahiro	54:4167f10ecad0	2690	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2691	motor[TIRE_BR].pwm = normal+5;
yabahiro	54:4167f10ecad0	2692	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2693	motor[TIRE_BL].pwm = fast-5;
yabahiro	54:4167f10ecad0	2694	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2695	break;
yabahiro	54:4167f10ecad0	2696	}
yabahiro	56:61ebd4b759b4	2697	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	2698	fast=10;
yabahiro	56:61ebd4b759b4	2699	normal=10;
yabahiro	54:4167f10ecad0	2700	slow=10;
yabahiro	54:4167f10ecad0	2701	}
yabahiro	54:4167f10ecad0	2702	if(g[3]==254&&countss>=100000) {
yabahiro	54:4167f10ecad0	2703	mode=24;
yabahiro	54:4167f10ecad0	2704	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	56:61ebd4b759b4	2705	aime.start();
yabahiro	56:61ebd4b759b4	2706	aime.reset();
yabahiro	54:4167f10ecad0	2707	countss=0;
yabahiro	54:4167f10ecad0	2708	fast=80;
yabahiro	54:4167f10ecad0	2709	normal=60;
yabahiro	54:4167f10ecad0	2710	slow=30;
yabahiro	54:4167f10ecad0	2711	}
yabahiro	54:4167f10ecad0	2712	} else {
yabahiro	54:4167f10ecad0	2713	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2714	if(UPLS\|\|DOLS) {
yabahiro	54:4167f10ecad0	2715	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	2716	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	2717	fast=60;
yabahiro	54:4167f10ecad0	2718	normal=40;
yabahiro	54:4167f10ecad0	2719	slow=30;
yabahiro	54:4167f10ecad0	2720	countss=0;
yabahiro	54:4167f10ecad0	2721	mode=24;
yabahiro	54:4167f10ecad0	2722	}
yabahiro	54:4167f10ecad0	2723	} else {
yabahiro	54:4167f10ecad0	2724	motor[MOTOR_0].pwm = 100;
yabahiro	54:4167f10ecad0	2725	motor[MOTOR_0].dir = BACK;
yabahiro	54:4167f10ecad0	2726	}
yabahiro	54:4167f10ecad0	2727	motor[TIRE_FR].pwm = 100;
yabahiro	54:4167f10ecad0	2728	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2729	motor[TIRE_FL].pwm = 100;
yabahiro	54:4167f10ecad0	2730	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2731	motor[TIRE_BR].pwm = 100;
yabahiro	54:4167f10ecad0	2732	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	2733	motor[TIRE_BL].pwm = 100;
yabahiro	54:4167f10ecad0	2734	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	2735	}
yabahiro	54:4167f10ecad0	2736	break;
yabahiro	54:4167f10ecad0	2737	case 24:
yabahiro	54:4167f10ecad0	2738	if(YELLOW) {
yabahiro	56:61ebd4b759b4	2739	value=aime.read_ms();
yabahiro	56:61ebd4b759b4	2740	if(value>=4000) {
yabahiro	56:61ebd4b759b4	2741	mode=25;
yabahiro	56:61ebd4b759b4	2742	}
yabahiro	54:4167f10ecad0	2743	if(g[4]==3\|\|g[4]==2) {
yabahiro	54:4167f10ecad0	2744	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2745	motor[TIRE_FR].dir = FOR;
yabahiro	53:694dbd7dfa0e	2746	motor[TIRE_FL].pwm = 30;
yabahiro	53:694dbd7dfa0e	2747	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2748	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2749	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2750	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2751	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2752	}
yabahiro	54:4167f10ecad0	2753	if(g[4]==253\|\|g[4]==254) {
yabahiro	54:4167f10ecad0	2754	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2755	motor[TIRE_FR].dir = BACK;
yabahiro	53:694dbd7dfa0e	2756	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2757	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2758	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2759	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	2760	motor[TIRE_BL].pwm = 30;
yabahiro	52:4394a1debceb	2761	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2762	}
yabahiro	54:4167f10ecad0	2763	switch(g[2]) {
yabahiro	54:4167f10ecad0	2764	case 0:
yabahiro	54:4167f10ecad0	2765	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2766	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2767	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2768	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2769	break;
yabahiro	54:4167f10ecad0	2770	case 255:
yabahiro	54:4167f10ecad0	2771	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2772	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2773	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2774	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2775	break;
yabahiro	54:4167f10ecad0	2776	case 253:
yabahiro	54:4167f10ecad0	2777	motor[TIRE_FR].pwm = 40;
yabahiro	54:4167f10ecad0	2778	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2779	motor[TIRE_BR].pwm = 25;
yabahiro	54:4167f10ecad0	2780	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2781	break;
yabahiro	54:4167f10ecad0	2782	case 254:
yabahiro	54:4167f10ecad0	2783	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2784	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	2785	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2786	motor[TIRE_BR].dir = BACK;
yabahiro	54:4167f10ecad0	2787	break;
yabahiro	54:4167f10ecad0	2788	case 1:
yabahiro	54:4167f10ecad0	2789	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2790	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2791	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2792	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2793	break;
yabahiro	54:4167f10ecad0	2794	case 3:
yabahiro	54:4167f10ecad0	2795	motor[TIRE_FR].pwm = 25;
yabahiro	54:4167f10ecad0	2796	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2797	motor[TIRE_BR].pwm = 40;
yabahiro	54:4167f10ecad0	2798	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2799	break;
yabahiro	54:4167f10ecad0	2800	case 2:
yabahiro	54:4167f10ecad0	2801	motor[TIRE_FR].pwm = 30;
yabahiro	54:4167f10ecad0	2802	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2803	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	2804	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2805	break;
yabahiro	54:4167f10ecad0	2806	}
yabahiro	54:4167f10ecad0	2807	switch(g[3]) {
yabahiro	54:4167f10ecad0	2808	case 0:
yabahiro	54:4167f10ecad0	2809	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2810	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2811	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2812	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2813	break;
yabahiro	54:4167f10ecad0	2814	case 255:
yabahiro	54:4167f10ecad0	2815	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2816	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2817	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2818	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2819	case 253:
yabahiro	54:4167f10ecad0	2820	motor[TIRE_FL].pwm = 25;
yabahiro	54:4167f10ecad0	2821	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2822	motor[TIRE_BL].pwm = 40;
yabahiro	54:4167f10ecad0	2823	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2824	break;
yabahiro	54:4167f10ecad0	2825	case 254:
yabahiro	54:4167f10ecad0	2826	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2827	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2828	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2829	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2830	break;
yabahiro	54:4167f10ecad0	2831	case 1:
yabahiro	54:4167f10ecad0	2832	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2833	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2834	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2835	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2836	break;
yabahiro	54:4167f10ecad0	2837	case 3:
yabahiro	54:4167f10ecad0	2838	motor[TIRE_FL].pwm = 40;
yabahiro	54:4167f10ecad0	2839	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2840	motor[TIRE_BL].pwm = 25;
yabahiro	54:4167f10ecad0	2841	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2842	break;
yabahiro	54:4167f10ecad0	2843	case 2:
yabahiro	54:4167f10ecad0	2844	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	2845	motor[TIRE_FL].dir = FOR;
yabahiro	54:4167f10ecad0	2846	motor[TIRE_BL].pwm = 30;
yabahiro	54:4167f10ecad0	2847	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	2848	break;
yabahiro	54:4167f10ecad0	2849	}
yabahiro	54:4167f10ecad0	2850	if(g[3]==0&&g[2]==0) {
yabahiro	54:4167f10ecad0	2851	mode=25;
yabahiro	54:4167f10ecad0	2852	}
yabahiro	54:4167f10ecad0	2853	} else {
yabahiro	54:4167f10ecad0	2854	if(g[1]==98&&countss>=40000) {
yabahiro	54:4167f10ecad0	2855	mode=31;
yabahiro	54:4167f10ecad0	2856	fast = 60;
yabahiro	54:4167f10ecad0	2857	normal = 40;
yabahiro	54:4167f10ecad0	2858	slow = 30;
yabahiro	54:4167f10ecad0	2859	countss=0;
yabahiro	54:4167f10ecad0	2860	}
yabahiro	54:4167f10ecad0	2861	switch(g[1]) {
yabahiro	54:4167f10ecad0	2862	case 98:
yabahiro	54:4167f10ecad0	2863	fast=40;
yabahiro	54:4167f10ecad0	2864	normal=30;
yabahiro	54:4167f10ecad0	2865	slow=25;
yabahiro	54:4167f10ecad0	2866	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2867	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2868	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2869	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2870	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2871	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2872	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2873	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2874	break;
yabahiro	54:4167f10ecad0	2875	case 0:
yabahiro	54:4167f10ecad0	2876	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2877	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2878	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2879	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2880	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2881	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2882	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2883	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2884	mtc=true;
yabahiro	54:4167f10ecad0	2885	break;
yabahiro	54:4167f10ecad0	2886	case 255:
yabahiro	54:4167f10ecad0	2887	motor[TIRE_FR].pwm = fast;
yabahiro	54:4167f10ecad0	2888	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2889	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2890	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2891	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2892	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2893	motor[TIRE_BL].pwm = fast;
yabahiro	54:4167f10ecad0	2894	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2895	mtc=true;
yabahiro	54:4167f10ecad0	2896	break;
yabahiro	54:4167f10ecad0	2897	case 253:
yabahiro	54:4167f10ecad0	2898	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2899	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2900	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2901	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2902	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2903	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2904	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2905	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2906	mtc=true;
yabahiro	54:4167f10ecad0	2907	break;
yabahiro	54:4167f10ecad0	2908	case 254:
yabahiro	54:4167f10ecad0	2909	motor[TIRE_FR].pwm = normal;
yabahiro	54:4167f10ecad0	2910	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2911	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2912	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	2913	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	2914	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	2915	motor[TIRE_BL].pwm = normal;
yabahiro	54:4167f10ecad0	2916	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2917	mtc=true;
yabahiro	54:4167f10ecad0	2918	break;
yabahiro	54:4167f10ecad0	2919	case 1:
yabahiro	54:4167f10ecad0	2920	motor[TIRE_FR].pwm = slow;
yabahiro	54:4167f10ecad0	2921	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	2922	motor[TIRE_FL].pwm = fast;
yabahiro	54:4167f10ecad0	2923	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2924	motor[TIRE_BR].pwm = fast;
yabahiro	54:4167f10ecad0	2925	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2926	motor[TIRE_BL].pwm = slow;
yabahiro	54:4167f10ecad0	2927	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	2928	mtc=true;
yabahiro	54:4167f10ecad0	2929	break;
yabahiro	54:4167f10ecad0	2930	case 3:
yabahiro	54:4167f10ecad0	2931	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2932	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2933	motor[TIRE_FL].pwm = slow;
yabahiro	54:4167f10ecad0	2934	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2935	motor[TIRE_BR].pwm = slow;
yabahiro	54:4167f10ecad0	2936	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2937	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2938	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2939	mtc=true;
yabahiro	54:4167f10ecad0	2940	break;
yabahiro	54:4167f10ecad0	2941	case 2:
yabahiro	54:4167f10ecad0	2942	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2943	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	2944	motor[TIRE_FL].pwm = normal;
yabahiro	54:4167f10ecad0	2945	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	2946	motor[TIRE_BR].pwm = normal;
yabahiro	54:4167f10ecad0	2947	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	2948	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	2949	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	2950	mtc=true;
yabahiro	54:4167f10ecad0	2951	break;
yabahiro	54:4167f10ecad0	2952	}
yabahiro	54:4167f10ecad0	2953	if(g[1]!=98&&mtc==true) {
yabahiro	54:4167f10ecad0	2954	switch(g[0]) {
yabahiro	54:4167f10ecad0	2955	case 0:
yabahiro	54:4167f10ecad0	2956	mtc=false;
yabahiro	54:4167f10ecad0	2957	break;
yabahiro	54:4167f10ecad0	2958	case 255:
yabahiro	54:4167f10ecad0	2959	motor[TIRE_FL].pwm += 3;
yabahiro	54:4167f10ecad0	2960	mtc=false;
yabahiro	54:4167f10ecad0	2961	break;
yabahiro	54:4167f10ecad0	2962	case 253:
yabahiro	54:4167f10ecad0	2963	motor[TIRE_FL].pwm += 6;
yabahiro	54:4167f10ecad0	2964	mtc=false;
yabahiro	54:4167f10ecad0	2965	break;
yabahiro	54:4167f10ecad0	2966	case 254:
yabahiro	54:4167f10ecad0	2967	motor[TIRE_FL].pwm += 9;
yabahiro	54:4167f10ecad0	2968	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	2969	mtc=false;
yabahiro	54:4167f10ecad0	2970	break;
yabahiro	54:4167f10ecad0	2971	case 1:
yabahiro	54:4167f10ecad0	2972	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	2973	mtc=false;
yabahiro	54:4167f10ecad0	2974	break;
yabahiro	54:4167f10ecad0	2975	case 3:
yabahiro	54:4167f10ecad0	2976	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	2977	mtc=false;
yabahiro	54:4167f10ecad0	2978	break;
yabahiro	54:4167f10ecad0	2979	case 2:
yabahiro	54:4167f10ecad0	2980	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	2981	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	2982	mtc=false;
yabahiro	54:4167f10ecad0	2983	break;
yabahiro	54:4167f10ecad0	2984	}
yabahiro	54:4167f10ecad0	2985	}
yabahiro	52:4394a1debceb	2986	}
yabahiro	54:4167f10ecad0	2987	break;
yabahiro	54:4167f10ecad0	2988	case 25:
kishibekairohan	47:a9cad8502999	2989	motor[TIRE_FR].pwm = 100;
kishibekairohan	47:a9cad8502999	2990	motor[TIRE_FR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2991	motor[TIRE_FL].pwm = 100;
kishibekairohan	47:a9cad8502999	2992	motor[TIRE_FL].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2993	motor[TIRE_BR].pwm = 100;
kishibekairohan	47:a9cad8502999	2994	motor[TIRE_BR].dir = BRAKE;
kishibekairohan	47:a9cad8502999	2995	motor[TIRE_BL].pwm = 100;
kishibekairohan	47:a9cad8502999	2996	motor[TIRE_BL].dir = BRAKE;
yabahiro	46:68296caae1af	2997	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	2998	if(UPLS==true\|\|DOLS==true) {
yabahiro	54:4167f10ecad0	2999	motor[MOTOR_0].pwm = 200;
yabahiro	54:4167f10ecad0	3000	motor[MOTOR_0].dir = BRAKE;
yabahiro	54:4167f10ecad0	3001	countss = 0;
yabahiro	54:4167f10ecad0	3002	mode=26;
yabahiro	54:4167f10ecad0	3003	}
yabahiro	46:68296caae1af	3004	} else {
yabahiro	46:68296caae1af	3005	motor[MOTOR_0].pwm = 100;
yabahiro	46:68296caae1af	3006	motor[MOTOR_0].dir = BACK;
yabahiro	46:68296caae1af	3007	}
yabahiro	54:4167f10ecad0	3008	break;
yabahiro	54:4167f10ecad0	3009	case 26:
yabahiro	56:61ebd4b759b4	3010	/*
yabahiro	56:61ebd4b759b4	3011	if (g[3] == 0&&countss>=30000) {
yabahiro	56:61ebd4b759b4	3012	mode = 40;
yabahiro	56:61ebd4b759b4	3013	}
yabahiro	56:61ebd4b759b4	3014	*/
yabahiro	56:61ebd4b759b4	3015	if (g[1] != 99) {
yabahiro	54:4167f10ecad0	3016	mode = 31;
yabahiro	54:4167f10ecad0	3017	}
yabahiro	38:40e7fdf3c694	3018	switch(g[4]) {
yabahiro	38:40e7fdf3c694	3019	case 98:
yabahiro	38:40e7fdf3c694	3020	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3021	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3022	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3023	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3024	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3025	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3026	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3027	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3028	break;
yabahiro	38:40e7fdf3c694	3029	case 99:
yabahiro	38:40e7fdf3c694	3030	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3031	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3032	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3033	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3034	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3035	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3036	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3037	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3038	break;
yabahiro	38:40e7fdf3c694	3039	case 0:
yabahiro	38:40e7fdf3c694	3040	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3041	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3042	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3043	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3044	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3045	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3046	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3047	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3048	break;
yabahiro	38:40e7fdf3c694	3049	case 255:
yabahiro	38:40e7fdf3c694	3050	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3051	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3052	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3053	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3054	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3055	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3056	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3057	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3058	break;
yabahiro	38:40e7fdf3c694	3059	case 253:
yabahiro	46:68296caae1af	3060	motor[TIRE_FR].pwm = 25;
yabahiro	38:40e7fdf3c694	3061	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3062	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3063	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3064	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3065	motor[TIRE_BR].dir = FOR;
yabahiro	46:68296caae1af	3066	motor[TIRE_BL].pwm = 25;
yabahiro	38:40e7fdf3c694	3067	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3068	break;
yabahiro	38:40e7fdf3c694	3069	case 254:
yabahiro	38:40e7fdf3c694	3070	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3071	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3072	motor[TIRE_FL].pwm = 60;
yabahiro	38:40e7fdf3c694	3073	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3074	motor[TIRE_BR].pwm = 60;
yabahiro	38:40e7fdf3c694	3075	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3076	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3077	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3078	break;
yabahiro	38:40e7fdf3c694	3079	case 1:
yabahiro	38:40e7fdf3c694	3080	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3081	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3082	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3083	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3084	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3085	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3086	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3087	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3088	break;
yabahiro	38:40e7fdf3c694	3089	case 3:
yabahiro	38:40e7fdf3c694	3090	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3091	motor[TIRE_FR].dir = FOR;
yabahiro	46:68296caae1af	3092	motor[TIRE_FL].pwm = 25;
yabahiro	38:40e7fdf3c694	3093	motor[TIRE_FL].dir = BACK;
yabahiro	46:68296caae1af	3094	motor[TIRE_BR].pwm = 25;
yabahiro	38:40e7fdf3c694	3095	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3096	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3097	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3098	break;
yabahiro	38:40e7fdf3c694	3099	case 2:
yabahiro	38:40e7fdf3c694	3100	motor[TIRE_FR].pwm = 60;
yabahiro	38:40e7fdf3c694	3101	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3102	motor[TIRE_FL].pwm = 40;
yabahiro	38:40e7fdf3c694	3103	motor[TIRE_FL].dir = BACK;
yabahiro	38:40e7fdf3c694	3104	motor[TIRE_BR].pwm = 40;
yabahiro	38:40e7fdf3c694	3105	motor[TIRE_BR].dir = FOR;
kishibekairohan	41:99a1158f3eca	3106	motor[TIRE_BL].pwm = 60;
yabahiro	38:40e7fdf3c694	3107	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3108	break;
yabahiro	38:40e7fdf3c694	3109	}
yabahiro	54:4167f10ecad0	3110	break;
yabahiro	54:4167f10ecad0	3111	case 31:
yabahiro	54:4167f10ecad0	3112	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3113	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3114	motor[TIRE_FL].pwm = 45;
yabahiro	54:4167f10ecad0	3115	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3116	motor[TIRE_BR].pwm = 45;
yabahiro	54:4167f10ecad0	3117	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3118	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3119	motor[TIRE_BL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	3120	if(g[3]==0) {
yabahiro	54:4167f10ecad0	3121	cross=0;
yabahiro	54:4167f10ecad0	3122	countss=0;
yabahiro	54:4167f10ecad0	3123	mode=40;
yabahiro	56:61ebd4b759b4	3124	fast = 70;
yabahiro	56:61ebd4b759b4	3125	normal = 50;
yabahiro	54:4167f10ecad0	3126	slow = 30;
yabahiro	54:4167f10ecad0	3127	}
yabahiro	54:4167f10ecad0	3128	break;
yabahiro	54:4167f10ecad0	3129	case 40:
yabahiro	54:4167f10ecad0	3130	if(YELLOW) {
yabahiro	54:4167f10ecad0	3131	if(cross==1) {
yabahiro	54:4167f10ecad0	3132	mode=41;
yabahiro	54:4167f10ecad0	3133	countss=0;
yabahiro	54:4167f10ecad0	3134	cross=0;
yabahiro	54:4167f10ecad0	3135	}
yabahiro	54:4167f10ecad0	3136	} else {
yabahiro	54:4167f10ecad0	3137	if(cross==3) {
yabahiro	54:4167f10ecad0	3138	fast = 60;
yabahiro	54:4167f10ecad0	3139	normal = 40;
yabahiro	54:4167f10ecad0	3140	slow = 30;
yabahiro	54:4167f10ecad0	3141	mode=41;
yabahiro	54:4167f10ecad0	3142	countss=0;
yabahiro	54:4167f10ecad0	3143	cross=0;
yabahiro	54:4167f10ecad0	3144	}
yabahiro	54:4167f10ecad0	3145	}
yabahiro	54:4167f10ecad0	3146	/*
yabahiro	54:4167f10ecad0	3147	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3148	mode=42;
yabahiro	33:dd598bb23ad1	3149	}
yabahiro	54:4167f10ecad0	3150	*/
yabahiro	54:4167f10ecad0	3151	switch(g[3]) {
yabahiro	54:4167f10ecad0	3152	case 98:
yabahiro	54:4167f10ecad0	3153	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3154	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3155	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3156	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3157	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3158	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3159	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3160	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3161	if(countss>30000) {
yabahiro	54:4167f10ecad0	3162	cross++;
yabahiro	54:4167f10ecad0	3163	countss=0;
yabahiro	54:4167f10ecad0	3164	}
yabahiro	54:4167f10ecad0	3165	mtc2=true;
yabahiro	54:4167f10ecad0	3166	break;
yabahiro	54:4167f10ecad0	3167	case 0:
yabahiro	54:4167f10ecad0	3168	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3169	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3170	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3171	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3172	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3173	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3174	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3175	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3176	mtc2=true;
yabahiro	54:4167f10ecad0	3177	break;
yabahiro	54:4167f10ecad0	3178	case 255:
yabahiro	54:4167f10ecad0	3179	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3180	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3181	motor[TIRE_FL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3182	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3183	motor[TIRE_BR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3184	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3185	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3186	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3187	mtc2=true;
yabahiro	54:4167f10ecad0	3188	break;
yabahiro	54:4167f10ecad0	3189	case 253:
yabahiro	54:4167f10ecad0	3190	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3191	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3192	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3193	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3194	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3195	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3196	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3197	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3198	mtc2=true;
yabahiro	54:4167f10ecad0	3199	break;
yabahiro	54:4167f10ecad0	3200	case 254:
yabahiro	54:4167f10ecad0	3201	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3202	motor[TIRE_FR].dir = FREE;
yabahiro	54:4167f10ecad0	3203	motor[TIRE_FL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3204	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3205	motor[TIRE_BR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3206	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3207	motor[TIRE_BL].pwm = 0;
yabahiro	54:4167f10ecad0	3208	motor[TIRE_BL].dir = FREE;
yabahiro	54:4167f10ecad0	3209	mtc2=true;
yabahiro	54:4167f10ecad0	3210	break;
yabahiro	54:4167f10ecad0	3211	case 1:
yabahiro	54:4167f10ecad0	3212	motor[TIRE_FR].pwm = fast+15;
yabahiro	54:4167f10ecad0	3213	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3214	motor[TIRE_FL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3215	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3216	motor[TIRE_BR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3217	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3218	motor[TIRE_BL].pwm = fast+15;
yabahiro	54:4167f10ecad0	3219	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3220	mtc2=true;
yabahiro	54:4167f10ecad0	3221	break;
yabahiro	54:4167f10ecad0	3222	case 3:
yabahiro	54:4167f10ecad0	3223	motor[TIRE_FR].pwm = slow+15;
yabahiro	54:4167f10ecad0	3224	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3225	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3226	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3227	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3228	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3229	motor[TIRE_BL].pwm = slow+15;
yabahiro	54:4167f10ecad0	3230	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3231	mtc2=true;
yabahiro	54:4167f10ecad0	3232	break;
yabahiro	54:4167f10ecad0	3233	case 2:
yabahiro	54:4167f10ecad0	3234	motor[TIRE_FR].pwm = normal+15;
yabahiro	54:4167f10ecad0	3235	motor[TIRE_FR].dir = BACK;
yabahiro	54:4167f10ecad0	3236	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3237	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3238	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3239	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3240	motor[TIRE_BL].pwm = normal+15;
yabahiro	54:4167f10ecad0	3241	motor[TIRE_BL].dir = FOR;
yabahiro	54:4167f10ecad0	3242	mtc2=true;
yabahiro	54:4167f10ecad0	3243	break;
yabahiro	54:4167f10ecad0	3244	}
yabahiro	54:4167f10ecad0	3245	if(g[2]!=98&&mtc2==true) {
yabahiro	54:4167f10ecad0	3246	switch(g[2]) {
yabahiro	54:4167f10ecad0	3247	case 0:
yabahiro	54:4167f10ecad0	3248	mtc2=false;
yabahiro	54:4167f10ecad0	3249	break;
yabahiro	54:4167f10ecad0	3250	case 255:
yabahiro	54:4167f10ecad0	3251	motor[TIRE_FR].pwm += 3;
yabahiro	54:4167f10ecad0	3252	mtc2=false;
yabahiro	54:4167f10ecad0	3253	break;
yabahiro	54:4167f10ecad0	3254	case 253:
yabahiro	54:4167f10ecad0	3255	motor[TIRE_FR].pwm += 6;
yabahiro	54:4167f10ecad0	3256	mtc2=false;
yabahiro	54:4167f10ecad0	3257	break;
yabahiro	54:4167f10ecad0	3258	case 254:
yabahiro	54:4167f10ecad0	3259	motor[TIRE_FR].pwm += 9;
yabahiro	54:4167f10ecad0	3260	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3261	mtc2=false;
yabahiro	54:4167f10ecad0	3262	break;
yabahiro	54:4167f10ecad0	3263	case 1:
yabahiro	54:4167f10ecad0	3264	motor[TIRE_BR].pwm += 3;
yabahiro	54:4167f10ecad0	3265	mtc2=false;
yabahiro	54:4167f10ecad0	3266	break;
yabahiro	54:4167f10ecad0	3267	case 3:
yabahiro	54:4167f10ecad0	3268	motor[TIRE_BR].pwm += 6;
yabahiro	54:4167f10ecad0	3269	mtc2=false;
yabahiro	54:4167f10ecad0	3270	break;
yabahiro	54:4167f10ecad0	3271	case 2:
yabahiro	54:4167f10ecad0	3272	motor[TIRE_BR].pwm += 9;
yabahiro	54:4167f10ecad0	3273	motor[TIRE_FR].pwm = 0;
yabahiro	54:4167f10ecad0	3274	mtc2=false;
yabahiro	54:4167f10ecad0	3275	break;
yabahiro	54:4167f10ecad0	3276	}
yabahiro	54:4167f10ecad0	3277	}
yabahiro	54:4167f10ecad0	3278	break;
yabahiro	54:4167f10ecad0	3279	case 41:
yabahiro	54:4167f10ecad0	3280	/*
yabahiro	54:4167f10ecad0	3281	if(LIF\|\|LIB) {
yabahiro	54:4167f10ecad0	3282	mode=42;
yabahiro	54:4167f10ecad0	3283	}
yabahiro	54:4167f10ecad0	3284	*/
yabahiro	54:4167f10ecad0	3285	motor[TIRE_FR].pwm = 255;
yabahiro	54:4167f10ecad0	3286	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3287	motor[TIRE_FL].pwm = 30;
yabahiro	54:4167f10ecad0	3288	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3289	motor[TIRE_BR].pwm = 30;
yabahiro	54:4167f10ecad0	3290	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3291	motor[TIRE_BL].pwm = 255;
yabahiro	54:4167f10ecad0	3292	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3293	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3294	countss=0;
yabahiro	54:4167f10ecad0	3295	mode=70;
yabahiro	56:61ebd4b759b4	3296	normal = 120;
yabahiro	56:61ebd4b759b4	3297	fast = 140;
yabahiro	56:61ebd4b759b4	3298	slow = 100;
yabahiro	54:4167f10ecad0	3299	}
yabahiro	54:4167f10ecad0	3300	break;
yabahiro	54:4167f10ecad0	3301	case 42:
yabahiro	54:4167f10ecad0	3302	motor[TIRE_FR].pwm = 40;
yabahiro	38:40e7fdf3c694	3303	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3304	motor[TIRE_FL].pwm = 0;
yabahiro	54:4167f10ecad0	3305	motor[TIRE_FL].dir = FREE;
yabahiro	54:4167f10ecad0	3306	motor[TIRE_BR].pwm = 0;
yabahiro	54:4167f10ecad0	3307	motor[TIRE_BR].dir = FREE;
yabahiro	54:4167f10ecad0	3308	motor[TIRE_BL].pwm = 40;
yabahiro	38:40e7fdf3c694	3309	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3310	if(g[1]==0) {
yabahiro	54:4167f10ecad0	3311	countss=0;
yabahiro	54:4167f10ecad0	3312	mode=70;
yabahiro	53:694dbd7dfa0e	3313	}
yabahiro	54:4167f10ecad0	3314	break;
yabahiro	54:4167f10ecad0	3315	case 70:
yabahiro	38:40e7fdf3c694	3316	switch(g[1]) {
yabahiro	54:4167f10ecad0	3317	case 99:
yabahiro	54:4167f10ecad0	3318	if(countss>=100000) {
yabahiro	54:4167f10ecad0	3319	mode=100;
yabahiro	54:4167f10ecad0	3320	}
yabahiro	54:4167f10ecad0	3321	break;
yabahiro	38:40e7fdf3c694	3322	case 98:
yabahiro	38:40e7fdf3c694	3323	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3324	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3325	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3326	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3327	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	3328	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3329	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	3330	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3331	break;
yabahiro	38:40e7fdf3c694	3332	case 0:
yabahiro	54:4167f10ecad0	3333	motor[TIRE_FR].pwm = 100;
yabahiro	38:40e7fdf3c694	3334	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3335	motor[TIRE_FL].pwm = 100;
yabahiro	38:40e7fdf3c694	3336	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3337	motor[TIRE_BR].pwm = 105;
yabahiro	38:40e7fdf3c694	3338	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3339	motor[TIRE_BL].pwm = 100;
yabahiro	38:40e7fdf3c694	3340	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3341	mtc=true;
yabahiro	38:40e7fdf3c694	3342	break;
yabahiro	38:40e7fdf3c694	3343	case 255:
yabahiro	38:40e7fdf3c694	3344	motor[TIRE_FR].pwm = fast;
yabahiro	38:40e7fdf3c694	3345	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3346	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3347	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3348	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3349	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3350	motor[TIRE_BL].pwm = fast;
yabahiro	38:40e7fdf3c694	3351	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3352	mtc=true;
yabahiro	38:40e7fdf3c694	3353	break;
yabahiro	38:40e7fdf3c694	3354	case 253:
yabahiro	38:40e7fdf3c694	3355	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3356	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3357	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3358	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3359	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3360	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3361	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3362	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3363	mtc=true;
yabahiro	38:40e7fdf3c694	3364	break;
yabahiro	38:40e7fdf3c694	3365	case 254:
yabahiro	38:40e7fdf3c694	3366	motor[TIRE_FR].pwm = normal;
yabahiro	38:40e7fdf3c694	3367	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3368	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3369	motor[TIRE_FL].dir = FREE;
yabahiro	38:40e7fdf3c694	3370	motor[TIRE_BR].pwm = 0;
yabahiro	38:40e7fdf3c694	3371	motor[TIRE_BR].dir = FREE;
yabahiro	38:40e7fdf3c694	3372	motor[TIRE_BL].pwm = normal;
yabahiro	38:40e7fdf3c694	3373	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3374	mtc=true;
yabahiro	38:40e7fdf3c694	3375	break;
yabahiro	38:40e7fdf3c694	3376	case 1:
yabahiro	38:40e7fdf3c694	3377	motor[TIRE_FR].pwm = slow;
yabahiro	38:40e7fdf3c694	3378	motor[TIRE_FR].dir = FOR;
yabahiro	38:40e7fdf3c694	3379	motor[TIRE_FL].pwm = fast;
yabahiro	38:40e7fdf3c694	3380	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3381	motor[TIRE_BR].pwm = fast+5;
yabahiro	38:40e7fdf3c694	3382	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3383	motor[TIRE_BL].pwm = slow;
yabahiro	38:40e7fdf3c694	3384	motor[TIRE_BL].dir = BACK;
yabahiro	38:40e7fdf3c694	3385	mtc=true;
yabahiro	38:40e7fdf3c694	3386	break;
yabahiro	38:40e7fdf3c694	3387	case 3:
yabahiro	38:40e7fdf3c694	3388	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3389	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3390	motor[TIRE_FL].pwm = slow;
yabahiro	38:40e7fdf3c694	3391	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3392	motor[TIRE_BR].pwm = slow+5;
yabahiro	38:40e7fdf3c694	3393	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3394	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3395	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3396	mtc=true;
yabahiro	38:40e7fdf3c694	3397	break;
yabahiro	38:40e7fdf3c694	3398	case 2:
yabahiro	38:40e7fdf3c694	3399	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3400	motor[TIRE_FR].dir = FREE;
yabahiro	38:40e7fdf3c694	3401	motor[TIRE_FL].pwm = normal;
yabahiro	38:40e7fdf3c694	3402	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3403	motor[TIRE_BR].pwm = normal+5;
yabahiro	38:40e7fdf3c694	3404	motor[TIRE_BR].dir = FOR;
yabahiro	38:40e7fdf3c694	3405	motor[TIRE_BL].pwm = 0;
yabahiro	38:40e7fdf3c694	3406	motor[TIRE_BL].dir = FREE;
yabahiro	38:40e7fdf3c694	3407	mtc=true;
yabahiro	38:40e7fdf3c694	3408	break;
yabahiro	38:40e7fdf3c694	3409	}
yabahiro	38:40e7fdf3c694	3410	if(g[1]!=98&&mtc==true) {
yabahiro	38:40e7fdf3c694	3411	switch(g[0]) {
yabahiro	38:40e7fdf3c694	3412	case 0:
yabahiro	38:40e7fdf3c694	3413	mtc=false;
yabahiro	38:40e7fdf3c694	3414	break;
yabahiro	38:40e7fdf3c694	3415	case 255:
kishibekairohan	44:2aff0da5ebdb	3416	motor[TIRE_FL].pwm += 3;
yabahiro	38:40e7fdf3c694	3417	mtc=false;
yabahiro	38:40e7fdf3c694	3418	break;
yabahiro	38:40e7fdf3c694	3419	case 253:
kishibekairohan	44:2aff0da5ebdb	3420	motor[TIRE_FL].pwm += 6;
yabahiro	38:40e7fdf3c694	3421	mtc=false;
yabahiro	38:40e7fdf3c694	3422	break;
yabahiro	38:40e7fdf3c694	3423	case 254:
kishibekairohan	44:2aff0da5ebdb	3424	motor[TIRE_FL].pwm += 9;
yabahiro	38:40e7fdf3c694	3425	motor[TIRE_FR].pwm = 0;
yabahiro	38:40e7fdf3c694	3426	mtc=false;
yabahiro	38:40e7fdf3c694	3427	break;
yabahiro	38:40e7fdf3c694	3428	case 1:
kishibekairohan	44:2aff0da5ebdb	3429	motor[TIRE_FR].pwm += 3;
yabahiro	38:40e7fdf3c694	3430	mtc=false;
yabahiro	38:40e7fdf3c694	3431	break;
yabahiro	38:40e7fdf3c694	3432	case 3:
kishibekairohan	44:2aff0da5ebdb	3433	motor[TIRE_FR].pwm += 6;
yabahiro	38:40e7fdf3c694	3434	mtc=false;
yabahiro	38:40e7fdf3c694	3435	break;
yabahiro	38:40e7fdf3c694	3436	case 2:
kishibekairohan	44:2aff0da5ebdb	3437	motor[TIRE_FR].pwm += 9;
yabahiro	38:40e7fdf3c694	3438	motor[TIRE_FL].pwm = 0;
yabahiro	38:40e7fdf3c694	3439	mtc=false;
yabahiro	38:40e7fdf3c694	3440	break;
yabahiro	38:40e7fdf3c694	3441	}
yabahiro	33:dd598bb23ad1	3442	}
yabahiro	54:4167f10ecad0	3443	break;
yabahiro	54:4167f10ecad0	3444	case 100:
yabahiro	54:4167f10ecad0	3445	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3446	motor[TIRE_FR].dir = FOR;
yabahiro	54:4167f10ecad0	3447	motor[TIRE_FL].pwm = 55;
yabahiro	54:4167f10ecad0	3448	motor[TIRE_FL].dir = BACK;
yabahiro	54:4167f10ecad0	3449	motor[TIRE_BR].pwm = 60;
yabahiro	54:4167f10ecad0	3450	motor[TIRE_BR].dir = FOR;
yabahiro	54:4167f10ecad0	3451	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3452	motor[TIRE_BL].dir = BACK;
yabahiro	54:4167f10ecad0	3453	break;
yabahiro	54:4167f10ecad0	3454	default:
yabahiro	54:4167f10ecad0	3455	motor[TIRE_FR].pwm = 50;
yabahiro	54:4167f10ecad0	3456	motor[TIRE_FR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3457	motor[TIRE_FL].pwm = 50;
yabahiro	54:4167f10ecad0	3458	motor[TIRE_FL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3459	motor[TIRE_BR].pwm = 50;
yabahiro	54:4167f10ecad0	3460	motor[TIRE_BR].dir = BRAKE;
yabahiro	54:4167f10ecad0	3461	motor[TIRE_BL].pwm = 50;
yabahiro	54:4167f10ecad0	3462	motor[TIRE_BL].dir = BRAKE;
yabahiro	54:4167f10ecad0	3463	break;
yabahiro	53:694dbd7dfa0e	3464	}
kishibekairohan	13:b6e02d6261d7	3465	}
kishibekairohan	13:b6e02d6261d7	3466	#endif
kishibekairohan	13:b6e02d6261d7	3467
kishibekairohan	13:b6e02d6261d7	3468	#if USE_PROCESS_NUM>4
Ryosei	27:dd9f27fce7d1	3469	static void Process4()
M_souta	22:7d93f79a3686	3470	{
yabahiro	48:5562a99479e5	3471	//Oh So 決勝青ゾーン
yabahiro	48:5562a99479e5	3472	LED::LED::TapeledMode(2);
yabahiro	48:5562a99479e5	3473	countss++;
yabahiro	48:5562a99479e5	3474	if(mode==1) {//スタートゾーンから白線検知
yabahiro	48:5562a99479e5	3475	fast=40;
yabahiro	48:5562a99479e5	3476	normal=30;
yabahiro	48:5562a99479e5	3477	slow=20;
yabahiro	48:5562a99479e5	3478	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3479	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3480	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3481	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3482	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3483	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3484	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3485	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3486	if(g[2]==0&&countss>=100000) {
yabahiro	48:5562a99479e5	3487	countss=100000;
yabahiro	48:5562a99479e5	3488	cross=0;
yabahiro	48:5562a99479e5	3489	mode=3;
yabahiro	48:5562a99479e5	3490	}
yabahiro	48:5562a99479e5	3491	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	48:5562a99479e5	3492	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3493	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3494	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	3495	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	3496	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	3497	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3498	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3499	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3500	if(g[1]==0) {
yabahiro	48:5562a99479e5	3501	mode=10;
yabahiro	48:5562a99479e5	3502	countss=100000;
yabahiro	48:5562a99479e5	3503	}
yabahiro	48:5562a99479e5	3504	} else if(mode==10) { //縦ライントレース
yabahiro	48:5562a99479e5	3505	switch(g[1]) {
yabahiro	48:5562a99479e5	3506	case 98:
yabahiro	48:5562a99479e5	3507	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3508	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3509	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3510	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3511	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3512	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3513	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3514	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3515	mtc=true;
yabahiro	49:697b4e9ce884	3516	if(YELLOW) {
yabahiro	49:697b4e9ce884	3517	if(countss>80000) {
yabahiro	49:697b4e9ce884	3518	cross++;
yabahiro	49:697b4e9ce884	3519	countss=0;
yabahiro	49:697b4e9ce884	3520	}
yabahiro	48:5562a99479e5	3521
yabahiro	49:697b4e9ce884	3522	if(cross==2) {
yabahiro	49:697b4e9ce884	3523	fast = 10;
yabahiro	49:697b4e9ce884	3524	normal = 10;
yabahiro	49:697b4e9ce884	3525	slow = 5;
yabahiro	49:697b4e9ce884	3526	}
yabahiro	48:5562a99479e5	3527
yabahiro	49:697b4e9ce884	3528	if(cross==3) {
yabahiro	49:697b4e9ce884	3529	fast=40;
yabahiro	49:697b4e9ce884	3530	normal=30;
yabahiro	49:697b4e9ce884	3531	slow=20;
yabahiro	49:697b4e9ce884	3532	mode=11;
yabahiro	49:697b4e9ce884	3533	countss=0;
yabahiro	49:697b4e9ce884	3534	cross=0;
yabahiro	49:697b4e9ce884	3535	}
yabahiro	49:697b4e9ce884	3536	} else {
yabahiro	48:5562a99479e5	3537	mode=11;
yabahiro	48:5562a99479e5	3538	}
yabahiro	48:5562a99479e5	3539	break;
yabahiro	48:5562a99479e5	3540	case 0:
yabahiro	48:5562a99479e5	3541	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3542	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3543	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3544	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3545	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3546	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3547	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3548	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3549	mtc=true;
yabahiro	48:5562a99479e5	3550	break;
yabahiro	48:5562a99479e5	3551	case 255:
yabahiro	48:5562a99479e5	3552	motor[TIRE_FR].pwm = fast+50;
yabahiro	48:5562a99479e5	3553	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3554	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3555	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3556	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3557	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3558	motor[TIRE_BL].pwm = fast+50;
yabahiro	48:5562a99479e5	3559	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3560	mtc=true;
yabahiro	48:5562a99479e5	3561	break;
yabahiro	48:5562a99479e5	3562	case 253:
yabahiro	48:5562a99479e5	3563	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3564	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3565	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3566	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3567	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3568	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3569	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3570	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3571	mtc=true;
yabahiro	48:5562a99479e5	3572	break;
yabahiro	48:5562a99479e5	3573	case 254:
yabahiro	48:5562a99479e5	3574	motor[TIRE_FR].pwm = normal+50;
yabahiro	48:5562a99479e5	3575	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3576	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3577	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3578	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3579	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3580	motor[TIRE_BL].pwm = normal+50;
yabahiro	48:5562a99479e5	3581	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3582	mtc=true;
yabahiro	48:5562a99479e5	3583	break;
yabahiro	48:5562a99479e5	3584	case 1:
yabahiro	48:5562a99479e5	3585	motor[TIRE_FR].pwm = slow+50;
yabahiro	48:5562a99479e5	3586	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3587	motor[TIRE_FL].pwm = fast+50;
yabahiro	48:5562a99479e5	3588	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3589	motor[TIRE_BR].pwm = fast+50;
yabahiro	48:5562a99479e5	3590	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3591	motor[TIRE_BL].pwm = slow+50;
yabahiro	48:5562a99479e5	3592	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3593	mtc=true;
yabahiro	48:5562a99479e5	3594	break;
yabahiro	48:5562a99479e5	3595	case 3:
yabahiro	48:5562a99479e5	3596	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3597	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3598	motor[TIRE_FL].pwm = slow+50;
yabahiro	48:5562a99479e5	3599	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3600	motor[TIRE_BR].pwm = slow+50;
yabahiro	48:5562a99479e5	3601	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3602	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3603	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3604	mtc=true;
yabahiro	48:5562a99479e5	3605	break;
yabahiro	48:5562a99479e5	3606	case 2:
yabahiro	48:5562a99479e5	3607	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3608	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3609	motor[TIRE_FL].pwm = normal+50;
yabahiro	48:5562a99479e5	3610	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3611	motor[TIRE_BR].pwm = normal+50;
yabahiro	48:5562a99479e5	3612	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3613	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3614	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3615	mtc=true;
yabahiro	48:5562a99479e5	3616	break;
yabahiro	48:5562a99479e5	3617	}
yabahiro	48:5562a99479e5	3618	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	3619	switch(g[0]) {
yabahiro	48:5562a99479e5	3620	case 0:
yabahiro	48:5562a99479e5	3621	mtc=false;
yabahiro	48:5562a99479e5	3622	break;
yabahiro	48:5562a99479e5	3623	case 255:
yabahiro	48:5562a99479e5	3624	motor[TIRE_FL].pwm += 3;
yabahiro	48:5562a99479e5	3625	mtc=false;
yabahiro	48:5562a99479e5	3626	break;
yabahiro	48:5562a99479e5	3627	case 253:
yabahiro	48:5562a99479e5	3628	motor[TIRE_FL].pwm += 6;
yabahiro	48:5562a99479e5	3629	mtc=false;
yabahiro	48:5562a99479e5	3630	break;
yabahiro	48:5562a99479e5	3631	case 254:
yabahiro	48:5562a99479e5	3632	motor[TIRE_FL].pwm += 9;
yabahiro	48:5562a99479e5	3633	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3634	mtc=false;
yabahiro	48:5562a99479e5	3635	break;
yabahiro	48:5562a99479e5	3636	case 1:
yabahiro	48:5562a99479e5	3637	motor[TIRE_FR].pwm += 3;
yabahiro	48:5562a99479e5	3638	mtc=false;
yabahiro	48:5562a99479e5	3639	break;
yabahiro	48:5562a99479e5	3640	case 3:
yabahiro	48:5562a99479e5	3641	motor[TIRE_FR].pwm += 6;
yabahiro	48:5562a99479e5	3642	mtc=false;
yabahiro	48:5562a99479e5	3643	break;
yabahiro	48:5562a99479e5	3644	case 2:
yabahiro	48:5562a99479e5	3645	motor[TIRE_FR].pwm += 9;
yabahiro	48:5562a99479e5	3646	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3647	mtc=false;
yabahiro	48:5562a99479e5	3648	break;
yabahiro	48:5562a99479e5	3649	}
yabahiro	48:5562a99479e5	3650	}
yabahiro	48:5562a99479e5	3651	} else if(mode==11) {
yabahiro	48:5562a99479e5	3652	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	3653	motor[TIRE_FR].dir = FOR;
yabahiro	49:697b4e9ce884	3654	motor[TIRE_FL].pwm = 50;
yabahiro	49:697b4e9ce884	3655	motor[TIRE_FL].dir = BRAKE;
yabahiro	49:697b4e9ce884	3656	motor[TIRE_BR].pwm = 50;
yabahiro	49:697b4e9ce884	3657	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	3658	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	3659	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3660	if(g[2]==0 \|\| g[2]==255 \|\| g[2]==254 \|\| g[2]==253) {
yabahiro	48:5562a99479e5	3661	countss=0;
yabahiro	48:5562a99479e5	3662	cross=0;
yabahiro	48:5562a99479e5	3663	mode=20;
yabahiro	48:5562a99479e5	3664	}
yabahiro	48:5562a99479e5	3665	} else if(mode==20) {
yabahiro	48:5562a99479e5	3666	switch(g[2]) {
yabahiro	48:5562a99479e5	3667	case 98:
yabahiro	48:5562a99479e5	3668	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3669	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3670	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3671	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3672	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3673	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3674	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3675	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3676	if(countss>30000) {
yabahiro	48:5562a99479e5	3677	cross++;
yabahiro	48:5562a99479e5	3678	countss=0;
yabahiro	48:5562a99479e5	3679	}
yabahiro	48:5562a99479e5	3680	mtc2=true;
yabahiro	48:5562a99479e5	3681
yabahiro	48:5562a99479e5	3682	if(YELLOW) {
yabahiro	49:697b4e9ce884	3683	solenoid.solenoid4= SOLENOID_ON;
yabahiro	48:5562a99479e5	3684	if(cross==1) {
yabahiro	48:5562a99479e5	3685	fast=20;
yabahiro	48:5562a99479e5	3686	normal=15;
yabahiro	48:5562a99479e5	3687	slow=15;
yabahiro	48:5562a99479e5	3688	} else if(cross==2) {
yabahiro	48:5562a99479e5	3689	mode=21;
yabahiro	48:5562a99479e5	3690	countss=0;
yabahiro	48:5562a99479e5	3691	cross=0;
yabahiro	48:5562a99479e5	3692	}
yabahiro	48:5562a99479e5	3693	} else {
yabahiro	49:697b4e9ce884	3694	if(cross==2) {
yabahiro	49:697b4e9ce884	3695	fast=20;
yabahiro	49:697b4e9ce884	3696	normal=15;
yabahiro	49:697b4e9ce884	3697	slow=15;
yabahiro	49:697b4e9ce884	3698	}
yabahiro	48:5562a99479e5	3699	if(cross==3) {
yabahiro	48:5562a99479e5	3700	mode=21;
yabahiro	48:5562a99479e5	3701	countss=0;
yabahiro	48:5562a99479e5	3702	cross=0;
yabahiro	48:5562a99479e5	3703	}
yabahiro	48:5562a99479e5	3704	}
yabahiro	48:5562a99479e5	3705	break;
yabahiro	48:5562a99479e5	3706	case 0:
yabahiro	48:5562a99479e5	3707	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3708	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3709	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3710	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3711	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3712	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3713	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3714	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3715	mtc2=true;
yabahiro	48:5562a99479e5	3716	break;
yabahiro	48:5562a99479e5	3717	case 255:
yabahiro	48:5562a99479e5	3718	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3719	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3720	motor[TIRE_FL].pwm = fast+20;
yabahiro	48:5562a99479e5	3721	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3722	motor[TIRE_BR].pwm = fast+20;
yabahiro	48:5562a99479e5	3723	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3724	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3725	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3726	mtc2=true;
yabahiro	48:5562a99479e5	3727	break;
yabahiro	48:5562a99479e5	3728	case 253:
yabahiro	48:5562a99479e5	3729	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3730	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3731	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3732	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3733	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3734	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3735	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3736	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3737	mtc2=true;
yabahiro	48:5562a99479e5	3738	break;
yabahiro	48:5562a99479e5	3739	case 254:
yabahiro	48:5562a99479e5	3740	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3741	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3742	motor[TIRE_FL].pwm = normal+20;
yabahiro	48:5562a99479e5	3743	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3744	motor[TIRE_BR].pwm = normal+20;
yabahiro	48:5562a99479e5	3745	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3746	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3747	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3748	mtc2=true;
yabahiro	48:5562a99479e5	3749	break;
yabahiro	48:5562a99479e5	3750	case 1:
yabahiro	48:5562a99479e5	3751	motor[TIRE_FR].pwm = fast+20;
yabahiro	48:5562a99479e5	3752	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3753	motor[TIRE_FL].pwm = slow+20;
yabahiro	48:5562a99479e5	3754	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3755	motor[TIRE_BR].pwm = slow+20;
yabahiro	48:5562a99479e5	3756	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3757	motor[TIRE_BL].pwm = fast+20;
yabahiro	48:5562a99479e5	3758	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3759	mtc2=true;
yabahiro	48:5562a99479e5	3760	break;
yabahiro	48:5562a99479e5	3761	case 3:
yabahiro	48:5562a99479e5	3762	motor[TIRE_FR].pwm = slow+20;
yabahiro	48:5562a99479e5	3763	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3764	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3765	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3766	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3767	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3768	motor[TIRE_BL].pwm = slow+20;
yabahiro	48:5562a99479e5	3769	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3770	mtc2=true;
yabahiro	48:5562a99479e5	3771	break;
yabahiro	48:5562a99479e5	3772	case 2:
yabahiro	48:5562a99479e5	3773	motor[TIRE_FR].pwm = normal+20;
yabahiro	48:5562a99479e5	3774	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3775	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3776	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3777	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3778	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3779	motor[TIRE_BL].pwm = normal+20;
yabahiro	48:5562a99479e5	3780	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3781	mtc2=true;
yabahiro	48:5562a99479e5	3782	break;
yabahiro	48:5562a99479e5	3783	}
yabahiro	48:5562a99479e5	3784	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	3785	switch(g[3]) {
yabahiro	48:5562a99479e5	3786	case 0:
yabahiro	48:5562a99479e5	3787	mtc2=false;
yabahiro	48:5562a99479e5	3788	break;
yabahiro	48:5562a99479e5	3789	case 255:
yabahiro	48:5562a99479e5	3790	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	3791	mtc2=false;
yabahiro	48:5562a99479e5	3792	break;
yabahiro	48:5562a99479e5	3793	case 253:
yabahiro	48:5562a99479e5	3794	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	3795	mtc2=false;
yabahiro	48:5562a99479e5	3796	break;
yabahiro	48:5562a99479e5	3797	case 254:
yabahiro	48:5562a99479e5	3798	motor[TIRE_BL].pwm += 15;
yabahiro	48:5562a99479e5	3799	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3800	mtc2=false;
yabahiro	48:5562a99479e5	3801	break;
yabahiro	48:5562a99479e5	3802	case 1:
yabahiro	48:5562a99479e5	3803	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	3804	mtc2=false;
yabahiro	48:5562a99479e5	3805	break;
yabahiro	48:5562a99479e5	3806	case 3:
yabahiro	48:5562a99479e5	3807	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	3808	mtc2=false;
yabahiro	48:5562a99479e5	3809	break;
yabahiro	48:5562a99479e5	3810	case 2:
yabahiro	48:5562a99479e5	3811	motor[TIRE_FL].pwm += 15;
yabahiro	48:5562a99479e5	3812	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3813	mtc2=false;
yabahiro	48:5562a99479e5	3814	break;
yabahiro	48:5562a99479e5	3815	}
yabahiro	48:5562a99479e5	3816	}
yabahiro	48:5562a99479e5	3817	}
yabahiro	48:5562a99479e5	3818	if(YELLOW) {
yabahiro	48:5562a99479e5	3819	if(mode==21) {
yabahiro	48:5562a99479e5	3820	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3821	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3822	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3823	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3824	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3825	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3826	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3827	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3828	if(g[3]==98&&countss>=10000) {
yabahiro	48:5562a99479e5	3829	mode=22;
yabahiro	48:5562a99479e5	3830	countss=0;
yabahiro	48:5562a99479e5	3831	fast=60;
yabahiro	48:5562a99479e5	3832	normal=40;
yabahiro	48:5562a99479e5	3833	slow=20;
yabahiro	48:5562a99479e5	3834	}
yabahiro	48:5562a99479e5	3835	} else if(mode==22) {
yabahiro	48:5562a99479e5	3836	if(g[4]==3\|\|g[4]==2) {
yabahiro	48:5562a99479e5	3837	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3838	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3839	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3840	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3841	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3842	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3843	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3844	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3845	}
yabahiro	48:5562a99479e5	3846	if(g[4]==253\|\|g[4]==254) {
yabahiro	48:5562a99479e5	3847	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3848	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3849	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3850	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3851	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3852	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3853	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3854	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3855	}
yabahiro	48:5562a99479e5	3856	switch(g[2]) {
yabahiro	48:5562a99479e5	3857	case 0:
yabahiro	48:5562a99479e5	3858	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3859	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3860	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3861	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3862	break;
yabahiro	48:5562a99479e5	3863	case 255:
yabahiro	48:5562a99479e5	3864	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3865	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3866	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3867	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3868	break;
yabahiro	48:5562a99479e5	3869	case 253:
yabahiro	48:5562a99479e5	3870	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	3871	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3872	motor[TIRE_BR].pwm = 20;
yabahiro	48:5562a99479e5	3873	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3874	break;
yabahiro	48:5562a99479e5	3875	case 254:
yabahiro	48:5562a99479e5	3876	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3877	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3878	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3879	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3880	break;
yabahiro	48:5562a99479e5	3881	case 1:
yabahiro	48:5562a99479e5	3882	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3883	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3884	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3885	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3886	break;
yabahiro	48:5562a99479e5	3887	case 3:
yabahiro	48:5562a99479e5	3888	motor[TIRE_FR].pwm = 20;
yabahiro	48:5562a99479e5	3889	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3890	motor[TIRE_BR].pwm = 40;
yabahiro	48:5562a99479e5	3891	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3892	break;
yabahiro	48:5562a99479e5	3893	case 2:
yabahiro	48:5562a99479e5	3894	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	3895	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	3896	motor[TIRE_BR].pwm = 30;
yabahiro	48:5562a99479e5	3897	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	3898	break;
yabahiro	48:5562a99479e5	3899	}
yabahiro	48:5562a99479e5	3900	switch(g[3]) {
yabahiro	48:5562a99479e5	3901	case 0:
yabahiro	48:5562a99479e5	3902	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3903	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3904	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3905	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3906	break;
yabahiro	48:5562a99479e5	3907	case 255:
yabahiro	48:5562a99479e5	3908	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3909	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3910	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3911	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3912	case 253:
yabahiro	48:5562a99479e5	3913	motor[TIRE_FL].pwm = 20;
yabahiro	48:5562a99479e5	3914	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3915	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	3916	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3917	break;
yabahiro	48:5562a99479e5	3918	case 254:
yabahiro	48:5562a99479e5	3919	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3920	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	3921	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3922	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	3923	break;
yabahiro	48:5562a99479e5	3924	case 1:
yabahiro	48:5562a99479e5	3925	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3926	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3927	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3928	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3929	break;
yabahiro	48:5562a99479e5	3930	case 3:
yabahiro	48:5562a99479e5	3931	motor[TIRE_FL].pwm = 40;
yabahiro	48:5562a99479e5	3932	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3933	motor[TIRE_BL].pwm = 20;
yabahiro	48:5562a99479e5	3934	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3935	break;
yabahiro	48:5562a99479e5	3936	case 2:
yabahiro	48:5562a99479e5	3937	motor[TIRE_FL].pwm = 30;
yabahiro	48:5562a99479e5	3938	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3939	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	3940	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3941	break;
yabahiro	48:5562a99479e5	3942	}
yabahiro	48:5562a99479e5	3943	if(g[3]==0&&g[2]==0) {
yabahiro	48:5562a99479e5	3944	mode=23;
yabahiro	48:5562a99479e5	3945	countss=0;
yabahiro	48:5562a99479e5	3946	}
yabahiro	48:5562a99479e5	3947	} else if(mode==23) {
yabahiro	48:5562a99479e5	3948	switch(g[4]) {
yabahiro	48:5562a99479e5	3949	case 98:
yabahiro	48:5562a99479e5	3950	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3951	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3952	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3953	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3954	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3955	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3956	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3957	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3958	break;
yabahiro	48:5562a99479e5	3959	case 99:
yabahiro	48:5562a99479e5	3960	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3961	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3962	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3963	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3964	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3965	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3966	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3967	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3968	break;
yabahiro	48:5562a99479e5	3969	case 0:
yabahiro	48:5562a99479e5	3970	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3971	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3972	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	3973	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3974	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	3975	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3976	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3977	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3978	break;
yabahiro	48:5562a99479e5	3979	case 255:
yabahiro	48:5562a99479e5	3980	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	3981	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	3982	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	3983	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	3984	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	3985	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	3986	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	3987	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	3988	break;
yabahiro	48:5562a99479e5	3989	case 253:
yabahiro	48:5562a99479e5	3990	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	3991	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	3992	motor[TIRE_FL].pwm = slow-5;
yabahiro	48:5562a99479e5	3993	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	3994	motor[TIRE_BR].pwm = slow-5;
yabahiro	48:5562a99479e5	3995	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	3996	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	3997	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	3998	break;
yabahiro	48:5562a99479e5	3999	case 254:
yabahiro	48:5562a99479e5	4000	motor[TIRE_FR].pwm = fast-5;
yabahiro	48:5562a99479e5	4001	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4002	motor[TIRE_FL].pwm = normal-5;
yabahiro	48:5562a99479e5	4003	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4004	motor[TIRE_BR].pwm = normal-5;
yabahiro	48:5562a99479e5	4005	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4006	motor[TIRE_BL].pwm = fast-5;
yabahiro	48:5562a99479e5	4007	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4008	break;
yabahiro	48:5562a99479e5	4009	case 1:
yabahiro	48:5562a99479e5	4010	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4011	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4012	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4013	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4014	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4015	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4016	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4017	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4018	break;
yabahiro	48:5562a99479e5	4019	case 3:
yabahiro	48:5562a99479e5	4020	motor[TIRE_FR].pwm = slow-5;
yabahiro	48:5562a99479e5	4021	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4022	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4023	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4024	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4025	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4026	motor[TIRE_BL].pwm = slow-5;
yabahiro	48:5562a99479e5	4027	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4028	break;
yabahiro	48:5562a99479e5	4029	case 2:
yabahiro	48:5562a99479e5	4030	motor[TIRE_FR].pwm = normal-5;
yabahiro	48:5562a99479e5	4031	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4032	motor[TIRE_FL].pwm = fast-5;
yabahiro	48:5562a99479e5	4033	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4034	motor[TIRE_BR].pwm = fast-5;
yabahiro	48:5562a99479e5	4035	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4036	motor[TIRE_BL].pwm = normal-5;
yabahiro	48:5562a99479e5	4037	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4038	break;
yabahiro	48:5562a99479e5	4039	}
yabahiro	48:5562a99479e5	4040	if(g[2]==254&&countss>=100000) {
yabahiro	48:5562a99479e5	4041	mode=24;
yabahiro	48:5562a99479e5	4042	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	48:5562a99479e5	4043	countss=0;
yabahiro	48:5562a99479e5	4044	fast=60;
yabahiro	48:5562a99479e5	4045	normal=40;
yabahiro	48:5562a99479e5	4046	slow=20;
yabahiro	48:5562a99479e5	4047	}
yabahiro	48:5562a99479e5	4048	} else if(mode==24) {
yabahiro	48:5562a99479e5	4049	motor[TIRE_FR].pwm = 60;
yabahiro	48:5562a99479e5	4050	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4051	motor[TIRE_FL].pwm = 60;
yabahiro	48:5562a99479e5	4052	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4053	motor[TIRE_BR].pwm = 60;
yabahiro	48:5562a99479e5	4054	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4055	motor[TIRE_BL].pwm = 60;
yabahiro	48:5562a99479e5	4056	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4057	if(g[0]==0) {
yabahiro	48:5562a99479e5	4058	mode=25;
yabahiro	48:5562a99479e5	4059	}
yabahiro	48:5562a99479e5	4060	} else if(mode==25) {
yabahiro	48:5562a99479e5	4061	motor[TIRE_FR].pwm = 100;
yabahiro	48:5562a99479e5	4062	motor[TIRE_FR].dir = BRAKE;
yabahiro	48:5562a99479e5	4063	motor[TIRE_FL].pwm = 100;
yabahiro	48:5562a99479e5	4064	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4065	motor[TIRE_BR].pwm = 100;
yabahiro	48:5562a99479e5	4066	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4067	motor[TIRE_BL].pwm = 100;
yabahiro	48:5562a99479e5	4068	motor[TIRE_BL].dir = BRAKE;
yabahiro	48:5562a99479e5	4069	if(DOLS==true\|\|UPLS==true) {
yabahiro	48:5562a99479e5	4070	motor[MOTOR_0].pwm = 200;
yabahiro	48:5562a99479e5	4071	motor[MOTOR_0].dir = BRAKE;
yabahiro	48:5562a99479e5	4072	mode=26;
yabahiro	48:5562a99479e5	4073	countss=0;
yabahiro	48:5562a99479e5	4074	} else {
yabahiro	48:5562a99479e5	4075	motor[MOTOR_0].pwm = 100;
yabahiro	48:5562a99479e5	4076	motor[MOTOR_0].dir = BACK;
yabahiro	48:5562a99479e5	4077	}
yabahiro	48:5562a99479e5	4078	} else if(mode==26) {
yabahiro	48:5562a99479e5	4079	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4080	mode=31;
yabahiro	48:5562a99479e5	4081	countss=0;
yabahiro	48:5562a99479e5	4082	}
yabahiro	48:5562a99479e5	4083	switch(g[0]) {
yabahiro	48:5562a99479e5	4084	case 98:
yabahiro	48:5562a99479e5	4085	fast=40;
yabahiro	48:5562a99479e5	4086	normal=30;
yabahiro	48:5562a99479e5	4087	slow=25;
yabahiro	48:5562a99479e5	4088	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4089	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4090	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4091	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4092	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4093	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4094	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4095	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4096	break;
yabahiro	48:5562a99479e5	4097	case 0:
yabahiro	48:5562a99479e5	4098	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4099	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4100	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4101	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4102	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4103	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4104	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4105	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4106	mtc=true;
yabahiro	48:5562a99479e5	4107	break;
yabahiro	48:5562a99479e5	4108	case 255:
yabahiro	48:5562a99479e5	4109	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4110	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4111	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4112	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4113	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4114	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4115	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4116	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4117	mtc=true;
yabahiro	48:5562a99479e5	4118	break;
yabahiro	48:5562a99479e5	4119	case 253:
yabahiro	48:5562a99479e5	4120	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4121	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4122	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4123	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4124	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4125	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4126	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4127	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4128	mtc=true;
yabahiro	48:5562a99479e5	4129	break;
yabahiro	48:5562a99479e5	4130	case 254:
yabahiro	48:5562a99479e5	4131	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4132	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4133	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4134	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4135	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4136	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4137	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4138	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4139	mtc=true;
yabahiro	48:5562a99479e5	4140	break;
yabahiro	48:5562a99479e5	4141	case 1:
yabahiro	48:5562a99479e5	4142	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4143	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4144	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4145	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4146	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4147	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4148	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4149	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4150	mtc=true;
yabahiro	48:5562a99479e5	4151	break;
yabahiro	48:5562a99479e5	4152	case 3:
yabahiro	48:5562a99479e5	4153	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4154	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4155	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4156	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4157	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4158	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4159	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4160	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4161	mtc=true;
yabahiro	48:5562a99479e5	4162	break;
yabahiro	48:5562a99479e5	4163	case 2:
yabahiro	48:5562a99479e5	4164	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4165	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4166	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4167	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4168	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4169	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4170	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4171	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4172	mtc=true;
yabahiro	48:5562a99479e5	4173	break;
yabahiro	48:5562a99479e5	4174	}
yabahiro	48:5562a99479e5	4175	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4176	switch(g[1]) {
yabahiro	48:5562a99479e5	4177	case 0:
yabahiro	48:5562a99479e5	4178	mtc=false;
yabahiro	48:5562a99479e5	4179	break;
yabahiro	48:5562a99479e5	4180	case 255:
yabahiro	48:5562a99479e5	4181	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4182	mtc=false;
yabahiro	48:5562a99479e5	4183	break;
yabahiro	48:5562a99479e5	4184	case 253:
yabahiro	48:5562a99479e5	4185	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4186	mtc=false;
yabahiro	48:5562a99479e5	4187	break;
yabahiro	48:5562a99479e5	4188	case 254:
yabahiro	48:5562a99479e5	4189	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4190	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4191	mtc=false;
yabahiro	48:5562a99479e5	4192	break;
yabahiro	48:5562a99479e5	4193	case 1:
yabahiro	48:5562a99479e5	4194	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4195	mtc=false;
yabahiro	48:5562a99479e5	4196	break;
yabahiro	48:5562a99479e5	4197	case 3:
yabahiro	48:5562a99479e5	4198	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4199	mtc=false;
yabahiro	48:5562a99479e5	4200	break;
yabahiro	48:5562a99479e5	4201	case 2:
yabahiro	48:5562a99479e5	4202	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4203	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4204	mtc=false;
yabahiro	48:5562a99479e5	4205	break;
yabahiro	48:5562a99479e5	4206	}
yabahiro	48:5562a99479e5	4207	}
yabahiro	48:5562a99479e5	4208	}
yabahiro	48:5562a99479e5	4209	} else {
yabahiro	48:5562a99479e5	4210	if(mode==21) {
yabahiro	49:697b4e9ce884	4211	if(g[0]==98&&countss>=40000) {
yabahiro	48:5562a99479e5	4212	fast=60;
yabahiro	48:5562a99479e5	4213	normal=30;
yabahiro	48:5562a99479e5	4214	slow=25;
yabahiro	48:5562a99479e5	4215	mode=31;
yabahiro	48:5562a99479e5	4216	countss=0;
yabahiro	48:5562a99479e5	4217	}
yabahiro	48:5562a99479e5	4218	switch(g[0]) {
yabahiro	48:5562a99479e5	4219	case 98:
yabahiro	48:5562a99479e5	4220	fast=40;
yabahiro	48:5562a99479e5	4221	normal=30;
yabahiro	48:5562a99479e5	4222	slow=25;
yabahiro	48:5562a99479e5	4223	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4224	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4225	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4226	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4227	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4228	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4229	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4230	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4231	break;
yabahiro	48:5562a99479e5	4232	case 0:
yabahiro	48:5562a99479e5	4233	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4234	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4235	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4236	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4237	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4238	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4239	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4240	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4241	mtc=true;
yabahiro	48:5562a99479e5	4242	break;
yabahiro	48:5562a99479e5	4243	case 255:
yabahiro	48:5562a99479e5	4244	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4245	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4246	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4247	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4248	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4249	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4250	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4251	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4252	mtc=true;
yabahiro	48:5562a99479e5	4253	break;
yabahiro	48:5562a99479e5	4254	case 253:
yabahiro	48:5562a99479e5	4255	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4256	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4257	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4258	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4259	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4260	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4261	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4262	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4263	mtc=true;
yabahiro	48:5562a99479e5	4264	break;
yabahiro	48:5562a99479e5	4265	case 254:
yabahiro	48:5562a99479e5	4266	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4267	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4268	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4269	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4270	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4271	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4272	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4273	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4274	mtc=true;
yabahiro	48:5562a99479e5	4275	break;
yabahiro	48:5562a99479e5	4276	case 1:
yabahiro	48:5562a99479e5	4277	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4278	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4279	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4280	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4281	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4282	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4283	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4284	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4285	mtc=true;
yabahiro	48:5562a99479e5	4286	break;
yabahiro	48:5562a99479e5	4287	case 3:
yabahiro	48:5562a99479e5	4288	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4289	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4290	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4291	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4292	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4293	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4294	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4295	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4296	mtc=true;
yabahiro	48:5562a99479e5	4297	break;
yabahiro	48:5562a99479e5	4298	case 2:
yabahiro	48:5562a99479e5	4299	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4300	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4301	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4302	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4303	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4304	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4305	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4306	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4307	mtc=true;
yabahiro	48:5562a99479e5	4308	break;
yabahiro	48:5562a99479e5	4309	}
yabahiro	48:5562a99479e5	4310	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4311	switch(g[1]) {
yabahiro	48:5562a99479e5	4312	case 0:
yabahiro	48:5562a99479e5	4313	mtc=false;
yabahiro	48:5562a99479e5	4314	break;
yabahiro	48:5562a99479e5	4315	case 255:
yabahiro	48:5562a99479e5	4316	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4317	mtc=false;
yabahiro	48:5562a99479e5	4318	break;
yabahiro	48:5562a99479e5	4319	case 253:
yabahiro	48:5562a99479e5	4320	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4321	mtc=false;
yabahiro	48:5562a99479e5	4322	break;
yabahiro	48:5562a99479e5	4323	case 254:
yabahiro	48:5562a99479e5	4324	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4325	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4326	mtc=false;
yabahiro	48:5562a99479e5	4327	break;
yabahiro	48:5562a99479e5	4328	case 1:
yabahiro	48:5562a99479e5	4329	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4330	mtc=false;
yabahiro	48:5562a99479e5	4331	break;
yabahiro	48:5562a99479e5	4332	case 3:
yabahiro	48:5562a99479e5	4333	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4334	mtc=false;
yabahiro	48:5562a99479e5	4335	break;
yabahiro	48:5562a99479e5	4336	case 2:
yabahiro	48:5562a99479e5	4337	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4338	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4339	mtc=false;
yabahiro	48:5562a99479e5	4340	break;
yabahiro	48:5562a99479e5	4341	}
yabahiro	48:5562a99479e5	4342	}
yabahiro	48:5562a99479e5	4343	}
yabahiro	48:5562a99479e5	4344	}
yabahiro	48:5562a99479e5	4345
yabahiro	48:5562a99479e5	4346	/*
yabahiro	48:5562a99479e5	4347	if(mode==31) {
yabahiro	48:5562a99479e5	4348	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4349	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4350	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4351	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4352	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4353	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4354	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4355	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4356	if(countss>=5000) {
yabahiro	48:5562a99479e5	4357	countss=0;
yabahiro	48:5562a99479e5	4358	mode=33;
yabahiro	48:5562a99479e5	4359	}
yabahiro	48:5562a99479e5	4360	} else if(mode==33) {
yabahiro	48:5562a99479e5	4361	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4362	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4363	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4364	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4365	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4366	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4367	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4368	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4369	if(g[3]==0) {
yabahiro	48:5562a99479e5	4370	cross=0;
yabahiro	48:5562a99479e5	4371	countss=0;
yabahiro	48:5562a99479e5	4372	mode=40;
yabahiro	48:5562a99479e5	4373	}
yabahiro	48:5562a99479e5	4374	} else
yabahiro	48:5562a99479e5	4375	*/
yabahiro	48:5562a99479e5	4376	if(mode==31) {
yabahiro	48:5562a99479e5	4377	motor[TIRE_FR].pwm = 45;
yabahiro	48:5562a99479e5	4378	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4379	motor[TIRE_FL].pwm = 255;
yabahiro	48:5562a99479e5	4380	motor[TIRE_FL].dir = BRAKE;
yabahiro	48:5562a99479e5	4381	motor[TIRE_BR].pwm = 255;
yabahiro	48:5562a99479e5	4382	motor[TIRE_BR].dir = BRAKE;
yabahiro	48:5562a99479e5	4383	motor[TIRE_BL].pwm = 45;
yabahiro	48:5562a99479e5	4384	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4385	if(g[3]==0) {
yabahiro	48:5562a99479e5	4386	cross=0;
yabahiro	48:5562a99479e5	4387	countss=0;
yabahiro	48:5562a99479e5	4388	mode=40;
yabahiro	48:5562a99479e5	4389	}
yabahiro	48:5562a99479e5	4390	} else if(mode==40) {
yabahiro	48:5562a99479e5	4391	switch(g[3]) {
yabahiro	48:5562a99479e5	4392	case 98:
yabahiro	48:5562a99479e5	4393	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4394	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4395	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4396	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4397	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4398	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4399	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4400	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4401	if(countss>10000) {
yabahiro	48:5562a99479e5	4402	cross++;
yabahiro	48:5562a99479e5	4403	countss=0;
yabahiro	48:5562a99479e5	4404	}
yabahiro	48:5562a99479e5	4405	mtc2=true;
yabahiro	48:5562a99479e5	4406	if(cross==1) {
yabahiro	48:5562a99479e5	4407	mode=41;
yabahiro	48:5562a99479e5	4408	countss=0;
yabahiro	48:5562a99479e5	4409	cross=0;
yabahiro	48:5562a99479e5	4410	}
yabahiro	48:5562a99479e5	4411	break;
yabahiro	48:5562a99479e5	4412	case 0:
yabahiro	48:5562a99479e5	4413	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4414	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4415	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4416	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4417	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4418	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4419	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4420	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4421	mtc2=true;
yabahiro	48:5562a99479e5	4422	break;
yabahiro	48:5562a99479e5	4423	case 255:
yabahiro	48:5562a99479e5	4424	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4425	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4426	motor[TIRE_FL].pwm = fast+15;
yabahiro	48:5562a99479e5	4427	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4428	motor[TIRE_BR].pwm = fast+15;
yabahiro	48:5562a99479e5	4429	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4430	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4431	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4432	mtc2=true;
yabahiro	48:5562a99479e5	4433	break;
yabahiro	48:5562a99479e5	4434	case 253:
yabahiro	48:5562a99479e5	4435	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4436	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4437	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4438	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4439	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4440	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4441	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4442	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4443	mtc2=true;
yabahiro	48:5562a99479e5	4444	break;
yabahiro	48:5562a99479e5	4445	case 254:
yabahiro	48:5562a99479e5	4446	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4447	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4448	motor[TIRE_FL].pwm = normal+15;
yabahiro	48:5562a99479e5	4449	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4450	motor[TIRE_BR].pwm = normal+15;
yabahiro	48:5562a99479e5	4451	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4452	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4453	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4454	mtc2=true;
yabahiro	48:5562a99479e5	4455	break;
yabahiro	48:5562a99479e5	4456	case 1:
yabahiro	48:5562a99479e5	4457	motor[TIRE_FR].pwm = fast+15;
yabahiro	48:5562a99479e5	4458	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4459	motor[TIRE_FL].pwm = slow+15;
yabahiro	48:5562a99479e5	4460	motor[TIRE_FL].dir = BACK;
yabahiro	48:5562a99479e5	4461	motor[TIRE_BR].pwm = slow+15;
yabahiro	48:5562a99479e5	4462	motor[TIRE_BR].dir = FOR;
yabahiro	48:5562a99479e5	4463	motor[TIRE_BL].pwm = fast+15;
yabahiro	48:5562a99479e5	4464	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4465	mtc2=true;
yabahiro	48:5562a99479e5	4466	break;
yabahiro	48:5562a99479e5	4467	case 3:
yabahiro	48:5562a99479e5	4468	motor[TIRE_FR].pwm = slow+15;
yabahiro	48:5562a99479e5	4469	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4470	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4471	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4472	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4473	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4474	motor[TIRE_BL].pwm = slow+15;
yabahiro	48:5562a99479e5	4475	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4476	mtc2=true;
yabahiro	48:5562a99479e5	4477	break;
yabahiro	48:5562a99479e5	4478	case 2:
yabahiro	48:5562a99479e5	4479	motor[TIRE_FR].pwm = normal+15;
yabahiro	48:5562a99479e5	4480	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4481	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4482	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4483	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4484	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4485	motor[TIRE_BL].pwm = normal+15;
yabahiro	48:5562a99479e5	4486	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4487	mtc2=true;
yabahiro	48:5562a99479e5	4488	break;
yabahiro	48:5562a99479e5	4489	}
yabahiro	48:5562a99479e5	4490	if(g[2]!=98&&mtc2==true) {
yabahiro	48:5562a99479e5	4491	switch(g[2]) {
yabahiro	48:5562a99479e5	4492	case 0:
yabahiro	48:5562a99479e5	4493	mtc2=false;
yabahiro	48:5562a99479e5	4494	break;
yabahiro	48:5562a99479e5	4495	case 255:
yabahiro	48:5562a99479e5	4496	motor[TIRE_FL].pwm += 5;
yabahiro	48:5562a99479e5	4497	mtc2=false;
yabahiro	48:5562a99479e5	4498	break;
yabahiro	48:5562a99479e5	4499	case 253:
yabahiro	48:5562a99479e5	4500	motor[TIRE_FL].pwm += 10;
yabahiro	48:5562a99479e5	4501	mtc2=false;
yabahiro	48:5562a99479e5	4502	break;
yabahiro	48:5562a99479e5	4503	case 254:
yabahiro	48:5562a99479e5	4504	motor[TIRE_FL].pwm += 20;
yabahiro	48:5562a99479e5	4505	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4506	mtc2=false;
yabahiro	48:5562a99479e5	4507	break;
yabahiro	48:5562a99479e5	4508	case 1:
yabahiro	48:5562a99479e5	4509	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4510	mtc2=false;
yabahiro	48:5562a99479e5	4511	break;
yabahiro	48:5562a99479e5	4512	case 3:
yabahiro	48:5562a99479e5	4513	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4514	mtc2=false;
yabahiro	48:5562a99479e5	4515	break;
yabahiro	48:5562a99479e5	4516	case 2:
yabahiro	48:5562a99479e5	4517	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4518	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4519	mtc2=false;
yabahiro	48:5562a99479e5	4520	break;
yabahiro	48:5562a99479e5	4521	}
yabahiro	48:5562a99479e5	4522	}
yabahiro	48:5562a99479e5	4523	} else if(mode==41) {
yabahiro	48:5562a99479e5	4524	if(LIF\|\|LIB) {
yabahiro	48:5562a99479e5	4525	mode=42;
yabahiro	48:5562a99479e5	4526	}
yabahiro	48:5562a99479e5	4527	motor[TIRE_FR].pwm = 30;
yabahiro	48:5562a99479e5	4528	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4529	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4530	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4531	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4532	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4533	motor[TIRE_BL].pwm = 30;
yabahiro	48:5562a99479e5	4534	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4535	if(g[1]==0) {
yabahiro	48:5562a99479e5	4536	countss=0;
yabahiro	48:5562a99479e5	4537	mode=70;
yabahiro	48:5562a99479e5	4538	normal=60;
yabahiro	48:5562a99479e5	4539	fast=70;
yabahiro	48:5562a99479e5	4540	slow=40;
yabahiro	48:5562a99479e5	4541	}
yabahiro	48:5562a99479e5	4542	} else if(mode==42) {
yabahiro	48:5562a99479e5	4543	motor[TIRE_FR].pwm = 40;
yabahiro	48:5562a99479e5	4544	motor[TIRE_FR].dir = FOR;
yabahiro	48:5562a99479e5	4545	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4546	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4547	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4548	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4549	motor[TIRE_BL].pwm = 40;
yabahiro	48:5562a99479e5	4550	motor[TIRE_BL].dir = BACK;
yabahiro	48:5562a99479e5	4551	if(g[1]==0) {
yabahiro	48:5562a99479e5	4552	countss=0;
yabahiro	48:5562a99479e5	4553	mode=70;
yabahiro	48:5562a99479e5	4554	}
yabahiro	48:5562a99479e5	4555	} else if(mode==70) {
yabahiro	48:5562a99479e5	4556	switch(g[0]) {
yabahiro	48:5562a99479e5	4557	case 99:
yabahiro	48:5562a99479e5	4558	if(countss>=100000) {
yabahiro	48:5562a99479e5	4559	mode=100;
yabahiro	48:5562a99479e5	4560	}
yabahiro	48:5562a99479e5	4561	break;
yabahiro	48:5562a99479e5	4562	case 98:
yabahiro	48:5562a99479e5	4563	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4564	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4565	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4566	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4567	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4568	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4569	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4570	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4571	break;
yabahiro	48:5562a99479e5	4572	case 0:
yabahiro	48:5562a99479e5	4573	motor[TIRE_FR].pwm = 80;
yabahiro	48:5562a99479e5	4574	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4575	motor[TIRE_FL].pwm = 80;
yabahiro	48:5562a99479e5	4576	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4577	motor[TIRE_BR].pwm = 80;
yabahiro	48:5562a99479e5	4578	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4579	motor[TIRE_BL].pwm = 80;
yabahiro	48:5562a99479e5	4580	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4581	mtc=true;
yabahiro	48:5562a99479e5	4582	break;
yabahiro	48:5562a99479e5	4583	case 255:
yabahiro	48:5562a99479e5	4584	motor[TIRE_FR].pwm = fast;
yabahiro	48:5562a99479e5	4585	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4586	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4587	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4588	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4589	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4590	motor[TIRE_BL].pwm = fast;
yabahiro	48:5562a99479e5	4591	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4592	mtc=true;
yabahiro	48:5562a99479e5	4593	break;
yabahiro	48:5562a99479e5	4594	case 253:
yabahiro	48:5562a99479e5	4595	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4596	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4597	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4598	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4599	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4600	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4601	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4602	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4603	mtc=true;
yabahiro	48:5562a99479e5	4604	break;
yabahiro	48:5562a99479e5	4605	case 254:
yabahiro	48:5562a99479e5	4606	motor[TIRE_FR].pwm = normal;
yabahiro	48:5562a99479e5	4607	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4608	motor[TIRE_FL].pwm = 0;
yabahiro	48:5562a99479e5	4609	motor[TIRE_FL].dir = FREE;
yabahiro	48:5562a99479e5	4610	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4611	motor[TIRE_BR].dir = FREE;
yabahiro	48:5562a99479e5	4612	motor[TIRE_BL].pwm = normal;
yabahiro	48:5562a99479e5	4613	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4614	mtc=true;
yabahiro	48:5562a99479e5	4615	break;
yabahiro	48:5562a99479e5	4616	case 1:
yabahiro	48:5562a99479e5	4617	motor[TIRE_FR].pwm = slow;
yabahiro	48:5562a99479e5	4618	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4619	motor[TIRE_FL].pwm = fast;
yabahiro	48:5562a99479e5	4620	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4621	motor[TIRE_BR].pwm = fast;
yabahiro	48:5562a99479e5	4622	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4623	motor[TIRE_BL].pwm = slow;
yabahiro	48:5562a99479e5	4624	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4625	mtc=true;
yabahiro	48:5562a99479e5	4626	break;
yabahiro	48:5562a99479e5	4627	case 3:
yabahiro	48:5562a99479e5	4628	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4629	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4630	motor[TIRE_FL].pwm = slow;
yabahiro	48:5562a99479e5	4631	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4632	motor[TIRE_BR].pwm = slow;
yabahiro	48:5562a99479e5	4633	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4634	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4635	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4636	mtc=true;
yabahiro	48:5562a99479e5	4637	break;
yabahiro	48:5562a99479e5	4638	case 2:
yabahiro	48:5562a99479e5	4639	motor[TIRE_FR].pwm = 0;
yabahiro	48:5562a99479e5	4640	motor[TIRE_FR].dir = FREE;
yabahiro	48:5562a99479e5	4641	motor[TIRE_FL].pwm = normal;
yabahiro	48:5562a99479e5	4642	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4643	motor[TIRE_BR].pwm = normal;
yabahiro	48:5562a99479e5	4644	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4645	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4646	motor[TIRE_BL].dir = FREE;
yabahiro	48:5562a99479e5	4647	mtc=true;
yabahiro	48:5562a99479e5	4648	break;
yabahiro	48:5562a99479e5	4649	}
yabahiro	48:5562a99479e5	4650	if(g[1]!=98&&mtc==true) {
yabahiro	48:5562a99479e5	4651	switch(g[1]) {
yabahiro	48:5562a99479e5	4652	case 0:
yabahiro	48:5562a99479e5	4653	mtc=false;
yabahiro	48:5562a99479e5	4654	break;
yabahiro	48:5562a99479e5	4655	case 255:
yabahiro	48:5562a99479e5	4656	motor[TIRE_BR].pwm += 5;
yabahiro	48:5562a99479e5	4657	mtc=false;
yabahiro	48:5562a99479e5	4658	break;
yabahiro	48:5562a99479e5	4659	case 253:
yabahiro	48:5562a99479e5	4660	motor[TIRE_BR].pwm += 10;
yabahiro	48:5562a99479e5	4661	mtc=false;
yabahiro	48:5562a99479e5	4662	break;
yabahiro	48:5562a99479e5	4663	case 254:
yabahiro	48:5562a99479e5	4664	motor[TIRE_BR].pwm += 20;
yabahiro	48:5562a99479e5	4665	motor[TIRE_BL].pwm = 0;
yabahiro	48:5562a99479e5	4666	mtc=false;
yabahiro	48:5562a99479e5	4667	break;
yabahiro	48:5562a99479e5	4668	case 1:
yabahiro	48:5562a99479e5	4669	motor[TIRE_BL].pwm += 5;
yabahiro	48:5562a99479e5	4670	mtc=false;
yabahiro	48:5562a99479e5	4671	break;
yabahiro	48:5562a99479e5	4672	case 3:
yabahiro	48:5562a99479e5	4673	motor[TIRE_BL].pwm += 10;
yabahiro	48:5562a99479e5	4674	mtc=false;
yabahiro	48:5562a99479e5	4675	break;
yabahiro	48:5562a99479e5	4676	case 2:
yabahiro	48:5562a99479e5	4677	motor[TIRE_BL].pwm += 20;
yabahiro	48:5562a99479e5	4678	motor[TIRE_BR].pwm = 0;
yabahiro	48:5562a99479e5	4679	mtc=false;
yabahiro	48:5562a99479e5	4680	break;
yabahiro	48:5562a99479e5	4681	}
yabahiro	48:5562a99479e5	4682	}
yabahiro	48:5562a99479e5	4683	} else if(mode==100) {
yabahiro	48:5562a99479e5	4684	motor[TIRE_FR].pwm = 50;
yabahiro	48:5562a99479e5	4685	motor[TIRE_FR].dir = BACK;
yabahiro	48:5562a99479e5	4686	motor[TIRE_FL].pwm = 50;
yabahiro	48:5562a99479e5	4687	motor[TIRE_FL].dir = FOR;
yabahiro	48:5562a99479e5	4688	motor[TIRE_BR].pwm = 50;
yabahiro	48:5562a99479e5	4689	motor[TIRE_BR].dir = BACK;
yabahiro	48:5562a99479e5	4690	motor[TIRE_BL].pwm = 50;
yabahiro	48:5562a99479e5	4691	motor[TIRE_BL].dir = FOR;
yabahiro	48:5562a99479e5	4692	} else {
yabahiro	48:5562a99479e5	4693	}
yabahiro	33:dd598bb23ad1	4694
kishibekairohan	13:b6e02d6261d7	4695	}
kishibekairohan	13:b6e02d6261d7	4696	#endif
kishibekairohan	13:b6e02d6261d7	4697
kishibekairohan	13:b6e02d6261d7	4698	#if USE_PROCESS_NUM>5
Ryosei	27:dd9f27fce7d1	4699	static void Process5()
Ryosei	27:dd9f27fce7d1	4700	{
yabahiro	56:61ebd4b759b4	4701	countss++;
yabahiro	56:61ebd4b759b4	4702	switch(mode) {
yabahiro	56:61ebd4b759b4	4703	case 1:
yabahiro	56:61ebd4b759b4	4704	mode=2;
yabahiro	56:61ebd4b759b4	4705	countss=0;
yabahiro	56:61ebd4b759b4	4706	fast = 60;
yabahiro	56:61ebd4b759b4	4707	normal = 40;
yabahiro	56:61ebd4b759b4	4708	slow = 30;
yabahiro	56:61ebd4b759b4	4709	break;
yabahiro	56:61ebd4b759b4	4710	case 2:
yabahiro	56:61ebd4b759b4	4711	if(YELLOW) {
yabahiro	56:61ebd4b759b4	4712	switch(g[4]) {
yabahiro	56:61ebd4b759b4	4713	case 98:
yabahiro	56:61ebd4b759b4	4714	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4715	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4716	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4717	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4718	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4719	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4720	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4721	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4722	break;
yabahiro	56:61ebd4b759b4	4723	case 99:
yabahiro	56:61ebd4b759b4	4724	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	4725	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4726	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	4727	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4728	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	4729	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4730	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	4731	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4732	break;
yabahiro	56:61ebd4b759b4	4733	case 0:
yabahiro	56:61ebd4b759b4	4734	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4735	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4736	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4737	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4738	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4739	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4740	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4741	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4742	break;
yabahiro	56:61ebd4b759b4	4743	case 255:
yabahiro	56:61ebd4b759b4	4744	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	4745	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4746	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	4747	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4748	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	4749	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4750	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	4751	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4752	break;
yabahiro	56:61ebd4b759b4	4753	case 253:
yabahiro	56:61ebd4b759b4	4754	motor[TIRE_FR].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4755	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4756	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4757	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4758	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4759	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4760	motor[TIRE_BL].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4761	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4762	break;
yabahiro	56:61ebd4b759b4	4763	case 254:
yabahiro	56:61ebd4b759b4	4764	motor[TIRE_FR].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4765	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4766	motor[TIRE_FL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4767	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4768	motor[TIRE_BR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4769	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4770	motor[TIRE_BL].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4771	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4772	break;
yabahiro	56:61ebd4b759b4	4773	case 1:
yabahiro	56:61ebd4b759b4	4774	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	4775	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4776	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	4777	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4778	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	4779	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4780	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	4781	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4782	break;
yabahiro	56:61ebd4b759b4	4783	case 3:
yabahiro	56:61ebd4b759b4	4784	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4785	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4786	motor[TIRE_FL].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4787	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4788	motor[TIRE_BR].pwm = slow+5;
yabahiro	56:61ebd4b759b4	4789	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4790	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4791	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4792	break;
yabahiro	56:61ebd4b759b4	4793	case 2:
yabahiro	56:61ebd4b759b4	4794	motor[TIRE_FR].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4795	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4796	motor[TIRE_FL].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4797	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4798	motor[TIRE_BR].pwm = normal+5;
yabahiro	56:61ebd4b759b4	4799	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4800	motor[TIRE_BL].pwm = fast-5;
yabahiro	56:61ebd4b759b4	4801	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4802	break;
yabahiro	56:61ebd4b759b4	4803	}
yabahiro	56:61ebd4b759b4	4804	if(g[1]==98\|\|g[1]==0\|\|g[1]==1\|\|g[1]==2\|\|g[1]==3\|\|g[1]==254\|\|g[1]==253\|\|g[1]==255) {
yabahiro	56:61ebd4b759b4	4805	fast=10;
yabahiro	56:61ebd4b759b4	4806	normal=10;
yabahiro	56:61ebd4b759b4	4807	slow=10;
yabahiro	56:61ebd4b759b4	4808	}
yabahiro	56:61ebd4b759b4	4809	if(g[3]==254&&countss>=100000) {
yabahiro	56:61ebd4b759b4	4810	mode=3;
yabahiro	56:61ebd4b759b4	4811	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	56:61ebd4b759b4	4812	aime.start();
yabahiro	56:61ebd4b759b4	4813	aime.reset();
yabahiro	56:61ebd4b759b4	4814	countss=0;
yabahiro	56:61ebd4b759b4	4815	fast=80;
yabahiro	56:61ebd4b759b4	4816	normal=60;
yabahiro	56:61ebd4b759b4	4817	slow=30;
yabahiro	56:61ebd4b759b4	4818	}
yabahiro	56:61ebd4b759b4	4819	} else {
yabahiro	56:61ebd4b759b4	4820	if(UPLS\|\|DOLS) {
yabahiro	56:61ebd4b759b4	4821	if(UPLS\|\|DOLS) {
yabahiro	56:61ebd4b759b4	4822	motor[MOTOR_0].pwm = 200;
yabahiro	56:61ebd4b759b4	4823	motor[MOTOR_0].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4824	fast=60;
yabahiro	56:61ebd4b759b4	4825	normal=40;
yabahiro	56:61ebd4b759b4	4826	slow=30;
yabahiro	56:61ebd4b759b4	4827	countss=0;
yabahiro	56:61ebd4b759b4	4828	mode=24;
yabahiro	56:61ebd4b759b4	4829	}
yabahiro	56:61ebd4b759b4	4830	} else {
yabahiro	56:61ebd4b759b4	4831	motor[MOTOR_0].pwm = 100;
yabahiro	56:61ebd4b759b4	4832	motor[MOTOR_0].dir = BACK;
yabahiro	56:61ebd4b759b4	4833	}
yabahiro	56:61ebd4b759b4	4834	motor[TIRE_FR].pwm = 100;
yabahiro	56:61ebd4b759b4	4835	motor[TIRE_FR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4836	motor[TIRE_FL].pwm = 100;
yabahiro	56:61ebd4b759b4	4837	motor[TIRE_FL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4838	motor[TIRE_BR].pwm = 100;
yabahiro	56:61ebd4b759b4	4839	motor[TIRE_BR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4840	motor[TIRE_BL].pwm = 100;
yabahiro	56:61ebd4b759b4	4841	motor[TIRE_BL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	4842	}
yabahiro	56:61ebd4b759b4	4843	break;
yabahiro	56:61ebd4b759b4	4844	case 3:
yabahiro	56:61ebd4b759b4	4845	if(YELLOW) {
yabahiro	56:61ebd4b759b4	4846	value=aime.read_ms();
yabahiro	56:61ebd4b759b4	4847	if(value>=5000) {
yabahiro	56:61ebd4b759b4	4848	mode=4;
yabahiro	56:61ebd4b759b4	4849	}
yabahiro	56:61ebd4b759b4	4850	if(g[4]==3\|\|g[4]==2) {
yabahiro	56:61ebd4b759b4	4851	motor[TIRE_FR].pwm = 20;
yabahiro	56:61ebd4b759b4	4852	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4853	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	4854	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	4855	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4856	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	4857	motor[TIRE_BL].pwm = 20;
yabahiro	56:61ebd4b759b4	4858	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4859	}
yabahiro	56:61ebd4b759b4	4860	if(g[4]==253\|\|g[4]==254) {
yabahiro	56:61ebd4b759b4	4861	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4862	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4863	motor[TIRE_FL].pwm = 20;
yabahiro	56:61ebd4b759b4	4864	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4865	motor[TIRE_BR].pwm = 20;
yabahiro	56:61ebd4b759b4	4866	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4867	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	4868	motor[TIRE_BL].dir = FOR;
yabahiro	56:61ebd4b759b4	4869	}
yabahiro	56:61ebd4b759b4	4870	switch(g[2]) {
yabahiro	56:61ebd4b759b4	4871	case 0:
yabahiro	56:61ebd4b759b4	4872	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	4873	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4874	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	4875	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4876	break;
yabahiro	56:61ebd4b759b4	4877	case 255:
yabahiro	56:61ebd4b759b4	4878	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4879	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4880	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	4881	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4882	break;
yabahiro	56:61ebd4b759b4	4883	case 253:
yabahiro	56:61ebd4b759b4	4884	motor[TIRE_FR].pwm = 40;
yabahiro	56:61ebd4b759b4	4885	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4886	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	4887	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	4888	break;
yabahiro	56:61ebd4b759b4	4889	case 254:
yabahiro	56:61ebd4b759b4	4890	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4891	motor[TIRE_FR].dir = BACK;
yabahiro	56:61ebd4b759b4	4892	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4893	motor[TIRE_BR].dir = BACK;
yabahiro	56:61ebd4b759b4	4894	break;
yabahiro	56:61ebd4b759b4	4895	case 1:
yabahiro	56:61ebd4b759b4	4896	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	4897	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4898	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4899	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4900	break;
yabahiro	56:61ebd4b759b4	4901	case 3:
yabahiro	56:61ebd4b759b4	4902	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	4903	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	4904	motor[TIRE_BR].pwm = 40;
yabahiro	56:61ebd4b759b4	4905	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4906	break;
yabahiro	56:61ebd4b759b4	4907	case 2:
yabahiro	56:61ebd4b759b4	4908	motor[TIRE_FR].pwm = 30;
yabahiro	56:61ebd4b759b4	4909	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4910	motor[TIRE_BR].pwm = 30;
yabahiro	56:61ebd4b759b4	4911	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4912	break;
yabahiro	56:61ebd4b759b4	4913	}
yabahiro	56:61ebd4b759b4	4914	switch(g[3]) {
yabahiro	56:61ebd4b759b4	4915	case 0:
yabahiro	56:61ebd4b759b4	4916	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	4917	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4918	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	4919	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4920	break;
yabahiro	56:61ebd4b759b4	4921	case 255:
yabahiro	56:61ebd4b759b4	4922	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	4923	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4924	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	4925	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4926	case 253:
yabahiro	56:61ebd4b759b4	4927	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	4928	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	4929	motor[TIRE_BL].pwm = 40;
yabahiro	56:61ebd4b759b4	4930	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4931	break;
yabahiro	56:61ebd4b759b4	4932	case 254:
yabahiro	56:61ebd4b759b4	4933	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	4934	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4935	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	4936	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4937	break;
yabahiro	56:61ebd4b759b4	4938	case 1:
yabahiro	56:61ebd4b759b4	4939	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	4940	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	4941	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	4942	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4943	break;
yabahiro	56:61ebd4b759b4	4944	case 3:
yabahiro	56:61ebd4b759b4	4945	motor[TIRE_FL].pwm = 40;
yabahiro	56:61ebd4b759b4	4946	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	4947	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	4948	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	4949	break;
yabahiro	56:61ebd4b759b4	4950	case 2:
yabahiro	56:61ebd4b759b4	4951	motor[TIRE_FL].pwm = 30;
yabahiro	56:61ebd4b759b4	4952	motor[TIRE_FL].dir = FOR;
yabahiro	56:61ebd4b759b4	4953	motor[TIRE_BL].pwm = 30;
yabahiro	56:61ebd4b759b4	4954	motor[TIRE_BL].dir = FOR;
yabahiro	56:61ebd4b759b4	4955	break;
yabahiro	56:61ebd4b759b4	4956	}
yabahiro	56:61ebd4b759b4	4957	if(g[3]==0&&g[2]==0) {
yabahiro	56:61ebd4b759b4	4958	mode=25;
yabahiro	56:61ebd4b759b4	4959	}
yabahiro	56:61ebd4b759b4	4960	} else {
yabahiro	56:61ebd4b759b4	4961	if(g[1]==98&&countss>=40000) {
yabahiro	56:61ebd4b759b4	4962	mode=31;
yabahiro	56:61ebd4b759b4	4963	fast = 60;
yabahiro	56:61ebd4b759b4	4964	normal = 40;
yabahiro	56:61ebd4b759b4	4965	slow = 30;
yabahiro	56:61ebd4b759b4	4966	countss=0;
yabahiro	56:61ebd4b759b4	4967	}
yabahiro	56:61ebd4b759b4	4968	switch(g[1]) {
yabahiro	56:61ebd4b759b4	4969	case 98:
yabahiro	56:61ebd4b759b4	4970	fast=40;
yabahiro	56:61ebd4b759b4	4971	normal=30;
yabahiro	56:61ebd4b759b4	4972	slow=25;
yabahiro	56:61ebd4b759b4	4973	motor[TIRE_FR].pwm = normal;
yabahiro	56:61ebd4b759b4	4974	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4975	motor[TIRE_FL].pwm = normal;
yabahiro	56:61ebd4b759b4	4976	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4977	motor[TIRE_BR].pwm = normal;
yabahiro	56:61ebd4b759b4	4978	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4979	motor[TIRE_BL].pwm = normal;
yabahiro	56:61ebd4b759b4	4980	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4981	break;
yabahiro	56:61ebd4b759b4	4982	case 0:
yabahiro	56:61ebd4b759b4	4983	motor[TIRE_FR].pwm = fast;
yabahiro	56:61ebd4b759b4	4984	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4985	motor[TIRE_FL].pwm = fast;
yabahiro	56:61ebd4b759b4	4986	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4987	motor[TIRE_BR].pwm = fast;
yabahiro	56:61ebd4b759b4	4988	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	4989	motor[TIRE_BL].pwm = fast;
yabahiro	56:61ebd4b759b4	4990	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	4991	mtc=true;
yabahiro	56:61ebd4b759b4	4992	break;
yabahiro	56:61ebd4b759b4	4993	case 255:
yabahiro	56:61ebd4b759b4	4994	motor[TIRE_FR].pwm = fast;
yabahiro	56:61ebd4b759b4	4995	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	4996	motor[TIRE_FL].pwm = slow;
yabahiro	56:61ebd4b759b4	4997	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	4998	motor[TIRE_BR].pwm = slow;
yabahiro	56:61ebd4b759b4	4999	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5000	motor[TIRE_BL].pwm = fast;
yabahiro	56:61ebd4b759b4	5001	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5002	mtc=true;
yabahiro	56:61ebd4b759b4	5003	break;
yabahiro	56:61ebd4b759b4	5004	case 253:
yabahiro	56:61ebd4b759b4	5005	motor[TIRE_FR].pwm = slow;
yabahiro	56:61ebd4b759b4	5006	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5007	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5008	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5009	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5010	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5011	motor[TIRE_BL].pwm = slow;
yabahiro	56:61ebd4b759b4	5012	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5013	mtc=true;
yabahiro	56:61ebd4b759b4	5014	break;
yabahiro	56:61ebd4b759b4	5015	case 254:
yabahiro	56:61ebd4b759b4	5016	motor[TIRE_FR].pwm = normal;
yabahiro	56:61ebd4b759b4	5017	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5018	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5019	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5020	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5021	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5022	motor[TIRE_BL].pwm = normal;
yabahiro	56:61ebd4b759b4	5023	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5024	mtc=true;
yabahiro	56:61ebd4b759b4	5025	break;
yabahiro	56:61ebd4b759b4	5026	case 1:
yabahiro	56:61ebd4b759b4	5027	motor[TIRE_FR].pwm = slow;
yabahiro	56:61ebd4b759b4	5028	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5029	motor[TIRE_FL].pwm = fast;
yabahiro	56:61ebd4b759b4	5030	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5031	motor[TIRE_BR].pwm = fast;
yabahiro	56:61ebd4b759b4	5032	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5033	motor[TIRE_BL].pwm = slow;
yabahiro	56:61ebd4b759b4	5034	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5035	mtc=true;
yabahiro	56:61ebd4b759b4	5036	break;
yabahiro	56:61ebd4b759b4	5037	case 3:
yabahiro	56:61ebd4b759b4	5038	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5039	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5040	motor[TIRE_FL].pwm = slow;
yabahiro	56:61ebd4b759b4	5041	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5042	motor[TIRE_BR].pwm = slow;
yabahiro	56:61ebd4b759b4	5043	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5044	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5045	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5046	mtc=true;
yabahiro	56:61ebd4b759b4	5047	break;
yabahiro	56:61ebd4b759b4	5048	case 2:
yabahiro	56:61ebd4b759b4	5049	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5050	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5051	motor[TIRE_FL].pwm = normal;
yabahiro	56:61ebd4b759b4	5052	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5053	motor[TIRE_BR].pwm = normal;
yabahiro	56:61ebd4b759b4	5054	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5055	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5056	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5057	mtc=true;
yabahiro	56:61ebd4b759b4	5058	break;
yabahiro	56:61ebd4b759b4	5059	}
yabahiro	56:61ebd4b759b4	5060	if(g[1]!=98&&mtc==true) {
yabahiro	56:61ebd4b759b4	5061	switch(g[0]) {
yabahiro	56:61ebd4b759b4	5062	case 0:
yabahiro	56:61ebd4b759b4	5063	mtc=false;
yabahiro	56:61ebd4b759b4	5064	break;
yabahiro	56:61ebd4b759b4	5065	case 255:
yabahiro	56:61ebd4b759b4	5066	motor[TIRE_FL].pwm += 3;
yabahiro	56:61ebd4b759b4	5067	mtc=false;
yabahiro	56:61ebd4b759b4	5068	break;
yabahiro	56:61ebd4b759b4	5069	case 253:
yabahiro	56:61ebd4b759b4	5070	motor[TIRE_FL].pwm += 6;
yabahiro	56:61ebd4b759b4	5071	mtc=false;
yabahiro	56:61ebd4b759b4	5072	break;
yabahiro	56:61ebd4b759b4	5073	case 254:
yabahiro	56:61ebd4b759b4	5074	motor[TIRE_FL].pwm += 9;
yabahiro	56:61ebd4b759b4	5075	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5076	mtc=false;
yabahiro	56:61ebd4b759b4	5077	break;
yabahiro	56:61ebd4b759b4	5078	case 1:
yabahiro	56:61ebd4b759b4	5079	motor[TIRE_FR].pwm += 3;
yabahiro	56:61ebd4b759b4	5080	mtc=false;
yabahiro	56:61ebd4b759b4	5081	break;
yabahiro	56:61ebd4b759b4	5082	case 3:
yabahiro	56:61ebd4b759b4	5083	motor[TIRE_FR].pwm += 6;
yabahiro	56:61ebd4b759b4	5084	mtc=false;
yabahiro	56:61ebd4b759b4	5085	break;
yabahiro	56:61ebd4b759b4	5086	case 2:
yabahiro	56:61ebd4b759b4	5087	motor[TIRE_FR].pwm += 9;
yabahiro	56:61ebd4b759b4	5088	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5089	mtc=false;
yabahiro	56:61ebd4b759b4	5090	break;
yabahiro	56:61ebd4b759b4	5091	}
yabahiro	56:61ebd4b759b4	5092	}
yabahiro	56:61ebd4b759b4	5093	}
yabahiro	56:61ebd4b759b4	5094	break;
yabahiro	56:61ebd4b759b4	5095	case 4:
yabahiro	56:61ebd4b759b4	5096	motor[TIRE_FR].pwm = 100;
yabahiro	56:61ebd4b759b4	5097	motor[TIRE_FR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5098	motor[TIRE_FL].pwm = 100;
yabahiro	56:61ebd4b759b4	5099	motor[TIRE_FL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5100	motor[TIRE_BR].pwm = 100;
yabahiro	56:61ebd4b759b4	5101	motor[TIRE_BR].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5102	motor[TIRE_BL].pwm = 100;
yabahiro	56:61ebd4b759b4	5103	motor[TIRE_BL].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5104	if(UPLS==true\|\|DOLS==true) {
yabahiro	56:61ebd4b759b4	5105	if(UPLS==true\|\|DOLS==true) {
yabahiro	56:61ebd4b759b4	5106	motor[MOTOR_0].pwm = 200;
yabahiro	56:61ebd4b759b4	5107	motor[MOTOR_0].dir = BRAKE;
yabahiro	56:61ebd4b759b4	5108	countss = 0;
yabahiro	56:61ebd4b759b4	5109	mode=26;
yabahiro	56:61ebd4b759b4	5110	}
yabahiro	56:61ebd4b759b4	5111	} else {
yabahiro	56:61ebd4b759b4	5112	motor[MOTOR_0].pwm = 100;
yabahiro	56:61ebd4b759b4	5113	motor[MOTOR_0].dir = BACK;
yabahiro	56:61ebd4b759b4	5114	}
yabahiro	56:61ebd4b759b4	5115	break;
yabahiro	56:61ebd4b759b4	5116	case 5:
yabahiro	56:61ebd4b759b4	5117	/*
yabahiro	56:61ebd4b759b4	5118	if (g[3] == 0&&countss>=30000) {
yabahiro	56:61ebd4b759b4	5119	mode = 40;
yabahiro	56:61ebd4b759b4	5120	}
yabahiro	56:61ebd4b759b4	5121	*/
yabahiro	56:61ebd4b759b4	5122	if (g[1] != 99) {
yabahiro	56:61ebd4b759b4	5123	mode = 31;
yabahiro	56:61ebd4b759b4	5124	}
yabahiro	56:61ebd4b759b4	5125	switch(g[4]) {
yabahiro	56:61ebd4b759b4	5126	case 98:
yabahiro	56:61ebd4b759b4	5127	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5128	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5129	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5130	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5131	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5132	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5133	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5134	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5135	break;
yabahiro	56:61ebd4b759b4	5136	case 99:
yabahiro	56:61ebd4b759b4	5137	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5138	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5139	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5140	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5141	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5142	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5143	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5144	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5145	break;
yabahiro	56:61ebd4b759b4	5146	case 0:
yabahiro	56:61ebd4b759b4	5147	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5148	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5149	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5150	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5151	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5152	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5153	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5154	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5155	break;
yabahiro	56:61ebd4b759b4	5156	case 255:
yabahiro	56:61ebd4b759b4	5157	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5158	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5159	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5160	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5161	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5162	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5163	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5164	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5165	break;
yabahiro	56:61ebd4b759b4	5166	case 253:
yabahiro	56:61ebd4b759b4	5167	motor[TIRE_FR].pwm = 25;
yabahiro	56:61ebd4b759b4	5168	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5169	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5170	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5171	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5172	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5173	motor[TIRE_BL].pwm = 25;
yabahiro	56:61ebd4b759b4	5174	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5175	break;
yabahiro	56:61ebd4b759b4	5176	case 254:
yabahiro	56:61ebd4b759b4	5177	motor[TIRE_FR].pwm = 40;
yabahiro	56:61ebd4b759b4	5178	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5179	motor[TIRE_FL].pwm = 60;
yabahiro	56:61ebd4b759b4	5180	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5181	motor[TIRE_BR].pwm = 60;
yabahiro	56:61ebd4b759b4	5182	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5183	motor[TIRE_BL].pwm = 40;
yabahiro	56:61ebd4b759b4	5184	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5185	break;
yabahiro	56:61ebd4b759b4	5186	case 1:
yabahiro	56:61ebd4b759b4	5187	motor[TIRE_FR].pwm = 0;
yabahiro	56:61ebd4b759b4	5188	motor[TIRE_FR].dir = FREE;
yabahiro	56:61ebd4b759b4	5189	motor[TIRE_FL].pwm = 0;
yabahiro	56:61ebd4b759b4	5190	motor[TIRE_FL].dir = FREE;
yabahiro	56:61ebd4b759b4	5191	motor[TIRE_BR].pwm = 0;
yabahiro	56:61ebd4b759b4	5192	motor[TIRE_BR].dir = FREE;
yabahiro	56:61ebd4b759b4	5193	motor[TIRE_BL].pwm = 0;
yabahiro	56:61ebd4b759b4	5194	motor[TIRE_BL].dir = FREE;
yabahiro	56:61ebd4b759b4	5195	break;
yabahiro	56:61ebd4b759b4	5196	case 3:
yabahiro	56:61ebd4b759b4	5197	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5198	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5199	motor[TIRE_FL].pwm = 25;
yabahiro	56:61ebd4b759b4	5200	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5201	motor[TIRE_BR].pwm = 25;
yabahiro	56:61ebd4b759b4	5202	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5203	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5204	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5205	break;
yabahiro	56:61ebd4b759b4	5206	case 2:
yabahiro	56:61ebd4b759b4	5207	motor[TIRE_FR].pwm = 60;
yabahiro	56:61ebd4b759b4	5208	motor[TIRE_FR].dir = FOR;
yabahiro	56:61ebd4b759b4	5209	motor[TIRE_FL].pwm = 40;
yabahiro	56:61ebd4b759b4	5210	motor[TIRE_FL].dir = BACK;
yabahiro	56:61ebd4b759b4	5211	motor[TIRE_BR].pwm = 40;
yabahiro	56:61ebd4b759b4	5212	motor[TIRE_BR].dir = FOR;
yabahiro	56:61ebd4b759b4	5213	motor[TIRE_BL].pwm = 60;
yabahiro	56:61ebd4b759b4	5214	motor[TIRE_BL].dir = BACK;
yabahiro	56:61ebd4b759b4	5215	break;
yabahiro	56:61ebd4b759b4	5216	}
yabahiro	56:61ebd4b759b4	5217	break;
yabahiro	56:61ebd4b759b4	5218	}
yabahiro	46:68296caae1af	5219
kishibekairohan	13:b6e02d6261d7	5220	}
kishibekairohan	13:b6e02d6261d7	5221	#endif
kishibekairohan	13:b6e02d6261d7	5222
kishibekairohan	13:b6e02d6261d7	5223	#if USE_PROCESS_NUM>6
Ryosei	27:dd9f27fce7d1	5224	static void Process6()
kishibekairohan	13:b6e02d6261d7	5225	{
Ryosei	27:dd9f27fce7d1	5226
kishibekairohan	13:b6e02d6261d7	5227	}
kishibekairohan	13:b6e02d6261d7	5228	#endif
kishibekairohan	13:b6e02d6261d7	5229
kishibekairohan	13:b6e02d6261d7	5230	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	5231	static void Process7()
kishibekairohan	13:b6e02d6261d7	5232	{
yabahiro	33:dd598bb23ad1	5233
kishibekairohan	12:c09b3e08a316	5234	}
kishibekairohan	12:c09b3e08a316	5235	#endif
kishibekairohan	12:c09b3e08a316	5236
Ryosei	27:dd9f27fce7d1	5237	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	5238	static void Process8()
kishibekairohan	12:c09b3e08a316	5239	{
yabahiro	33:dd598bb23ad1	5240
kishibekairohan	12:c09b3e08a316	5241	}
kishibekairohan	12:c09b3e08a316	5242	#endif
kishibekairohan	12:c09b3e08a316	5243
kishibekairohan	13:b6e02d6261d7	5244	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	5245	static void Process9()
kishibekairohan	12:c09b3e08a316	5246	{
Ryosei	27:dd9f27fce7d1	5247
t_yamamoto	0:669ef71cba68	5248	}
t_yamamoto	0:669ef71cba68	5249	#endif
t_yamamoto	0:669ef71cba68	5250	#endif
t_yamamoto	0:669ef71cba68	5251	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	5252
t_yamamoto	0:669ef71cba68	5253	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	5254	{
yabahiro	33:dd598bb23ad1	5255	#ifdef USE_SOLENOID
yabahiro	33:dd598bb23ad1	5256	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	33:dd598bb23ad1	5257	#endif
yabahiro	33:dd598bb23ad1	5258
yabahiro	33:dd598bb23ad1	5259	#ifdef USE_MOTOR
yabahiro	33:dd598bb23ad1	5260	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	33:dd598bb23ad1	5261	motor[i].dir = FREE;
yabahiro	33:dd598bb23ad1	5262	motor[i].pwm = 0;
yabahiro	33:dd598bb23ad1	5263	}
yabahiro	33:dd598bb23ad1	5264	#endif
t_yamamoto	0:669ef71cba68	5265	}
t_yamamoto	0:669ef71cba68	5266
kishibekairohan	16:3f2c2d89372b	5267	#pragma region USER-DEFINED-FUNCTIONS
M_souta	29:44d5454ce8fa	5268
M_souta	29:44d5454ce8fa	5269	uint8_t SetStatus(int pwmVal)
Ryosei	27:dd9f27fce7d1	5270	{
M_souta	29:44d5454ce8fa	5271	if (pwmVal < 0) return BACK;
M_souta	29:44d5454ce8fa	5272	else if (pwmVal > 0) return FOR;
M_souta	29:44d5454ce8fa	5273	else if (pwmVal == 0) return BRAKE;
M_souta	29:44d5454ce8fa	5274	else return BRAKE;
M_souta	22:7d93f79a3686	5275	}
kishibekairohan	16:3f2c2d89372b	5276
M_souta	29:44d5454ce8fa	5277	uint8_t SetPWM(int pwmVal)
Ryosei	27:dd9f27fce7d1	5278	{
M_souta	29:44d5454ce8fa	5279	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
M_souta	29:44d5454ce8fa	5280	else return abs(pwmVal);
M_souta	22:7d93f79a3686	5281	}
yabahiro	55:844ac0974740	5282	/*
yabahiro	55:844ac0974740	5283	void Count(){
yabahiro	55:844ac0974740	5284	num++;
yabahiro	55:844ac0974740	5285	}
yabahiro	55:844ac0974740	5286	*/
t_yamamoto	0:669ef71cba68	5287	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Nov 2019
Imports:	0
Forks:	0
Commits:	59
Dependents:	0
Dependencies:	1
Followers:	1

System/Process/Process.cpp@56:61ebd4b759b4, 2019-11-19 (annotated)

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