大季 矢花 / Mbed 2 deprecated MB2019_main_alltimes_old

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Dependencies:   mbed

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

Committer:
yabahiro
Date:
Sat Nov 23 08:59:26 2019 +0000
Revision:
58:bfc38c43dadb
Parent:
57:ccfd26b94d8a 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 0:669ef71cba68 1 #include "mbed.h"
t_yamamoto 0:669ef71cba68 2 #include "Process.h"
Ryosei 27:dd9f27fce7d1 3 #include <stdlib.h>
7ka884 4:ba9df71868df 4 #include "../../CommonLibraries/PID/PID.h"
t_yamamoto 0:669ef71cba68 5 #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
M_souta 21:e3b58d675c1c 6 #include "../../Communication/RS485/LineHub/LineHub.h"
t_yamamoto 0:669ef71cba68 7 #include "../../Communication/Controller/Controller.h"
M_souta 30:8f092276b2ba 8 #include "../../Switch/Switch.h"
Ryosei 27:dd9f27fce7d1 9
t_yamamoto 0:669ef71cba68 10 #include "../../LED/LED.h"
t_yamamoto 0:669ef71cba68 11 #include "../../Safty/Safty.h"
t_yamamoto 0:669ef71cba68 12 #include "../Using.h"
t_yamamoto 0:669ef71cba68 13
t_yamamoto 0:669ef71cba68 14 using namespace SWITCH;
7ka884 4:ba9df71868df 15 using namespace PID_SPACE;
Ryosei 27:dd9f27fce7d1 16
M_souta 21:e3b58d675c1c 17 using namespace LINEHUB;
t_yamamoto 0:669ef71cba68 18
t_yamamoto 0:669ef71cba68 19 static CONTROLLER::ControllerData *controller;
t_yamamoto 0:669ef71cba68 20 ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto 0:669ef71cba68 21 ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto 0:669ef71cba68 22
t_yamamoto 0:669ef71cba68 23 static bool lock;
t_yamamoto 0:669ef71cba68 24 static bool processChangeComp;
t_yamamoto 0:669ef71cba68 25 static int current;
t_yamamoto 0:669ef71cba68 26
t_yamamoto 0:669ef71cba68 27 static void AllActuatorReset();
t_yamamoto 0:669ef71cba68 28
t_yamamoto 0:669ef71cba68 29 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 30 static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto 0:669ef71cba68 31 #endif
t_yamamoto 0:669ef71cba68 32
t_yamamoto 0:669ef71cba68 33 #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 34
t_yamamoto 0:669ef71cba68 35 /*Replace here with the definition code of your variables.*/
t_yamamoto 0:669ef71cba68 36
kishibekairohan 2:c015739085d3 37
M_souta 30:8f092276b2ba 38 //Serial pc(USBTX, USBRX);
kishibekairohan 16:3f2c2d89372b 39
Ryosei 27:dd9f27fce7d1 40 const int omni[15][15] = {
Ryosei 27:dd9f27fce7d1 41 { 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
Ryosei 27:dd9f27fce7d1 42 { -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
Ryosei 27:dd9f27fce7d1 43 { -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 },
Ryosei 27:dd9f27fce7d1 44 { -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 },
Ryosei 27:dd9f27fce7d1 45 { -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 },
Ryosei 27:dd9f27fce7d1 46 { -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 },
Ryosei 27:dd9f27fce7d1 47 { -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 },
Ryosei 27:dd9f27fce7d1 48 { -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 },
Ryosei 27:dd9f27fce7d1 49 { -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 },
Ryosei 27:dd9f27fce7d1 50 { -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 },
Ryosei 27:dd9f27fce7d1 51 { -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 },
Ryosei 27:dd9f27fce7d1 52 { -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 },
Ryosei 27:dd9f27fce7d1 53 { -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 },
Ryosei 27:dd9f27fce7d1 54 { -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 },
Ryosei 27:dd9f27fce7d1 55 { -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 }
M_souta 21:e3b58d675c1c 56 };
M_souta 21:e3b58d675c1c 57
M_souta 21:e3b58d675c1c 58 const int curve[15] = { -204, -150, -104, -66, -38, -17, -4, 0, 4, 17, 38, 66, 104, 150, 204 };
M_souta 21:e3b58d675c1c 59
kishibekairohan 42:980af34f6fe3 60 uint8_t SetStatus(int pwmVal);
kishibekairohan 42:980af34f6fe3 61 uint8_t SetPWM(int pwmVal);
yabahiro 33:dd598bb23ad1 62
kishibekairohan 35:33c6cdba5630 63 DigitalIn EMC(PC_13); //非常停止確認用
yabahiro 33:dd598bb23ad1 64
yabahiro 33:dd598bb23ad1 65 bool start_flag = true;
yabahiro 33:dd598bb23ad1 66 bool UP_flag = false;
yabahiro 33:dd598bb23ad1 67 bool SW_flag = false;
yabahiro 33:dd598bb23ad1 68 bool Air_flag = false;
yabahiro 33:dd598bb23ad1 69 bool zyouge;
yabahiro 33:dd598bb23ad1 70 bool zyougedo;
yabahiro 33:dd598bb23ad1 71 bool dz2=true;
yabahiro 33:dd598bb23ad1 72 bool dz2i=false;
yabahiro 33:dd598bb23ad1 73 bool dz3=true;
yabahiro 33:dd598bb23ad1 74 bool dz3i=false;
yabahiro 33:dd598bb23ad1 75 bool dz4=true;
yabahiro 33:dd598bb23ad1 76 bool dz4i=false;
yabahiro 33:dd598bb23ad1 77 bool zone;
yabahiro 33:dd598bb23ad1 78 bool through=false;
yabahiro 33:dd598bb23ad1 79 bool counts=false;
yabahiro 33:dd598bb23ad1 80 bool mtc=false;
yabahiro 33:dd598bb23ad1 81 bool mtc2 = false;
yabahiro 33:dd598bb23ad1 82 bool emcs=false;
yabahiro 33:dd598bb23ad1 83 bool kiri;
yabahiro 33:dd598bb23ad1 84
yabahiro 33:dd598bb23ad1 85 int g[8];
yabahiro 33:dd598bb23ad1 86 int Twsh;
yabahiro 38:40e7fdf3c694 87 int testmode =0;
yabahiro 33:dd598bb23ad1 88 int mode =0;
yabahiro 33:dd598bb23ad1 89 int cross=0;//十字数える用
yabahiro 33:dd598bb23ad1 90 int cros=0;
yabahiro 33:dd598bb23ad1 91 int countss=100000;//wait代替え
yabahiro 55:844ac0974740 92 int num=0;
yabahiro 33:dd598bb23ad1 93
yabahiro 33:dd598bb23ad1 94 ///*********PWM調整用*********///
kishibekairohan 41:99a1158f3eca 95
kishibekairohan 42:980af34f6fe3 96 int fast = 60;
yabahiro 33:dd598bb23ad1 97 int normal = 40;
yabahiro 46:68296caae1af 98 int slow = 25;
yabahiro 33:dd598bb23ad1 99
yabahiro 55:844ac0974740 100 /*
yabahiro 55:844ac0974740 101 void Count();
yabahiro 55:844ac0974740 102 Ticker bunzin;
yabahiro 55:844ac0974740 103 */
yabahiro 55:844ac0974740 104
yabahiro 56:61ebd4b759b4 105 Timer aime;
yabahiro 56:61ebd4b759b4 106 int value;
yabahiro 55:844ac0974740 107
t_yamamoto 0:669ef71cba68 108 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto 0:669ef71cba68 109
t_yamamoto 0:669ef71cba68 110 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 111 #if USE_PROCESS_NUM>0
t_yamamoto 0:669ef71cba68 112 static void Process0(void);
t_yamamoto 0:669ef71cba68 113 #endif
t_yamamoto 0:669ef71cba68 114 #if USE_PROCESS_NUM>1
t_yamamoto 0:669ef71cba68 115 static void Process1(void);
t_yamamoto 0:669ef71cba68 116 #endif
t_yamamoto 0:669ef71cba68 117 #if USE_PROCESS_NUM>2
t_yamamoto 0:669ef71cba68 118 static void Process2(void);
t_yamamoto 0:669ef71cba68 119 #endif
t_yamamoto 0:669ef71cba68 120 #if USE_PROCESS_NUM>3
t_yamamoto 0:669ef71cba68 121 static void Process3(void);
t_yamamoto 0:669ef71cba68 122 #endif
t_yamamoto 0:669ef71cba68 123 #if USE_PROCESS_NUM>4
t_yamamoto 0:669ef71cba68 124 static void Process4(void);
t_yamamoto 0:669ef71cba68 125 #endif
t_yamamoto 0:669ef71cba68 126 #if USE_PROCESS_NUM>5
t_yamamoto 0:669ef71cba68 127 static void Process5(void);
t_yamamoto 0:669ef71cba68 128 #endif
t_yamamoto 0:669ef71cba68 129 #if USE_PROCESS_NUM>6
t_yamamoto 0:669ef71cba68 130 static void Process6(void);
t_yamamoto 0:669ef71cba68 131 #endif
t_yamamoto 0:669ef71cba68 132 #if USE_PROCESS_NUM>7
t_yamamoto 0:669ef71cba68 133 static void Process7(void);
t_yamamoto 0:669ef71cba68 134 #endif
t_yamamoto 0:669ef71cba68 135 #if USE_PROCESS_NUM>8
t_yamamoto 0:669ef71cba68 136 static void Process8(void);
t_yamamoto 0:669ef71cba68 137 #endif
t_yamamoto 0:669ef71cba68 138 #if USE_PROCESS_NUM>9
t_yamamoto 0:669ef71cba68 139 static void Process9(void);
t_yamamoto 0:669ef71cba68 140 #endif
t_yamamoto 0:669ef71cba68 141 #endif
t_yamamoto 0:669ef71cba68 142
t_yamamoto 0:669ef71cba68 143 void SystemProcessInitialize()
t_yamamoto 0:669ef71cba68 144 {
Ryosei 27:dd9f27fce7d1 145 #pragma region USER-DEFINED_VARIABLE_INIT
Ryosei 27:dd9f27fce7d1 146 /*Replace here with the initialization code of your variables.*/
yabahiro 55:844ac0974740 147 //bunzin.attach(Count,0.001);
Ryosei 27:dd9f27fce7d1 148
Ryosei 27:dd9f27fce7d1 149 #pragma endregion USER-DEFINED_VARIABLE_INIT
Ryosei 27:dd9f27fce7d1 150
Ryosei 27:dd9f27fce7d1 151 lock = true;
Ryosei 27:dd9f27fce7d1 152 processChangeComp = true;
Ryosei 27:dd9f27fce7d1 153 current = DEFAULT_PROCESS;
t_yamamoto 0:669ef71cba68 154
Ryosei 27:dd9f27fce7d1 155 #ifdef USE_SUBPROCESS
Ryosei 27:dd9f27fce7d1 156 #if USE_PROCESS_NUM>0
Ryosei 27:dd9f27fce7d1 157 Process[0] = Process0;
Ryosei 27:dd9f27fce7d1 158 #endif
Ryosei 27:dd9f27fce7d1 159 #if USE_PROCESS_NUM>1
Ryosei 27:dd9f27fce7d1 160 Process[1] = Process1;
Ryosei 27:dd9f27fce7d1 161 #endif
Ryosei 27:dd9f27fce7d1 162 #if USE_PROCESS_NUM>2
Ryosei 27:dd9f27fce7d1 163 Process[2] = Process2;
Ryosei 27:dd9f27fce7d1 164 #endif
Ryosei 27:dd9f27fce7d1 165 #if USE_PROCESS_NUM>3
Ryosei 27:dd9f27fce7d1 166 Process[3] = Process3;
Ryosei 27:dd9f27fce7d1 167 #endif
Ryosei 27:dd9f27fce7d1 168 #if USE_PROCESS_NUM>4
Ryosei 27:dd9f27fce7d1 169 Process[4] = Process4;
Ryosei 27:dd9f27fce7d1 170 #endif
Ryosei 27:dd9f27fce7d1 171 #if USE_PROCESS_NUM>5
Ryosei 27:dd9f27fce7d1 172 Process[5] = Process5;
Ryosei 27:dd9f27fce7d1 173 #endif
Ryosei 27:dd9f27fce7d1 174 #if USE_PROCESS_NUM>6
Ryosei 27:dd9f27fce7d1 175 Process[6] = Process6;
Ryosei 27:dd9f27fce7d1 176 #endif
Ryosei 27:dd9f27fce7d1 177 #if USE_PROCESS_NUM>7
Ryosei 27:dd9f27fce7d1 178 Process[7] = Process7;
Ryosei 27:dd9f27fce7d1 179 #endif
Ryosei 27:dd9f27fce7d1 180 #if USE_PROCESS_NUM>8
Ryosei 27:dd9f27fce7d1 181 Process[8] = Process8;
Ryosei 27:dd9f27fce7d1 182 #endif
Ryosei 27:dd9f27fce7d1 183 #if USE_PROCESS_NUM>9
Ryosei 27:dd9f27fce7d1 184 Process[9] = Process9;
Ryosei 27:dd9f27fce7d1 185 #endif
Ryosei 27:dd9f27fce7d1 186 #endif
t_yamamoto 0:669ef71cba68 187 }
t_yamamoto 0:669ef71cba68 188
t_yamamoto 0:669ef71cba68 189 static void SystemProcessUpdate()
t_yamamoto 0:669ef71cba68 190 {
Ryosei 27:dd9f27fce7d1 191 #ifdef USE_SUBPROCESS
Ryosei 27:dd9f27fce7d1 192 if(controller->Button.HOME) lock = false;
Ryosei 27:dd9f27fce7d1 193
Ryosei 27:dd9f27fce7d1 194 if(controller->Button.START && processChangeComp) {
Ryosei 27:dd9f27fce7d1 195 current++;
Ryosei 27:dd9f27fce7d1 196 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
Ryosei 27:dd9f27fce7d1 197 processChangeComp = false;
Ryosei 27:dd9f27fce7d1 198 } else if(controller->Button.SELECT && processChangeComp) {
Ryosei 27:dd9f27fce7d1 199 current--;
Ryosei 27:dd9f27fce7d1 200 if (current < 0) current = 0;
Ryosei 27:dd9f27fce7d1 201 processChangeComp = false;
Ryosei 27:dd9f27fce7d1 202 } else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
Ryosei 27:dd9f27fce7d1 203 #endif
Ryosei 27:dd9f27fce7d1 204
Ryosei 27:dd9f27fce7d1 205 #ifdef USE_MOTOR
Ryosei 27:dd9f27fce7d1 206 ACTUATORHUB::MOTOR::Motor::Update(motor);
Ryosei 27:dd9f27fce7d1 207 #endif
Ryosei 27:dd9f27fce7d1 208
Ryosei 27:dd9f27fce7d1 209 #ifdef USE_SOLENOID
Ryosei 27:dd9f27fce7d1 210 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
Ryosei 27:dd9f27fce7d1 211 #endif
Ryosei 27:dd9f27fce7d1 212
Ryosei 27:dd9f27fce7d1 213 #ifdef USE_RS485
Ryosei 27:dd9f27fce7d1 214 ACTUATORHUB::ActuatorHub::Update();
Ryosei 27:dd9f27fce7d1 215 //LINEHUB::LineHub::Update();
Ryosei 27:dd9f27fce7d1 216 #endif
Ryosei 27:dd9f27fce7d1 217
Ryosei 27:dd9f27fce7d1 218 }
Ryosei 27:dd9f27fce7d1 219
yabahiro 39:784552c26163 220 int point1;
Ryosei 27:dd9f27fce7d1 221 void SystemProcess()
Ryosei 27:dd9f27fce7d1 222 {
yabahiro 56:61ebd4b759b4 223
Ryosei 27:dd9f27fce7d1 224 SystemProcessInitialize();
yabahiro 33:dd598bb23ad1 225
Ryosei 27:dd9f27fce7d1 226 while(1) {
yabahiro 53:694dbd7dfa0e 227 //pc.printf("3:%d\n\r",g[3]);
yabahiro 46:68296caae1af 228
yabahiro 33:dd598bb23ad1 229 if(EMC==0) {
yabahiro 33:dd598bb23ad1 230 fast=40;
yabahiro 33:dd598bb23ad1 231 normal=30;
yabahiro 33:dd598bb23ad1 232 slow=20;
yabahiro 33:dd598bb23ad1 233 cross=0;//十字数える用
yabahiro 33:dd598bb23ad1 234 cros=0;
yabahiro 33:dd598bb23ad1 235 countss=0;//wait代替え
yabahiro 33:dd598bb23ad1 236 UP_flag = false;
yabahiro 33:dd598bb23ad1 237 SW_flag = false;
yabahiro 33:dd598bb23ad1 238 Air_flag = false;
yabahiro 33:dd598bb23ad1 239 zyouge=false;
yabahiro 33:dd598bb23ad1 240 zyougedo=false;
yabahiro 33:dd598bb23ad1 241 dz2=true;
yabahiro 33:dd598bb23ad1 242 dz2i=false;
yabahiro 33:dd598bb23ad1 243 dz3=true;
yabahiro 33:dd598bb23ad1 244 dz3i=false;
yabahiro 33:dd598bb23ad1 245 dz4=true;
yabahiro 33:dd598bb23ad1 246 dz4i=false;
yabahiro 33:dd598bb23ad1 247 through=false;
yabahiro 33:dd598bb23ad1 248 counts=false;
yabahiro 33:dd598bb23ad1 249 mtc=false;
yabahiro 33:dd598bb23ad1 250 mtc2 = false;
yabahiro 33:dd598bb23ad1 251 current = 0;
yabahiro 33:dd598bb23ad1 252 SystemProcessInitialize();
yabahiro 33:dd598bb23ad1 253 if(emcs==false) {
yabahiro 33:dd598bb23ad1 254 AllActuatorReset();
yabahiro 33:dd598bb23ad1 255 emcs=true;
yabahiro 33:dd598bb23ad1 256 }
yabahiro 33:dd598bb23ad1 257 } else {
yabahiro 33:dd598bb23ad1 258 emcs=false;
yabahiro 33:dd598bb23ad1 259 }
Ryosei 27:dd9f27fce7d1 260
yabahiro 33:dd598bb23ad1 261 if(mode==0) {
yabahiro 33:dd598bb23ad1 262 if(ZoneSW) {
kishibekairohan 35:33c6cdba5630 263 LED::LED::TapeledMode(1);
yabahiro 33:dd598bb23ad1 264 } else {
kishibekairohan 35:33c6cdba5630 265 LED::LED::TapeledMode(2);
yabahiro 33:dd598bb23ad1 266 }
yabahiro 33:dd598bb23ad1 267 }
yabahiro 33:dd598bb23ad1 268 for(int i = 0; i < 8; i++) {
yabahiro 33:dd598bb23ad1 269 g[i] = LineHub::GetPara(i);
yabahiro 33:dd598bb23ad1 270 }
yabahiro 33:dd598bb23ad1 271 if(ThSW) {
yabahiro 33:dd598bb23ad1 272 Twsh=1;
yabahiro 33:dd598bb23ad1 273 } else {
yabahiro 33:dd598bb23ad1 274 Twsh=2;
yabahiro 33:dd598bb23ad1 275 }
yabahiro 33:dd598bb23ad1 276
yabahiro 33:dd598bb23ad1 277 if(StertSW && start_flag == true) {
yabahiro 33:dd598bb23ad1 278 start_flag = false;
yabahiro 33:dd598bb23ad1 279 lock = false;
yabahiro 33:dd598bb23ad1 280 if(ZoneSW) {
yabahiro 33:dd598bb23ad1 281 countss=0;
yabahiro 33:dd598bb23ad1 282 mode=1;
yabahiro 58:bfc38c43dadb 283 aime.start();
yabahiro 57:ccfd26b94d8a 284 current = 3;//1119変更した
yabahiro 33:dd598bb23ad1 285
yabahiro 33:dd598bb23ad1 286 } else {
kishibekairohan 34:2fce61e3ebc4 287 countss = 0;
yabahiro 33:dd598bb23ad1 288 mode=1;
yabahiro 58:bfc38c43dadb 289 aime.start();
yabahiro 56:61ebd4b759b4 290 current = 2;
yabahiro 33:dd598bb23ad1 291 }
yabahiro 33:dd598bb23ad1 292 }
yabahiro 33:dd598bb23ad1 293 if(DWSW||DOSW) {
yabahiro 33:dd598bb23ad1 294 if(DWSW) {
yabahiro 33:dd598bb23ad1 295 zyouge=true;
yabahiro 33:dd598bb23ad1 296 }
yabahiro 33:dd598bb23ad1 297 if(DOSW) {
yabahiro 33:dd598bb23ad1 298 if(DOLS) {
yabahiro 33:dd598bb23ad1 299 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 300 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 301 } else {
yabahiro 38:40e7fdf3c694 302 motor[MOTOR_0].pwm = 200;
yabahiro 33:dd598bb23ad1 303 motor[MOTOR_0].dir = BACK;
yabahiro 33:dd598bb23ad1 304 }
yabahiro 33:dd598bb23ad1 305 }
yabahiro 33:dd598bb23ad1 306 } else if(zyouge==false) {
yabahiro 33:dd598bb23ad1 307 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 308 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 309 }
yabahiro 33:dd598bb23ad1 310 if(zyouge) {
yabahiro 33:dd598bb23ad1 311 if(Twsh==1) {
yabahiro 38:40e7fdf3c694 312 motor[MOTOR_0].pwm = 255;
yabahiro 33:dd598bb23ad1 313 motor[MOTOR_0].dir = FOR;
yabahiro 33:dd598bb23ad1 314 if(UPLS) {
yabahiro 33:dd598bb23ad1 315 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 316 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 317 zyouge=false;
yabahiro 33:dd598bb23ad1 318 }
yabahiro 33:dd598bb23ad1 319 }
yabahiro 33:dd598bb23ad1 320 if(Twsh==2) {
yabahiro 33:dd598bb23ad1 321 motor[MOTOR_0].pwm = 245;
yabahiro 33:dd598bb23ad1 322 motor[MOTOR_0].dir = FOR;
yabahiro 33:dd598bb23ad1 323 if(UPLS2) {
yabahiro 33:dd598bb23ad1 324 motor[MOTOR_0].pwm = 100;
yabahiro 33:dd598bb23ad1 325 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 326 zyouge=false;
yabahiro 33:dd598bb23ad1 327 }
yabahiro 33:dd598bb23ad1 328 }
yabahiro 33:dd598bb23ad1 329 }
yabahiro 33:dd598bb23ad1 330 if(AIRSW) {
yabahiro 33:dd598bb23ad1 331 if(SW_flag==false) {
yabahiro 33:dd598bb23ad1 332 if(Air_flag==false) {
yabahiro 33:dd598bb23ad1 333 solenoid.solenoid3 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 334 Air_flag=true;
yabahiro 33:dd598bb23ad1 335 SW_flag=true;
yabahiro 33:dd598bb23ad1 336 } else {
yabahiro 33:dd598bb23ad1 337 solenoid.solenoid3 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 338 Air_flag=false;
yabahiro 33:dd598bb23ad1 339 SW_flag=true;
yabahiro 33:dd598bb23ad1 340 }
yabahiro 33:dd598bb23ad1 341 }
yabahiro 33:dd598bb23ad1 342 } else {
yabahiro 33:dd598bb23ad1 343 if(SW_flag==true) {
yabahiro 33:dd598bb23ad1 344 countss++;
yabahiro 33:dd598bb23ad1 345 if(countss>=2000) {
yabahiro 33:dd598bb23ad1 346 SW_flag=false;
yabahiro 33:dd598bb23ad1 347 countss=0;
yabahiro 33:dd598bb23ad1 348 }
yabahiro 33:dd598bb23ad1 349 }
yabahiro 33:dd598bb23ad1 350 }
yabahiro 33:dd598bb23ad1 351
yabahiro 33:dd598bb23ad1 352
yabahiro 33:dd598bb23ad1 353 #ifdef USE_MU
Ryosei 27:dd9f27fce7d1 354 controller = CONTROLLER::Controller::GetData();
yabahiro 33:dd598bb23ad1 355 #endif
yabahiro 33:dd598bb23ad1 356
Ryosei 27:dd9f27fce7d1 357
yabahiro 33:dd598bb23ad1 358 #ifdef USE_ERRORCHECK
yabahiro 38:40e7fdf3c694 359 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost & start_flag) {
Ryosei 27:dd9f27fce7d1 360 CONTROLLER::Controller::DataReset();
Ryosei 27:dd9f27fce7d1 361 AllActuatorReset();
Ryosei 27:dd9f27fce7d1 362 lock = true;
Ryosei 27:dd9f27fce7d1 363 } else
yabahiro 38:40e7fdf3c694 364
yabahiro 33:dd598bb23ad1 365 #endif
Ryosei 27:dd9f27fce7d1 366 {
Ryosei 27:dd9f27fce7d1 367
yabahiro 33:dd598bb23ad1 368 #ifdef USE_SUBPROCESS
Ryosei 27:dd9f27fce7d1 369 if(!lock) {
Ryosei 27:dd9f27fce7d1 370 Process[current]();
Ryosei 27:dd9f27fce7d1 371 } else
yabahiro 33:dd598bb23ad1 372 #endif
Ryosei 27:dd9f27fce7d1 373 {
Ryosei 27:dd9f27fce7d1 374 //ロック時の処理
Ryosei 27:dd9f27fce7d1 375 }
Ryosei 27:dd9f27fce7d1 376 }
yabahiro 33:dd598bb23ad1 377
Ryosei 27:dd9f27fce7d1 378 SystemProcessUpdate();
Ryosei 27:dd9f27fce7d1 379 }
t_yamamoto 0:669ef71cba68 380 }
t_yamamoto 0:669ef71cba68 381
kishibekairohan 2:c015739085d3 382
kishibekairohan 2:c015739085d3 383
kishibekairohan 2:c015739085d3 384
t_yamamoto 0:669ef71cba68 385 #pragma region PROCESS
t_yamamoto 0:669ef71cba68 386 #ifdef USE_SUBPROCESS
t_yamamoto 0:669ef71cba68 387 #if USE_PROCESS_NUM>0
Ryosei 27:dd9f27fce7d1 388 static void Process0()
Ryosei 27:dd9f27fce7d1 389 {
yabahiro 33:dd598bb23ad1 390
yabahiro 33:dd598bb23ad1 391 //AllActuatorReset();
t_yamamoto 0:669ef71cba68 392 }
t_yamamoto 0:669ef71cba68 393 #endif
t_yamamoto 0:669ef71cba68 394
t_yamamoto 0:669ef71cba68 395 #if USE_PROCESS_NUM>1
kishibekairohan 16:3f2c2d89372b 396 static void Process1()
t_yamamoto 0:669ef71cba68 397 {
kishibekairohan 35:33c6cdba5630 398 LED::LED::TapeledMode(6);
yabahiro 33:dd598bb23ad1 399 start_flag = true;
yabahiro 33:dd598bb23ad1 400 mtc=false;
yabahiro 33:dd598bb23ad1 401 mtc2 = false;
yabahiro 33:dd598bb23ad1 402 mode=1;
yabahiro 33:dd598bb23ad1 403 cross=0;
yabahiro 33:dd598bb23ad1 404 Twsh=1;
yabahiro 33:dd598bb23ad1 405 motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro 33:dd598bb23ad1 406 motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro 33:dd598bb23ad1 407 motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro 33:dd598bb23ad1 408 motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
Ryosei 27:dd9f27fce7d1 409
kishibekairohan 42:980af34f6fe3 410 motor[TIRE_FR].pwm = SetPWM(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan 42:980af34f6fe3 411 motor[TIRE_FL].pwm = SetPWM(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan 42:980af34f6fe3 412 motor[TIRE_BR].pwm = SetPWM(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
kishibekairohan 42:980af34f6fe3 413 motor[TIRE_BL].pwm = SetPWM(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro 33:dd598bb23ad1 414
yabahiro 33:dd598bb23ad1 415 if(controller->Button.UP||controller->Button.DOWN) {
yabahiro 33:dd598bb23ad1 416
yabahiro 33:dd598bb23ad1 417 if(controller->Button.UP) {
yabahiro 33:dd598bb23ad1 418 motor[MOTOR_0].pwm =200;
yabahiro 33:dd598bb23ad1 419 motor[MOTOR_0].dir = FOR;
yabahiro 33:dd598bb23ad1 420 if(UPLS) {
yabahiro 33:dd598bb23ad1 421 motor[MOTOR_0].pwm = 0;
yabahiro 33:dd598bb23ad1 422 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 423 }
yabahiro 33:dd598bb23ad1 424 }
yabahiro 33:dd598bb23ad1 425 if(controller->Button.DOWN) {
yabahiro 33:dd598bb23ad1 426 motor[MOTOR_0].pwm = 50;
yabahiro 33:dd598bb23ad1 427 motor[MOTOR_0].dir = BACK;
yabahiro 33:dd598bb23ad1 428 }
yabahiro 33:dd598bb23ad1 429 } else {
yabahiro 33:dd598bb23ad1 430 motor[MOTOR_0].pwm = 0;
yabahiro 33:dd598bb23ad1 431 motor[MOTOR_0].dir = BRAKE;
yabahiro 33:dd598bb23ad1 432 }
yabahiro 33:dd598bb23ad1 433
yabahiro 33:dd598bb23ad1 434 if(controller->Button.Y) {
yabahiro 33:dd598bb23ad1 435 if(dz2==true) {
yabahiro 33:dd598bb23ad1 436 if(dz2i==false) {
yabahiro 33:dd598bb23ad1 437 solenoid.solenoid2 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 438 dz2i=true;
yabahiro 33:dd598bb23ad1 439 } else {
yabahiro 33:dd598bb23ad1 440 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 441 dz2i=false;
yabahiro 33:dd598bb23ad1 442 }
yabahiro 33:dd598bb23ad1 443 dz2=false;
yabahiro 33:dd598bb23ad1 444 }
yabahiro 33:dd598bb23ad1 445 } else {
yabahiro 33:dd598bb23ad1 446 dz2=true;
yabahiro 33:dd598bb23ad1 447 }
yabahiro 33:dd598bb23ad1 448
yabahiro 33:dd598bb23ad1 449 if(controller->Button.A) {
yabahiro 33:dd598bb23ad1 450 if(dz3==true) {
yabahiro 33:dd598bb23ad1 451 if(dz3i==false) {
kishibekairohan 37:e77816810627 452 solenoid.solenoid3 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 453 dz3i=true;
yabahiro 33:dd598bb23ad1 454 } else {
yabahiro 33:dd598bb23ad1 455 solenoid.solenoid3 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 456 dz3i=false;
yabahiro 33:dd598bb23ad1 457 }
yabahiro 33:dd598bb23ad1 458 dz3=false;
yabahiro 33:dd598bb23ad1 459 }
yabahiro 33:dd598bb23ad1 460 } else {
yabahiro 33:dd598bb23ad1 461 dz3=true;
yabahiro 33:dd598bb23ad1 462 }
yabahiro 33:dd598bb23ad1 463
yabahiro 33:dd598bb23ad1 464 if(controller->Button.B) {
yabahiro 33:dd598bb23ad1 465 if(dz4==true) {
yabahiro 33:dd598bb23ad1 466 if(dz4i==false) {
yabahiro 38:40e7fdf3c694 467 solenoid.solenoid4 = SOLENOID_ON;
yabahiro 33:dd598bb23ad1 468 dz4i=true;
yabahiro 33:dd598bb23ad1 469 } else {
yabahiro 38:40e7fdf3c694 470 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 471 dz4i=false;
yabahiro 33:dd598bb23ad1 472 }
yabahiro 33:dd598bb23ad1 473 dz4=false;
yabahiro 33:dd598bb23ad1 474 }
yabahiro 33:dd598bb23ad1 475 } else {
yabahiro 33:dd598bb23ad1 476 dz4=true;
yabahiro 33:dd598bb23ad1 477 }
t_yamamoto 0:669ef71cba68 478 }
t_yamamoto 0:669ef71cba68 479 #endif
t_yamamoto 0:669ef71cba68 480
t_yamamoto 0:669ef71cba68 481 #if USE_PROCESS_NUM>2
kishibekairohan 16:3f2c2d89372b 482 static void Process2()
Ryosei 27:dd9f27fce7d1 483 {
yabahiro 33:dd598bb23ad1 484 //Oh So 青ゾーン
yabahiro 58:bfc38c43dadb 485 value=aime.read_ms();
yabahiro 53:694dbd7dfa0e 486 LED::LED::TapeledMode(4);
yabahiro 33:dd598bb23ad1 487 countss++;
yabahiro 50:87f5fa1bc460 488 switch(mode) {
yabahiro 50:87f5fa1bc460 489 case 1:
yabahiro 51:a0bdbddd08f7 490 fast=40;
yabahiro 51:a0bdbddd08f7 491 normal=30;
yabahiro 51:a0bdbddd08f7 492 slow=20;
yabahiro 51:a0bdbddd08f7 493 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 494 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 495 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 496 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 497 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 498 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 499 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 500 motor[TIRE_BL].dir = BACK;
yabahiro 58:bfc38c43dadb 501 if(g[2]==0&&value>=1500) {
yabahiro 51:a0bdbddd08f7 502 countss=100000;
yabahiro 58:bfc38c43dadb 503 aime.reset();
yabahiro 51:a0bdbddd08f7 504 cross=0;
yabahiro 51:a0bdbddd08f7 505 mode=3;
yabahiro 51:a0bdbddd08f7 506 }
yabahiro 50:87f5fa1bc460 507 break;
yabahiro 51:a0bdbddd08f7 508 case 3:
yabahiro 51:a0bdbddd08f7 509 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 510 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 511 motor[TIRE_FL].pwm = 255;
yabahiro 51:a0bdbddd08f7 512 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 513 motor[TIRE_BR].pwm = 255;
yabahiro 51:a0bdbddd08f7 514 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 515 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 516 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 517 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 518 mode=10;
yabahiro 58:bfc38c43dadb 519 aime.reset();
yabahiro 51:a0bdbddd08f7 520 countss=100000;
yabahiro 55:844ac0974740 521 fast=80;
yabahiro 55:844ac0974740 522 normal=60;
yabahiro 55:844ac0974740 523 slow=40;
yabahiro 51:a0bdbddd08f7 524 }
yabahiro 50:87f5fa1bc460 525 break;
yabahiro 50:87f5fa1bc460 526 case 10:
yabahiro 51:a0bdbddd08f7 527 switch(g[1]) {
yabahiro 51:a0bdbddd08f7 528 case 98:
yabahiro 51:a0bdbddd08f7 529 motor[TIRE_FR].pwm = normal+55;
yabahiro 51:a0bdbddd08f7 530 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 531 motor[TIRE_FL].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 532 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 533 motor[TIRE_BR].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 534 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 535 motor[TIRE_BL].pwm = normal+45;
yabahiro 51:a0bdbddd08f7 536 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 537 mtc=true;
yabahiro 58:bfc38c43dadb 538 if(value>=1200) {
yabahiro 51:a0bdbddd08f7 539 cross++;
yabahiro 51:a0bdbddd08f7 540 countss=0;
yabahiro 58:bfc38c43dadb 541 value=0;
yabahiro 58:bfc38c43dadb 542 aime.reset();
yabahiro 51:a0bdbddd08f7 543 }
yabahiro 46:68296caae1af 544
yabahiro 51:a0bdbddd08f7 545 if(cross==2) {
yabahiro 51:a0bdbddd08f7 546 fast = 10;
yabahiro 51:a0bdbddd08f7 547 normal = 10;
yabahiro 51:a0bdbddd08f7 548 slow = 5;
yabahiro 51:a0bdbddd08f7 549 }
yabahiro 46:68296caae1af 550
kishibekairohan 45:0cf48a0605cd 551 if(cross==3) {
yabahiro 51:a0bdbddd08f7 552 fast=40;
yabahiro 51:a0bdbddd08f7 553 normal=30;
yabahiro 51:a0bdbddd08f7 554 slow=20;
yabahiro 51:a0bdbddd08f7 555 mode=11;
yabahiro 58:bfc38c43dadb 556 aime.reset();
yabahiro 39:784552c26163 557 countss=0;
yabahiro 39:784552c26163 558 cross=0;
yabahiro 39:784552c26163 559 }
yabahiro 39:784552c26163 560 break;
yabahiro 39:784552c26163 561 case 0:
yabahiro 51:a0bdbddd08f7 562 motor[TIRE_FR].pwm = fast+55;
yabahiro 51:a0bdbddd08f7 563 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 564 motor[TIRE_FL].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 565 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 566 motor[TIRE_BR].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 567 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 568 motor[TIRE_BL].pwm = fast+45;
yabahiro 51:a0bdbddd08f7 569 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 570 mtc=true;
yabahiro 39:784552c26163 571 break;
yabahiro 39:784552c26163 572 case 255:
yabahiro 51:a0bdbddd08f7 573 motor[TIRE_FR].pwm = fast+55;
yabahiro 51:a0bdbddd08f7 574 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 575 motor[TIRE_FL].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 576 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 577 motor[TIRE_BR].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 578 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 579 motor[TIRE_BL].pwm = fast+45;
yabahiro 51:a0bdbddd08f7 580 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 581 mtc=true;
yabahiro 39:784552c26163 582 break;
yabahiro 39:784552c26163 583 case 253:
yabahiro 51:a0bdbddd08f7 584 motor[TIRE_FR].pwm = slow+55;
yabahiro 51:a0bdbddd08f7 585 motor[TIRE_FR].dir = FOR;
yabahiro 39:784552c26163 586 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 587 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 588 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 589 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 590 motor[TIRE_BL].pwm = slow+45;
yabahiro 51:a0bdbddd08f7 591 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 592 mtc=true;
yabahiro 39:784552c26163 593 break;
yabahiro 39:784552c26163 594 case 254:
yabahiro 51:a0bdbddd08f7 595 motor[TIRE_FR].pwm = normal+55;
yabahiro 51:a0bdbddd08f7 596 motor[TIRE_FR].dir = FOR;
yabahiro 39:784552c26163 597 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 598 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 599 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 600 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 601 motor[TIRE_BL].pwm = normal+45;
yabahiro 51:a0bdbddd08f7 602 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 603 mtc=true;
yabahiro 39:784552c26163 604 break;
yabahiro 39:784552c26163 605 case 1:
yabahiro 51:a0bdbddd08f7 606 motor[TIRE_FR].pwm = slow+55;
yabahiro 51:a0bdbddd08f7 607 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 608 motor[TIRE_FL].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 609 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 610 motor[TIRE_BR].pwm = fast+50;
yabahiro 51:a0bdbddd08f7 611 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 612 motor[TIRE_BL].pwm = slow+45;
yabahiro 51:a0bdbddd08f7 613 motor[TIRE_BL].dir = BACK;
yabahiro 39:784552c26163 614 mtc=true;
yabahiro 39:784552c26163 615 break;
yabahiro 39:784552c26163 616 case 3:
yabahiro 39:784552c26163 617 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 618 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 619 motor[TIRE_FL].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 620 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 621 motor[TIRE_BR].pwm = slow+50;
yabahiro 51:a0bdbddd08f7 622 motor[TIRE_BR].dir = FOR;
yabahiro 39:784552c26163 623 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 624 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 625 mtc=true;
yabahiro 39:784552c26163 626 break;
yabahiro 39:784552c26163 627 case 2:
yabahiro 39:784552c26163 628 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 629 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 630 motor[TIRE_FL].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 631 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 632 motor[TIRE_BR].pwm = normal+50;
yabahiro 51:a0bdbddd08f7 633 motor[TIRE_BR].dir = FOR;
yabahiro 39:784552c26163 634 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 635 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 636 mtc=true;
yabahiro 39:784552c26163 637 break;
yabahiro 39:784552c26163 638 }
yabahiro 51:a0bdbddd08f7 639 if(g[1]!=98&&mtc==true) {
yabahiro 39:784552c26163 640 switch(g[0]) {
yabahiro 39:784552c26163 641 case 0:
yabahiro 39:784552c26163 642 mtc=false;
yabahiro 39:784552c26163 643 break;
yabahiro 39:784552c26163 644 case 255:
yabahiro 51:a0bdbddd08f7 645 motor[TIRE_FL].pwm += 3;
yabahiro 39:784552c26163 646 mtc=false;
yabahiro 39:784552c26163 647 break;
yabahiro 39:784552c26163 648 case 253:
yabahiro 51:a0bdbddd08f7 649 motor[TIRE_FL].pwm += 6;
yabahiro 39:784552c26163 650 mtc=false;
yabahiro 39:784552c26163 651 break;
yabahiro 39:784552c26163 652 case 254:
yabahiro 51:a0bdbddd08f7 653 motor[TIRE_FL].pwm += 9;
yabahiro 51:a0bdbddd08f7 654 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 655 mtc=false;
yabahiro 39:784552c26163 656 break;
yabahiro 39:784552c26163 657 case 1:
yabahiro 51:a0bdbddd08f7 658 motor[TIRE_FR].pwm += 3;
yabahiro 39:784552c26163 659 mtc=false;
yabahiro 39:784552c26163 660 break;
yabahiro 39:784552c26163 661 case 3:
yabahiro 51:a0bdbddd08f7 662 motor[TIRE_FR].pwm += 6;
yabahiro 39:784552c26163 663 mtc=false;
yabahiro 39:784552c26163 664 break;
yabahiro 39:784552c26163 665 case 2:
yabahiro 51:a0bdbddd08f7 666 motor[TIRE_FR].pwm += 9;
yabahiro 51:a0bdbddd08f7 667 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 668 mtc=false;
yabahiro 39:784552c26163 669 break;
yabahiro 39:784552c26163 670 }
yabahiro 39:784552c26163 671 }
yabahiro 51:a0bdbddd08f7 672 break;
yabahiro 51:a0bdbddd08f7 673 case 11:
yabahiro 53:694dbd7dfa0e 674 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 675 motor[TIRE_FR].dir = FOR;
yabahiro 53:694dbd7dfa0e 676 motor[TIRE_FL].pwm = 15;
yabahiro 53:694dbd7dfa0e 677 motor[TIRE_FL].dir = FOR;
yabahiro 53:694dbd7dfa0e 678 motor[TIRE_BR].pwm = 15;
yabahiro 53:694dbd7dfa0e 679 motor[TIRE_BR].dir = BACK;
yabahiro 53:694dbd7dfa0e 680 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 681 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 682 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 51:a0bdbddd08f7 683 countss=0;
yabahiro 51:a0bdbddd08f7 684 cross=0;
yabahiro 51:a0bdbddd08f7 685 mode=20;
yabahiro 51:a0bdbddd08f7 686 }
yabahiro 51:a0bdbddd08f7 687 break;
yabahiro 51:a0bdbddd08f7 688 case 20:
yabahiro 51:a0bdbddd08f7 689 solenoid.solenoid2= SOLENOID_ON;
yabahiro 51:a0bdbddd08f7 690 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 691 case 98:
yabahiro 51:a0bdbddd08f7 692 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 693 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 694 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 695 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 696 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 697 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 698 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 699 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 700 if(countss>30000) {
yabahiro 51:a0bdbddd08f7 701 cross++;
yabahiro 51:a0bdbddd08f7 702 countss=0;
yabahiro 51:a0bdbddd08f7 703 }
yabahiro 51:a0bdbddd08f7 704 mtc2=true;
yabahiro 51:a0bdbddd08f7 705 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 706 if(cross==1) {
yabahiro 51:a0bdbddd08f7 707 fast=20;
yabahiro 51:a0bdbddd08f7 708 normal=15;
yabahiro 51:a0bdbddd08f7 709 slow=15;
yabahiro 51:a0bdbddd08f7 710 }
yabahiro 51:a0bdbddd08f7 711 if(cross==2) {
yabahiro 51:a0bdbddd08f7 712 mode=21;
yabahiro 51:a0bdbddd08f7 713 countss=0;
yabahiro 51:a0bdbddd08f7 714 cross=0;
yabahiro 51:a0bdbddd08f7 715 }
yabahiro 51:a0bdbddd08f7 716 } else {
yabahiro 51:a0bdbddd08f7 717 if(cross==3) {
yabahiro 51:a0bdbddd08f7 718 mode=21;
yabahiro 51:a0bdbddd08f7 719 countss=0;
yabahiro 51:a0bdbddd08f7 720 cross=0;
yabahiro 51:a0bdbddd08f7 721 }
yabahiro 51:a0bdbddd08f7 722 }
yabahiro 51:a0bdbddd08f7 723 break;
yabahiro 51:a0bdbddd08f7 724 case 0:
yabahiro 51:a0bdbddd08f7 725 motor[TIRE_FR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 726 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 727 motor[TIRE_FL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 728 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 729 motor[TIRE_BR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 730 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 731 motor[TIRE_BL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 732 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 733 mtc2=true;
yabahiro 51:a0bdbddd08f7 734 break;
yabahiro 51:a0bdbddd08f7 735 case 255:
yabahiro 51:a0bdbddd08f7 736 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 737 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 738 motor[TIRE_FL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 739 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 740 motor[TIRE_BR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 741 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 742 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 743 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 744 mtc2=true;
yabahiro 51:a0bdbddd08f7 745 break;
yabahiro 51:a0bdbddd08f7 746 case 253:
yabahiro 51:a0bdbddd08f7 747 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 748 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 749 motor[TIRE_FL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 750 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 751 motor[TIRE_BR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 752 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 753 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 754 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 755 mtc2=true;
yabahiro 51:a0bdbddd08f7 756 break;
yabahiro 51:a0bdbddd08f7 757 case 254:
yabahiro 51:a0bdbddd08f7 758 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 759 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 760 motor[TIRE_FL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 761 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 762 motor[TIRE_BR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 763 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 764 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 765 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 766 mtc2=true;
yabahiro 51:a0bdbddd08f7 767 break;
yabahiro 51:a0bdbddd08f7 768 case 1:
yabahiro 51:a0bdbddd08f7 769 motor[TIRE_FR].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 770 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 771 motor[TIRE_FL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 772 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 773 motor[TIRE_BR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 774 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 775 motor[TIRE_BL].pwm = fast+20;
yabahiro 51:a0bdbddd08f7 776 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 777 mtc2=true;
yabahiro 51:a0bdbddd08f7 778 break;
yabahiro 51:a0bdbddd08f7 779 case 3:
yabahiro 51:a0bdbddd08f7 780 motor[TIRE_FR].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 781 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 782 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 783 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 784 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 785 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 786 motor[TIRE_BL].pwm = slow+20;
yabahiro 51:a0bdbddd08f7 787 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 788 mtc2=true;
yabahiro 51:a0bdbddd08f7 789 break;
yabahiro 51:a0bdbddd08f7 790 case 2:
yabahiro 51:a0bdbddd08f7 791 motor[TIRE_FR].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 792 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 793 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 794 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 795 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 796 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 797 motor[TIRE_BL].pwm = normal+20;
yabahiro 51:a0bdbddd08f7 798 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 799 mtc2=true;
yabahiro 51:a0bdbddd08f7 800 break;
yabahiro 51:a0bdbddd08f7 801 }
yabahiro 51:a0bdbddd08f7 802 if(g[2]!=98&&mtc2==true) {
yabahiro 51:a0bdbddd08f7 803 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 804 case 0:
yabahiro 51:a0bdbddd08f7 805 mtc2=false;
yabahiro 51:a0bdbddd08f7 806 break;
yabahiro 51:a0bdbddd08f7 807 case 255:
yabahiro 51:a0bdbddd08f7 808 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 809 mtc2=false;
yabahiro 51:a0bdbddd08f7 810 break;
yabahiro 51:a0bdbddd08f7 811 case 253:
yabahiro 51:a0bdbddd08f7 812 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 813 mtc2=false;
yabahiro 51:a0bdbddd08f7 814 break;
yabahiro 51:a0bdbddd08f7 815 case 254:
yabahiro 51:a0bdbddd08f7 816 motor[TIRE_BL].pwm += 15;
yabahiro 51:a0bdbddd08f7 817 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 818 mtc2=false;
yabahiro 51:a0bdbddd08f7 819 break;
yabahiro 51:a0bdbddd08f7 820 case 1:
yabahiro 51:a0bdbddd08f7 821 motor[TIRE_FL].pwm += 5;
yabahiro 51:a0bdbddd08f7 822 mtc2=false;
yabahiro 51:a0bdbddd08f7 823 break;
yabahiro 51:a0bdbddd08f7 824 case 3:
yabahiro 51:a0bdbddd08f7 825 motor[TIRE_FL].pwm += 10;
yabahiro 51:a0bdbddd08f7 826 mtc2=false;
yabahiro 51:a0bdbddd08f7 827 break;
yabahiro 51:a0bdbddd08f7 828 case 2:
yabahiro 51:a0bdbddd08f7 829 motor[TIRE_FL].pwm += 15;
yabahiro 51:a0bdbddd08f7 830 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 831 mtc2=false;
yabahiro 51:a0bdbddd08f7 832 break;
yabahiro 51:a0bdbddd08f7 833 }
yabahiro 51:a0bdbddd08f7 834 }
yabahiro 51:a0bdbddd08f7 835 break;
yabahiro 51:a0bdbddd08f7 836 case 21:
yabahiro 51:a0bdbddd08f7 837 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 838 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 839 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 840 motor[TIRE_FL].pwm = 20;
yabahiro 51:a0bdbddd08f7 841 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 842 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 843 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 844 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 845 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 846 if(g[3]==98&&countss>=10000) {
yabahiro 51:a0bdbddd08f7 847 mode=22;
yabahiro 51:a0bdbddd08f7 848 countss=0;
yabahiro 51:a0bdbddd08f7 849 fast=60;
yabahiro 51:a0bdbddd08f7 850 normal=40;
yabahiro 51:a0bdbddd08f7 851 slow=20;
yabahiro 51:a0bdbddd08f7 852 }
yabahiro 51:a0bdbddd08f7 853 } else {
yabahiro 51:a0bdbddd08f7 854 motor[TIRE_FR].pwm = 255;
yabahiro 51:a0bdbddd08f7 855 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 856 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 857 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 858 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 859 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 860 motor[TIRE_BL].pwm = 255;
yabahiro 51:a0bdbddd08f7 861 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 862 if(g[0]==0) {
yabahiro 51:a0bdbddd08f7 863 mode=22;
yabahiro 51:a0bdbddd08f7 864 fast=60;
yabahiro 51:a0bdbddd08f7 865 normal=40;
yabahiro 51:a0bdbddd08f7 866 slow=25;
yabahiro 58:bfc38c43dadb 867 value=0;
yabahiro 58:bfc38c43dadb 868 aime.reset();
yabahiro 51:a0bdbddd08f7 869 }
yabahiro 51:a0bdbddd08f7 870 }
yabahiro 51:a0bdbddd08f7 871 break;
yabahiro 51:a0bdbddd08f7 872 case 22:
yabahiro 51:a0bdbddd08f7 873 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 874 if(g[4]==3||g[4]==2) {
yabahiro 51:a0bdbddd08f7 875 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 876 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 877 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 878 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 879 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 880 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 881 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 882 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 883 }
yabahiro 51:a0bdbddd08f7 884 if(g[4]==253||g[4]==254) {
yabahiro 51:a0bdbddd08f7 885 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 886 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 887 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 888 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 889 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 890 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 891 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 892 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 893 }
yabahiro 51:a0bdbddd08f7 894 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 895 case 0:
yabahiro 51:a0bdbddd08f7 896 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 897 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 898 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 899 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 900 break;
yabahiro 51:a0bdbddd08f7 901 case 255:
yabahiro 51:a0bdbddd08f7 902 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 903 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 904 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 905 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 906 break;
yabahiro 51:a0bdbddd08f7 907 case 253:
yabahiro 51:a0bdbddd08f7 908 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 909 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 910 motor[TIRE_BR].pwm = 20;
yabahiro 51:a0bdbddd08f7 911 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 912 break;
yabahiro 51:a0bdbddd08f7 913 case 254:
yabahiro 51:a0bdbddd08f7 914 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 915 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 916 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 917 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 918 break;
yabahiro 51:a0bdbddd08f7 919 case 1:
yabahiro 51:a0bdbddd08f7 920 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 921 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 922 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 923 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 924 break;
yabahiro 51:a0bdbddd08f7 925 case 3:
yabahiro 51:a0bdbddd08f7 926 motor[TIRE_FR].pwm = 20;
yabahiro 51:a0bdbddd08f7 927 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 928 motor[TIRE_BR].pwm = 40;
yabahiro 51:a0bdbddd08f7 929 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 930 break;
yabahiro 51:a0bdbddd08f7 931 case 2:
yabahiro 51:a0bdbddd08f7 932 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 933 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 934 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 935 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 936 break;
yabahiro 51:a0bdbddd08f7 937 }
yabahiro 51:a0bdbddd08f7 938 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 939 case 0:
yabahiro 53:694dbd7dfa0e 940 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 941 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 942 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 943 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 944 break;
yabahiro 51:a0bdbddd08f7 945 case 255:
yabahiro 53:694dbd7dfa0e 946 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 947 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 948 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 949 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 950 case 253:
yabahiro 53:694dbd7dfa0e 951 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 952 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 953 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 954 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 955 break;
yabahiro 51:a0bdbddd08f7 956 case 254:
yabahiro 53:694dbd7dfa0e 957 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 958 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 959 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 960 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 961 break;
yabahiro 51:a0bdbddd08f7 962 case 1:
yabahiro 53:694dbd7dfa0e 963 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 964 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 965 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 966 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 967 break;
yabahiro 51:a0bdbddd08f7 968 case 3:
yabahiro 53:694dbd7dfa0e 969 motor[TIRE_FL].pwm = 45;
yabahiro 51:a0bdbddd08f7 970 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 971 motor[TIRE_BL].pwm = 20;
yabahiro 51:a0bdbddd08f7 972 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 973 break;
yabahiro 51:a0bdbddd08f7 974 case 2:
yabahiro 53:694dbd7dfa0e 975 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 976 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 977 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 978 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 979 break;
yabahiro 51:a0bdbddd08f7 980 }
yabahiro 51:a0bdbddd08f7 981 if(g[3]==0&&g[2]==0) {
yabahiro 58:bfc38c43dadb 982 aime.reset();
yabahiro 51:a0bdbddd08f7 983 mode=23;
yabahiro 51:a0bdbddd08f7 984 countss=0;
yabahiro 54:4167f10ecad0 985 fast=80;
yabahiro 54:4167f10ecad0 986 normal=60;
yabahiro 54:4167f10ecad0 987 slow=30;
yabahiro 51:a0bdbddd08f7 988 }
yabahiro 51:a0bdbddd08f7 989 } else {
yabahiro 58:bfc38c43dadb 990 if(g[3]==0&&value>=2000) {
yabahiro 58:bfc38c43dadb 991 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 51:a0bdbddd08f7 992 slow=25;
yabahiro 51:a0bdbddd08f7 993 normal=40;
yabahiro 51:a0bdbddd08f7 994 fast=60;
yabahiro 58:bfc38c43dadb 995 aime.reset();
yabahiro 51:a0bdbddd08f7 996 mode=23;
yabahiro 51:a0bdbddd08f7 997 }
yabahiro 51:a0bdbddd08f7 998 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 999 case 98:
yabahiro 58:bfc38c43dadb 1000 if(value>=1500) {
yabahiro 58:bfc38c43dadb 1001 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 58:bfc38c43dadb 1002 slow=25;
yabahiro 58:bfc38c43dadb 1003 normal=30;
yabahiro 58:bfc38c43dadb 1004 fast=30;
yabahiro 58:bfc38c43dadb 1005 }
yabahiro 51:a0bdbddd08f7 1006 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1007 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1008 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 1009 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1010 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1011 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1012 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1013 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1014 break;
yabahiro 51:a0bdbddd08f7 1015 case 0:
yabahiro 51:a0bdbddd08f7 1016 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1017 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1018 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1019 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1020 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1021 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1022 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1023 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1024 mtc=true;
yabahiro 51:a0bdbddd08f7 1025 break;
yabahiro 51:a0bdbddd08f7 1026 case 255:
yabahiro 51:a0bdbddd08f7 1027 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1028 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1029 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1030 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1031 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1032 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1033 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1034 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1035 mtc=true;
yabahiro 51:a0bdbddd08f7 1036 break;
yabahiro 51:a0bdbddd08f7 1037 case 253:
yabahiro 51:a0bdbddd08f7 1038 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1039 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1040 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1041 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1042 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1043 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1044 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1045 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1046 mtc=true;
yabahiro 51:a0bdbddd08f7 1047 break;
yabahiro 51:a0bdbddd08f7 1048 case 254:
yabahiro 51:a0bdbddd08f7 1049 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1050 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1051 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1052 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1053 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1054 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1055 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1056 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1057 mtc=true;
yabahiro 51:a0bdbddd08f7 1058 break;
yabahiro 51:a0bdbddd08f7 1059 case 1:
yabahiro 51:a0bdbddd08f7 1060 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1061 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1062 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1063 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1064 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1065 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1066 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1067 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1068 mtc=true;
yabahiro 51:a0bdbddd08f7 1069 break;
yabahiro 51:a0bdbddd08f7 1070 case 3:
yabahiro 51:a0bdbddd08f7 1071 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1072 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1073 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1074 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1075 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1076 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1077 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1078 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1079 mtc=true;
yabahiro 51:a0bdbddd08f7 1080 break;
yabahiro 51:a0bdbddd08f7 1081 case 2:
yabahiro 51:a0bdbddd08f7 1082 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1083 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1084 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 1085 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1086 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1087 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1088 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1089 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1090 mtc=true;
yabahiro 51:a0bdbddd08f7 1091 break;
yabahiro 51:a0bdbddd08f7 1092 }
yabahiro 51:a0bdbddd08f7 1093 if(g[0]!=98&&mtc==true) {
yabahiro 51:a0bdbddd08f7 1094 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1095 case 0:
yabahiro 51:a0bdbddd08f7 1096 mtc=false;
yabahiro 51:a0bdbddd08f7 1097 break;
yabahiro 51:a0bdbddd08f7 1098 case 255:
yabahiro 51:a0bdbddd08f7 1099 motor[TIRE_BR].pwm += 5;
yabahiro 51:a0bdbddd08f7 1100 mtc=false;
yabahiro 51:a0bdbddd08f7 1101 break;
yabahiro 51:a0bdbddd08f7 1102 case 253:
yabahiro 51:a0bdbddd08f7 1103 motor[TIRE_BR].pwm += 10;
yabahiro 51:a0bdbddd08f7 1104 mtc=false;
yabahiro 51:a0bdbddd08f7 1105 break;
yabahiro 51:a0bdbddd08f7 1106 case 254:
yabahiro 51:a0bdbddd08f7 1107 motor[TIRE_BR].pwm += 20;
yabahiro 51:a0bdbddd08f7 1108 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1109 mtc=false;
yabahiro 51:a0bdbddd08f7 1110 break;
yabahiro 51:a0bdbddd08f7 1111 case 1:
yabahiro 51:a0bdbddd08f7 1112 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1113 mtc=false;
yabahiro 51:a0bdbddd08f7 1114 break;
yabahiro 51:a0bdbddd08f7 1115 case 3:
yabahiro 51:a0bdbddd08f7 1116 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1117 mtc=false;
yabahiro 51:a0bdbddd08f7 1118 break;
yabahiro 51:a0bdbddd08f7 1119 case 2:
yabahiro 51:a0bdbddd08f7 1120 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1121 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1122 mtc=false;
yabahiro 51:a0bdbddd08f7 1123 break;
yabahiro 51:a0bdbddd08f7 1124 }
yabahiro 51:a0bdbddd08f7 1125 }
yabahiro 51:a0bdbddd08f7 1126 }
yabahiro 51:a0bdbddd08f7 1127 break;
yabahiro 51:a0bdbddd08f7 1128 case 23:
yabahiro 51:a0bdbddd08f7 1129 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1130 switch(g[4]) {
yabahiro 51:a0bdbddd08f7 1131 case 98:
yabahiro 51:a0bdbddd08f7 1132 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1133 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1134 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1135 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1136 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1137 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1138 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1139 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1140 break;
yabahiro 51:a0bdbddd08f7 1141 case 99:
yabahiro 51:a0bdbddd08f7 1142 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1143 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1144 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1145 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1146 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1147 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1148 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1149 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1150 break;
yabahiro 51:a0bdbddd08f7 1151 case 0:
yabahiro 51:a0bdbddd08f7 1152 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1153 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1154 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1155 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1156 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1157 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1158 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1159 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1160 break;
yabahiro 51:a0bdbddd08f7 1161 case 255:
yabahiro 51:a0bdbddd08f7 1162 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1163 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1164 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1165 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1166 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1167 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1168 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1169 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1170 break;
yabahiro 51:a0bdbddd08f7 1171 case 253:
yabahiro 51:a0bdbddd08f7 1172 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1173 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1174 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1175 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1176 motor[TIRE_BR].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1177 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1178 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1179 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1180 break;
yabahiro 51:a0bdbddd08f7 1181 case 254:
yabahiro 51:a0bdbddd08f7 1182 motor[TIRE_FR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1183 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1184 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1185 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1186 motor[TIRE_BR].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1187 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1188 motor[TIRE_BL].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1189 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1190 break;
yabahiro 51:a0bdbddd08f7 1191 case 1:
yabahiro 51:a0bdbddd08f7 1192 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1193 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1194 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1195 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1196 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1197 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1198 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1199 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1200 break;
yabahiro 51:a0bdbddd08f7 1201 case 3:
yabahiro 51:a0bdbddd08f7 1202 motor[TIRE_FR].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1203 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1204 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1205 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1206 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1207 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1208 motor[TIRE_BL].pwm = slow-5;
yabahiro 51:a0bdbddd08f7 1209 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1210 break;
yabahiro 51:a0bdbddd08f7 1211 case 2:
yabahiro 51:a0bdbddd08f7 1212 motor[TIRE_FR].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1213 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1214 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1215 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1216 motor[TIRE_BR].pwm = fast-5;
yabahiro 51:a0bdbddd08f7 1217 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1218 motor[TIRE_BL].pwm = normal-5;
yabahiro 51:a0bdbddd08f7 1219 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1220 break;
yabahiro 51:a0bdbddd08f7 1221 }
yabahiro 58:bfc38c43dadb 1222
yabahiro 58:bfc38c43dadb 1223
yabahiro 58:bfc38c43dadb 1224 /*
yabahiro 58:bfc38c43dadb 1225 if(value>=3000) {
yabahiro 58:bfc38c43dadb 1226 mode=24;
yabahiro 58:bfc38c43dadb 1227 aime.reset();
yabahiro 58:bfc38c43dadb 1228 value=0;
yabahiro 58:bfc38c43dadb 1229 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 58:bfc38c43dadb 1230 countss=0;
yabahiro 58:bfc38c43dadb 1231 fast=80;
yabahiro 58:bfc38c43dadb 1232 normal=60;
yabahiro 58:bfc38c43dadb 1233 slow=30;
yabahiro 58:bfc38c43dadb 1234 }
yabahiro 51:a0bdbddd08f7 1235 if(g[0]==98) {
yabahiro 51:a0bdbddd08f7 1236 fast=20;
yabahiro 51:a0bdbddd08f7 1237 normal=15;
yabahiro 51:a0bdbddd08f7 1238 slow=10;
yabahiro 51:a0bdbddd08f7 1239 }
yabahiro 58:bfc38c43dadb 1240 */
yabahiro 58:bfc38c43dadb 1241 if(value>=2000) {
yabahiro 58:bfc38c43dadb 1242 fast=20;
yabahiro 58:bfc38c43dadb 1243 normal=15;
yabahiro 58:bfc38c43dadb 1244 slow=10;
yabahiro 58:bfc38c43dadb 1245 }
yabahiro 58:bfc38c43dadb 1246 if(g[2]==254&&value>=2700) {
yabahiro 51:a0bdbddd08f7 1247 mode=24;
yabahiro 51:a0bdbddd08f7 1248 solenoid.solenoid2 = SOLENOID_OFF;
yabahiro 51:a0bdbddd08f7 1249 countss=0;
yabahiro 58:bfc38c43dadb 1250 value=0;
yabahiro 58:bfc38c43dadb 1251 aime.reset();
yabahiro 54:4167f10ecad0 1252 fast=80;
yabahiro 54:4167f10ecad0 1253 normal=60;
yabahiro 54:4167f10ecad0 1254 slow=30;
yabahiro 51:a0bdbddd08f7 1255 }
yabahiro 51:a0bdbddd08f7 1256 } else {
yabahiro 51:a0bdbddd08f7 1257 if(UPLS==true||DOLS==true) {
yabahiro 51:a0bdbddd08f7 1258 if(UPLS==true||DOLS==true) {
yabahiro 51:a0bdbddd08f7 1259 motor[MOTOR_0].pwm = 200;
yabahiro 51:a0bdbddd08f7 1260 motor[MOTOR_0].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1261 fast=60;
yabahiro 51:a0bdbddd08f7 1262 normal=40;
yabahiro 53:694dbd7dfa0e 1263 slow=30;
yabahiro 51:a0bdbddd08f7 1264 countss=0;
yabahiro 58:bfc38c43dadb 1265 value=0;
yabahiro 58:bfc38c43dadb 1266 aime.reset();
yabahiro 51:a0bdbddd08f7 1267 mode=24;
yabahiro 51:a0bdbddd08f7 1268 }
yabahiro 51:a0bdbddd08f7 1269 } else {
yabahiro 51:a0bdbddd08f7 1270 motor[MOTOR_0].pwm = 100;
yabahiro 51:a0bdbddd08f7 1271 motor[MOTOR_0].dir = BACK;
yabahiro 51:a0bdbddd08f7 1272 }
yabahiro 51:a0bdbddd08f7 1273 motor[TIRE_FR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1274 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1275 motor[TIRE_FL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1276 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1277 motor[TIRE_BR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1278 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1279 motor[TIRE_BL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1280 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1281 }
yabahiro 51:a0bdbddd08f7 1282 break;
yabahiro 51:a0bdbddd08f7 1283 case 24:
yabahiro 51:a0bdbddd08f7 1284 if(YELLOW) {
yabahiro 58:bfc38c43dadb 1285 /*
yabahiro 51:a0bdbddd08f7 1286 if(g[4]==3||g[4]==2) {
yabahiro 51:a0bdbddd08f7 1287 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1288 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 1289 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1290 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 1291 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1292 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1293 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1294 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1295 }
yabahiro 51:a0bdbddd08f7 1296 if(g[4]==253||g[4]==254) {
yabahiro 54:4167f10ecad0 1297 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1298 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1299 motor[TIRE_FL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1300 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1301 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1302 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 1303 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1304 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1305 }
yabahiro 51:a0bdbddd08f7 1306 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 1307 case 0:
yabahiro 51:a0bdbddd08f7 1308 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1309 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1310 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1311 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1312 break;
yabahiro 51:a0bdbddd08f7 1313 case 255:
yabahiro 51:a0bdbddd08f7 1314 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1315 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1316 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1317 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1318 break;
yabahiro 51:a0bdbddd08f7 1319 case 253:
yabahiro 51:a0bdbddd08f7 1320 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1321 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1322 motor[TIRE_BR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1323 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1324 break;
yabahiro 51:a0bdbddd08f7 1325 case 254:
yabahiro 51:a0bdbddd08f7 1326 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1327 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1328 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1329 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1330 break;
yabahiro 51:a0bdbddd08f7 1331 case 1:
yabahiro 51:a0bdbddd08f7 1332 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1333 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1334 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1335 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1336 break;
yabahiro 51:a0bdbddd08f7 1337 case 3:
yabahiro 51:a0bdbddd08f7 1338 motor[TIRE_FR].pwm = 25;
yabahiro 51:a0bdbddd08f7 1339 motor[TIRE_FR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1340 motor[TIRE_BR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1341 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1342 break;
yabahiro 51:a0bdbddd08f7 1343 case 2:
yabahiro 51:a0bdbddd08f7 1344 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1345 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1346 motor[TIRE_BR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1347 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1348 break;
yabahiro 51:a0bdbddd08f7 1349 }
yabahiro 51:a0bdbddd08f7 1350 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 1351 case 0:
yabahiro 51:a0bdbddd08f7 1352 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1353 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1354 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1355 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1356 break;
yabahiro 51:a0bdbddd08f7 1357 case 255:
yabahiro 51:a0bdbddd08f7 1358 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1359 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1360 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1361 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1362 case 253:
yabahiro 51:a0bdbddd08f7 1363 motor[TIRE_FL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1364 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1365 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1366 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1367 break;
yabahiro 51:a0bdbddd08f7 1368 case 254:
yabahiro 53:694dbd7dfa0e 1369 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 1370 motor[TIRE_FL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1371 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1372 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1373 break;
yabahiro 51:a0bdbddd08f7 1374 case 1:
yabahiro 53:694dbd7dfa0e 1375 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 1376 motor[TIRE_FL].dir = FOR;
yabahiro 53:694dbd7dfa0e 1377 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1378 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1379 break;
yabahiro 51:a0bdbddd08f7 1380 case 3:
yabahiro 53:694dbd7dfa0e 1381 motor[TIRE_FL].pwm = 45;
yabahiro 51:a0bdbddd08f7 1382 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1383 motor[TIRE_BL].pwm = 25;
yabahiro 51:a0bdbddd08f7 1384 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1385 break;
yabahiro 51:a0bdbddd08f7 1386 case 2:
yabahiro 53:694dbd7dfa0e 1387 motor[TIRE_FL].pwm = 35;
yabahiro 51:a0bdbddd08f7 1388 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1389 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1390 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1391 break;
yabahiro 51:a0bdbddd08f7 1392 }
yabahiro 58:bfc38c43dadb 1393
yabahiro 51:a0bdbddd08f7 1394 if(g[3]==0&&g[2]==0) {
yabahiro 51:a0bdbddd08f7 1395 mode=25;
yabahiro 51:a0bdbddd08f7 1396 }
yabahiro 58:bfc38c43dadb 1397 */
yabahiro 58:bfc38c43dadb 1398 mode=25;
yabahiro 51:a0bdbddd08f7 1399 } else {
yabahiro 58:bfc38c43dadb 1400 if(g[0]==98&&value>=2000) {
yabahiro 51:a0bdbddd08f7 1401 mode=31;
yabahiro 53:694dbd7dfa0e 1402 fast=60;
yabahiro 53:694dbd7dfa0e 1403 normal=40;
yabahiro 53:694dbd7dfa0e 1404 slow=30;
yabahiro 51:a0bdbddd08f7 1405 countss=0;
yabahiro 51:a0bdbddd08f7 1406 }
yabahiro 51:a0bdbddd08f7 1407 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1408 case 98:
yabahiro 51:a0bdbddd08f7 1409 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1410 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1411 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 1412 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1413 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1414 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1415 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1416 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1417 break;
yabahiro 51:a0bdbddd08f7 1418 case 0:
yabahiro 51:a0bdbddd08f7 1419 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1420 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1421 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1422 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1423 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1424 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1425 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1426 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1427 mtc=true;
yabahiro 51:a0bdbddd08f7 1428 break;
yabahiro 51:a0bdbddd08f7 1429 case 255:
yabahiro 51:a0bdbddd08f7 1430 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1431 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1432 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1433 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1434 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1435 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1436 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1437 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1438 mtc=true;
yabahiro 51:a0bdbddd08f7 1439 break;
yabahiro 51:a0bdbddd08f7 1440 case 253:
yabahiro 51:a0bdbddd08f7 1441 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1442 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1443 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1444 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1445 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1446 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1447 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1448 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1449 mtc=true;
yabahiro 51:a0bdbddd08f7 1450 break;
yabahiro 51:a0bdbddd08f7 1451 case 254:
yabahiro 51:a0bdbddd08f7 1452 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1453 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1454 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1455 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1456 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1457 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1458 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1459 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1460 mtc=true;
yabahiro 51:a0bdbddd08f7 1461 break;
yabahiro 51:a0bdbddd08f7 1462 case 1:
yabahiro 51:a0bdbddd08f7 1463 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1464 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1465 motor[TIRE_FL].pwm = fast+5;
yabahiro 51:a0bdbddd08f7 1466 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1467 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1468 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1469 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1470 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1471 mtc=true;
yabahiro 51:a0bdbddd08f7 1472 break;
yabahiro 51:a0bdbddd08f7 1473 case 3:
yabahiro 51:a0bdbddd08f7 1474 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1475 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1476 motor[TIRE_FL].pwm = slow+5;
yabahiro 51:a0bdbddd08f7 1477 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1478 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1479 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1480 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1481 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1482 mtc=true;
yabahiro 51:a0bdbddd08f7 1483 break;
yabahiro 51:a0bdbddd08f7 1484 case 2:
yabahiro 51:a0bdbddd08f7 1485 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1486 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1487 motor[TIRE_FL].pwm = normal+5;
yabahiro 51:a0bdbddd08f7 1488 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1489 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1490 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1491 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1492 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1493 mtc=true;
yabahiro 51:a0bdbddd08f7 1494 break;
yabahiro 51:a0bdbddd08f7 1495 }
yabahiro 51:a0bdbddd08f7 1496 if(g[1]!=98&&mtc==true) {
yabahiro 51:a0bdbddd08f7 1497 switch(g[1]) {
yabahiro 51:a0bdbddd08f7 1498 case 0:
yabahiro 51:a0bdbddd08f7 1499 mtc=false;
yabahiro 51:a0bdbddd08f7 1500 break;
yabahiro 51:a0bdbddd08f7 1501 case 255:
yabahiro 51:a0bdbddd08f7 1502 motor[TIRE_BR].pwm += 5;
yabahiro 51:a0bdbddd08f7 1503 mtc=false;
yabahiro 51:a0bdbddd08f7 1504 break;
yabahiro 51:a0bdbddd08f7 1505 case 253:
yabahiro 51:a0bdbddd08f7 1506 motor[TIRE_BR].pwm += 10;
yabahiro 51:a0bdbddd08f7 1507 mtc=false;
yabahiro 51:a0bdbddd08f7 1508 break;
yabahiro 51:a0bdbddd08f7 1509 case 254:
yabahiro 51:a0bdbddd08f7 1510 motor[TIRE_BR].pwm += 20;
yabahiro 51:a0bdbddd08f7 1511 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1512 mtc=false;
yabahiro 51:a0bdbddd08f7 1513 break;
yabahiro 51:a0bdbddd08f7 1514 case 1:
yabahiro 51:a0bdbddd08f7 1515 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1516 mtc=false;
yabahiro 51:a0bdbddd08f7 1517 break;
yabahiro 51:a0bdbddd08f7 1518 case 3:
yabahiro 51:a0bdbddd08f7 1519 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1520 mtc=false;
yabahiro 51:a0bdbddd08f7 1521 break;
yabahiro 51:a0bdbddd08f7 1522 case 2:
yabahiro 51:a0bdbddd08f7 1523 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1524 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1525 mtc=false;
yabahiro 51:a0bdbddd08f7 1526 break;
yabahiro 51:a0bdbddd08f7 1527 }
yabahiro 51:a0bdbddd08f7 1528 }
yabahiro 51:a0bdbddd08f7 1529 }
yabahiro 51:a0bdbddd08f7 1530 break;
yabahiro 51:a0bdbddd08f7 1531 case 25:
yabahiro 51:a0bdbddd08f7 1532 motor[TIRE_FR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1533 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1534 motor[TIRE_FL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1535 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1536 motor[TIRE_BR].pwm = 100;
yabahiro 51:a0bdbddd08f7 1537 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1538 motor[TIRE_BL].pwm = 100;
yabahiro 51:a0bdbddd08f7 1539 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1540 if(DOLS==true||UPLS==true) {
yabahiro 51:a0bdbddd08f7 1541 if(DOLS==true||UPLS==true) {
yabahiro 51:a0bdbddd08f7 1542 motor[MOTOR_0].pwm = 200;
yabahiro 51:a0bdbddd08f7 1543 motor[MOTOR_0].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1544 countss=0;
yabahiro 51:a0bdbddd08f7 1545 mode=26;
yabahiro 58:bfc38c43dadb 1546 value=0;
yabahiro 58:bfc38c43dadb 1547 aime.reset();
yabahiro 51:a0bdbddd08f7 1548 }
yabahiro 51:a0bdbddd08f7 1549 } else {
yabahiro 51:a0bdbddd08f7 1550 motor[MOTOR_0].pwm = 100;
yabahiro 51:a0bdbddd08f7 1551 motor[MOTOR_0].dir = BACK;
yabahiro 51:a0bdbddd08f7 1552 }
yabahiro 51:a0bdbddd08f7 1553 break;
yabahiro 51:a0bdbddd08f7 1554 case 26:
yabahiro 58:bfc38c43dadb 1555 if(g[0]==98&&value>=2500) {
yabahiro 53:694dbd7dfa0e 1556 mode=31;
yabahiro 53:694dbd7dfa0e 1557 }
yabahiro 50:87f5fa1bc460 1558 switch(g[4]) {
yabahiro 50:87f5fa1bc460 1559 case 98:
yabahiro 51:a0bdbddd08f7 1560 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1561 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1562 motor[TIRE_FL].pwm = 65;
yabahiro 50:87f5fa1bc460 1563 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1564 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1565 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1566 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1567 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1568 break;
yabahiro 50:87f5fa1bc460 1569 case 99:
yabahiro 50:87f5fa1bc460 1570 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1571 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1572 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1573 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1574 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1575 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1576 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1577 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1578 break;
yabahiro 50:87f5fa1bc460 1579 case 0:
yabahiro 51:a0bdbddd08f7 1580 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1581 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1582 motor[TIRE_FL].pwm = 65;
yabahiro 50:87f5fa1bc460 1583 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1584 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1585 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1586 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1587 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1588 break;
yabahiro 50:87f5fa1bc460 1589 case 255:
yabahiro 50:87f5fa1bc460 1590 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1591 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1592 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1593 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1594 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1595 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1596 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1597 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1598 break;
yabahiro 50:87f5fa1bc460 1599 case 253:
yabahiro 51:a0bdbddd08f7 1600 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1601 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1602 motor[TIRE_FL].pwm = 30;
yabahiro 50:87f5fa1bc460 1603 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1604 motor[TIRE_BR].pwm = 25;
yabahiro 50:87f5fa1bc460 1605 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1606 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1607 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1608 break;
yabahiro 50:87f5fa1bc460 1609 case 254:
yabahiro 51:a0bdbddd08f7 1610 motor[TIRE_FR].pwm = 60;
yabahiro 50:87f5fa1bc460 1611 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1612 motor[TIRE_FL].pwm = 45;
yabahiro 50:87f5fa1bc460 1613 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1614 motor[TIRE_BR].pwm = 40;
yabahiro 50:87f5fa1bc460 1615 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1616 motor[TIRE_BL].pwm = 60;
yabahiro 50:87f5fa1bc460 1617 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1618 break;
yabahiro 50:87f5fa1bc460 1619 case 1:
yabahiro 50:87f5fa1bc460 1620 motor[TIRE_FR].pwm = 0;
yabahiro 50:87f5fa1bc460 1621 motor[TIRE_FR].dir = FREE;
yabahiro 50:87f5fa1bc460 1622 motor[TIRE_FL].pwm = 0;
yabahiro 50:87f5fa1bc460 1623 motor[TIRE_FL].dir = FREE;
yabahiro 50:87f5fa1bc460 1624 motor[TIRE_BR].pwm = 0;
yabahiro 50:87f5fa1bc460 1625 motor[TIRE_BR].dir = FREE;
yabahiro 50:87f5fa1bc460 1626 motor[TIRE_BL].pwm = 0;
yabahiro 50:87f5fa1bc460 1627 motor[TIRE_BL].dir = FREE;
yabahiro 50:87f5fa1bc460 1628 break;
yabahiro 50:87f5fa1bc460 1629 case 3:
yabahiro 51:a0bdbddd08f7 1630 motor[TIRE_FR].pwm = 25;
yabahiro 50:87f5fa1bc460 1631 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1632 motor[TIRE_FL].pwm = 65;
yabahiro 50:87f5fa1bc460 1633 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1634 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1635 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1636 motor[TIRE_BL].pwm = 25;
yabahiro 50:87f5fa1bc460 1637 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1638 break;
yabahiro 50:87f5fa1bc460 1639 case 2:
yabahiro 51:a0bdbddd08f7 1640 motor[TIRE_FR].pwm = 40;
yabahiro 50:87f5fa1bc460 1641 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1642 motor[TIRE_FL].pwm = 65;
yabahiro 50:87f5fa1bc460 1643 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1644 motor[TIRE_BR].pwm = 60;
yabahiro 50:87f5fa1bc460 1645 motor[TIRE_BR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1646 motor[TIRE_BL].pwm = 40;
yabahiro 50:87f5fa1bc460 1647 motor[TIRE_BL].dir = FOR;
yabahiro 50:87f5fa1bc460 1648 break;
yabahiro 50:87f5fa1bc460 1649 }
yabahiro 51:a0bdbddd08f7 1650 break;
yabahiro 51:a0bdbddd08f7 1651 case 31:
yabahiro 53:694dbd7dfa0e 1652 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1653 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1654 motor[TIRE_FL].pwm = 5;
yabahiro 53:694dbd7dfa0e 1655 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1656 motor[TIRE_BR].pwm = 5;
yabahiro 53:694dbd7dfa0e 1657 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1658 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1659 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1660 if(g[2]==0) {
yabahiro 51:a0bdbddd08f7 1661 cross=0;
yabahiro 51:a0bdbddd08f7 1662 countss=0;
yabahiro 51:a0bdbddd08f7 1663 mode=40;
yabahiro 55:844ac0974740 1664 fast=70;
yabahiro 55:844ac0974740 1665 normal=50;
yabahiro 55:844ac0974740 1666 slow=40;
yabahiro 51:a0bdbddd08f7 1667 }
yabahiro 51:a0bdbddd08f7 1668 break;
yabahiro 51:a0bdbddd08f7 1669 case 40:
yabahiro 51:a0bdbddd08f7 1670 switch(g[3]) {
yabahiro 51:a0bdbddd08f7 1671 case 98:
yabahiro 53:694dbd7dfa0e 1672 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1673 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1674 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1675 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1676 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1677 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1678 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1679 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1680 if(countss>30000) {
yabahiro 51:a0bdbddd08f7 1681 cross++;
yabahiro 51:a0bdbddd08f7 1682 countss=0;
yabahiro 51:a0bdbddd08f7 1683 }
yabahiro 51:a0bdbddd08f7 1684 mtc2=true;
yabahiro 51:a0bdbddd08f7 1685 if(YELLOW) {
yabahiro 51:a0bdbddd08f7 1686 if(cross==1) {
yabahiro 51:a0bdbddd08f7 1687 mode=41;
yabahiro 51:a0bdbddd08f7 1688 countss=0;
yabahiro 51:a0bdbddd08f7 1689 cross=0;
yabahiro 51:a0bdbddd08f7 1690 }
yabahiro 51:a0bdbddd08f7 1691 } else {
yabahiro 51:a0bdbddd08f7 1692 if(cross==3) {
yabahiro 53:694dbd7dfa0e 1693 fast=60;
yabahiro 53:694dbd7dfa0e 1694 normal=40;
yabahiro 53:694dbd7dfa0e 1695 slow=30;
yabahiro 51:a0bdbddd08f7 1696 mode=41;
yabahiro 51:a0bdbddd08f7 1697 countss=0;
yabahiro 51:a0bdbddd08f7 1698 cross=0;
yabahiro 51:a0bdbddd08f7 1699 }
yabahiro 51:a0bdbddd08f7 1700 }
yabahiro 51:a0bdbddd08f7 1701 break;
yabahiro 50:87f5fa1bc460 1702 case 0:
yabahiro 53:694dbd7dfa0e 1703 motor[TIRE_FR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1704 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1705 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1706 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1707 motor[TIRE_BR].pwm = fast;
yabahiro 51:a0bdbddd08f7 1708 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1709 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1710 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1711 mtc2=true;
yabahiro 50:87f5fa1bc460 1712 break;
yabahiro 50:87f5fa1bc460 1713 case 255:
yabahiro 53:694dbd7dfa0e 1714 motor[TIRE_FR].pwm = slow;
yabahiro 50:87f5fa1bc460 1715 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1716 motor[TIRE_FL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1717 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1718 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1719 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1720 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1721 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1722 mtc2=true;
yabahiro 50:87f5fa1bc460 1723 break;
yabahiro 50:87f5fa1bc460 1724 case 253:
yabahiro 51:a0bdbddd08f7 1725 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1726 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1727 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1728 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1729 motor[TIRE_BR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1730 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1731 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1732 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1733 mtc2=true;
yabahiro 50:87f5fa1bc460 1734 break;
yabahiro 50:87f5fa1bc460 1735 case 254:
yabahiro 51:a0bdbddd08f7 1736 motor[TIRE_FR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1737 motor[TIRE_FR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1738 motor[TIRE_FL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1739 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1740 motor[TIRE_BR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1741 motor[TIRE_BR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1742 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1743 motor[TIRE_BL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1744 mtc2=true;
yabahiro 50:87f5fa1bc460 1745 break;
yabahiro 50:87f5fa1bc460 1746 case 1:
yabahiro 53:694dbd7dfa0e 1747 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1748 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1749 motor[TIRE_FL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1750 motor[TIRE_FL].dir = BACK;
yabahiro 53:694dbd7dfa0e 1751 motor[TIRE_BR].pwm = slow;
yabahiro 50:87f5fa1bc460 1752 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 1753 motor[TIRE_BL].pwm = fast;
yabahiro 51:a0bdbddd08f7 1754 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1755 mtc2=true;
yabahiro 50:87f5fa1bc460 1756 break;
yabahiro 50:87f5fa1bc460 1757 case 3:
yabahiro 53:694dbd7dfa0e 1758 motor[TIRE_FR].pwm = slow;
yabahiro 51:a0bdbddd08f7 1759 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1760 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1761 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1762 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1763 motor[TIRE_BR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1764 motor[TIRE_BL].pwm = slow;
yabahiro 51:a0bdbddd08f7 1765 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1766 mtc2=true;
yabahiro 50:87f5fa1bc460 1767 break;
yabahiro 50:87f5fa1bc460 1768 case 2:
yabahiro 53:694dbd7dfa0e 1769 motor[TIRE_FR].pwm = normal;
yabahiro 51:a0bdbddd08f7 1770 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1771 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1772 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1773 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1774 motor[TIRE_BR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1775 motor[TIRE_BL].pwm = normal;
yabahiro 51:a0bdbddd08f7 1776 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1777 mtc2=true;
yabahiro 50:87f5fa1bc460 1778 break;
yabahiro 50:87f5fa1bc460 1779 }
yabahiro 51:a0bdbddd08f7 1780 if(g[2]!=98&&mtc2==true) {
yabahiro 51:a0bdbddd08f7 1781 switch(g[2]) {
yabahiro 51:a0bdbddd08f7 1782 case 0:
yabahiro 51:a0bdbddd08f7 1783 mtc2=false;
yabahiro 51:a0bdbddd08f7 1784 break;
yabahiro 51:a0bdbddd08f7 1785 case 255:
yabahiro 51:a0bdbddd08f7 1786 motor[TIRE_FL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1787 mtc2=false;
yabahiro 51:a0bdbddd08f7 1788 break;
yabahiro 51:a0bdbddd08f7 1789 case 253:
yabahiro 51:a0bdbddd08f7 1790 motor[TIRE_FL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1791 mtc2=false;
yabahiro 51:a0bdbddd08f7 1792 break;
yabahiro 51:a0bdbddd08f7 1793 case 254:
yabahiro 51:a0bdbddd08f7 1794 motor[TIRE_FL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1795 motor[TIRE_BL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1796 mtc2=false;
yabahiro 51:a0bdbddd08f7 1797 break;
yabahiro 51:a0bdbddd08f7 1798 case 1:
yabahiro 51:a0bdbddd08f7 1799 motor[TIRE_BL].pwm += 5;
yabahiro 51:a0bdbddd08f7 1800 mtc2=false;
yabahiro 51:a0bdbddd08f7 1801 break;
yabahiro 51:a0bdbddd08f7 1802 case 3:
yabahiro 51:a0bdbddd08f7 1803 motor[TIRE_BL].pwm += 10;
yabahiro 51:a0bdbddd08f7 1804 mtc2=false;
yabahiro 51:a0bdbddd08f7 1805 break;
yabahiro 51:a0bdbddd08f7 1806 case 2:
yabahiro 51:a0bdbddd08f7 1807 motor[TIRE_BL].pwm += 20;
yabahiro 51:a0bdbddd08f7 1808 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1809 mtc2=false;
yabahiro 51:a0bdbddd08f7 1810 break;
yabahiro 51:a0bdbddd08f7 1811 }
yabahiro 51:a0bdbddd08f7 1812 }
yabahiro 51:a0bdbddd08f7 1813 break;
yabahiro 51:a0bdbddd08f7 1814 case 41:
yabahiro 53:694dbd7dfa0e 1815 /*
yabahiro 53:694dbd7dfa0e 1816 if(LIF||LIB) {
yabahiro 53:694dbd7dfa0e 1817 mode=42;
yabahiro 53:694dbd7dfa0e 1818 }
yabahiro 53:694dbd7dfa0e 1819 */
yabahiro 53:694dbd7dfa0e 1820 motor[TIRE_FR].pwm = 30;
yabahiro 51:a0bdbddd08f7 1821 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1822 motor[TIRE_FL].pwm = 0;
yabahiro 53:694dbd7dfa0e 1823 motor[TIRE_FL].dir = FREE;
yabahiro 53:694dbd7dfa0e 1824 motor[TIRE_BR].pwm = 0;
yabahiro 53:694dbd7dfa0e 1825 motor[TIRE_BR].dir = FREE;
yabahiro 53:694dbd7dfa0e 1826 motor[TIRE_BL].pwm = 30;
yabahiro 51:a0bdbddd08f7 1827 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1828 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 1829 countss=0;
yabahiro 51:a0bdbddd08f7 1830 mode=70;
yabahiro 55:844ac0974740 1831 normal=120;
yabahiro 55:844ac0974740 1832 fast=140;
yabahiro 55:844ac0974740 1833 slow=100;
yabahiro 51:a0bdbddd08f7 1834 }
yabahiro 51:a0bdbddd08f7 1835 break;
yabahiro 51:a0bdbddd08f7 1836 case 42:
yabahiro 51:a0bdbddd08f7 1837 motor[TIRE_FR].pwm = 40;
yabahiro 51:a0bdbddd08f7 1838 motor[TIRE_FR].dir = FOR;
yabahiro 51:a0bdbddd08f7 1839 motor[TIRE_FL].pwm = 0;
yabahiro 51:a0bdbddd08f7 1840 motor[TIRE_FL].dir = FREE;
yabahiro 51:a0bdbddd08f7 1841 motor[TIRE_BR].pwm = 0;
yabahiro 51:a0bdbddd08f7 1842 motor[TIRE_BR].dir = FREE;
yabahiro 51:a0bdbddd08f7 1843 motor[TIRE_BL].pwm = 40;
yabahiro 51:a0bdbddd08f7 1844 motor[TIRE_BL].dir = BACK;
yabahiro 51:a0bdbddd08f7 1845 if(g[1]==0) {
yabahiro 51:a0bdbddd08f7 1846 countss=0;
yabahiro 51:a0bdbddd08f7 1847 mode=70;
yabahiro 51:a0bdbddd08f7 1848 }
yabahiro 51:a0bdbddd08f7 1849 break;
yabahiro 51:a0bdbddd08f7 1850 case 70:
yabahiro 51:a0bdbddd08f7 1851 switch(g[0]) {
yabahiro 51:a0bdbddd08f7 1852 case 99:
yabahiro 51:a0bdbddd08f7 1853 if(countss>=100000) {
yabahiro 51:a0bdbddd08f7 1854 mode=100;
yabahiro 51:a0bdbddd08f7 1855 }
yabahiro 50:87f5fa1bc460 1856 break;
yabahiro 39:784552c26163 1857 case 98:
yabahiro 39:784552c26163 1858 motor[TIRE_FR].pwm = normal;
yabahiro 39:784552c26163 1859 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1860 motor[TIRE_FL].pwm = normal;
yabahiro 39:784552c26163 1861 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1862 motor[TIRE_BR].pwm = normal;
yabahiro 39:784552c26163 1863 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1864 motor[TIRE_BL].pwm = normal;
yabahiro 39:784552c26163 1865 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1866 break;
yabahiro 39:784552c26163 1867 case 0:
yabahiro 53:694dbd7dfa0e 1868 motor[TIRE_FR].pwm = 80;
yabahiro 39:784552c26163 1869 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1870 motor[TIRE_FL].pwm = 80;
yabahiro 39:784552c26163 1871 motor[TIRE_FL].dir = FOR;
yabahiro 53:694dbd7dfa0e 1872 motor[TIRE_BR].pwm = 80;
yabahiro 39:784552c26163 1873 motor[TIRE_BR].dir = BACK;
yabahiro 53:694dbd7dfa0e 1874 motor[TIRE_BL].pwm = 80;
yabahiro 39:784552c26163 1875 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1876 mtc=true;
yabahiro 39:784552c26163 1877 break;
yabahiro 39:784552c26163 1878 case 255:
yabahiro 39:784552c26163 1879 motor[TIRE_FR].pwm = fast;
yabahiro 39:784552c26163 1880 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1881 motor[TIRE_FL].pwm = slow;
yabahiro 39:784552c26163 1882 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1883 motor[TIRE_BR].pwm = slow;
yabahiro 39:784552c26163 1884 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1885 motor[TIRE_BL].pwm = fast;
yabahiro 39:784552c26163 1886 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1887 mtc=true;
yabahiro 39:784552c26163 1888 break;
yabahiro 39:784552c26163 1889 case 253:
yabahiro 39:784552c26163 1890 motor[TIRE_FR].pwm = slow;
yabahiro 39:784552c26163 1891 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1892 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 1893 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 1894 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1895 motor[TIRE_BR].dir = FREE;
yabahiro 39:784552c26163 1896 motor[TIRE_BL].pwm = slow;
yabahiro 39:784552c26163 1897 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1898 mtc=true;
yabahiro 39:784552c26163 1899 break;
yabahiro 39:784552c26163 1900 case 254:
yabahiro 39:784552c26163 1901 motor[TIRE_FR].pwm = normal;
yabahiro 39:784552c26163 1902 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1903 motor[TIRE_FL].pwm = 0;
yabahiro 39:784552c26163 1904 motor[TIRE_FL].dir = FREE;
yabahiro 39:784552c26163 1905 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1906 motor[TIRE_BR].dir = FREE;
yabahiro 39:784552c26163 1907 motor[TIRE_BL].pwm = normal;
yabahiro 39:784552c26163 1908 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1909 mtc=true;
yabahiro 39:784552c26163 1910 break;
yabahiro 39:784552c26163 1911 case 1:
yabahiro 39:784552c26163 1912 motor[TIRE_FR].pwm = slow;
yabahiro 39:784552c26163 1913 motor[TIRE_FR].dir = BACK;
yabahiro 39:784552c26163 1914 motor[TIRE_FL].pwm = fast;
yabahiro 39:784552c26163 1915 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1916 motor[TIRE_BR].pwm = fast;
yabahiro 39:784552c26163 1917 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1918 motor[TIRE_BL].pwm = slow;
yabahiro 39:784552c26163 1919 motor[TIRE_BL].dir = FOR;
yabahiro 39:784552c26163 1920 mtc=true;
yabahiro 39:784552c26163 1921 break;
yabahiro 39:784552c26163 1922 case 3:
yabahiro 39:784552c26163 1923 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 1924 motor[TIRE_FR].dir = FREE;
yabahiro 39:784552c26163 1925 motor[TIRE_FL].pwm = slow;
yabahiro 39:784552c26163 1926 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1927 motor[TIRE_BR].pwm = slow;
yabahiro 39:784552c26163 1928 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1929 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1930 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 1931 mtc=true;
yabahiro 39:784552c26163 1932 break;
yabahiro 39:784552c26163 1933 case 2:
yabahiro 39:784552c26163 1934 motor[TIRE_FR].pwm = 0;
yabahiro 39:784552c26163 1935 motor[TIRE_FR].dir = FREE;
yabahiro 39:784552c26163 1936 motor[TIRE_FL].pwm = normal;
yabahiro 39:784552c26163 1937 motor[TIRE_FL].dir = FOR;
yabahiro 39:784552c26163 1938 motor[TIRE_BR].pwm = normal;
yabahiro 39:784552c26163 1939 motor[TIRE_BR].dir = BACK;
yabahiro 39:784552c26163 1940 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1941 motor[TIRE_BL].dir = FREE;
yabahiro 39:784552c26163 1942 mtc=true;
yabahiro 39:784552c26163 1943 break;
yabahiro 39:784552c26163 1944 }
yabahiro 39:784552c26163 1945 if(g[1]!=98&&mtc==true) {
yabahiro 39:784552c26163 1946 switch(g[1]) {
yabahiro 39:784552c26163 1947 case 0:
yabahiro 39:784552c26163 1948 mtc=false;
yabahiro 39:784552c26163 1949 break;
yabahiro 39:784552c26163 1950 case 255:
yabahiro 39:784552c26163 1951 motor[TIRE_BR].pwm += 5;
yabahiro 39:784552c26163 1952 mtc=false;
yabahiro 39:784552c26163 1953 break;
yabahiro 39:784552c26163 1954 case 253:
yabahiro 39:784552c26163 1955 motor[TIRE_BR].pwm += 10;
yabahiro 39:784552c26163 1956 mtc=false;
yabahiro 39:784552c26163 1957 break;
yabahiro 39:784552c26163 1958 case 254:
yabahiro 39:784552c26163 1959 motor[TIRE_BR].pwm += 20;
yabahiro 39:784552c26163 1960 motor[TIRE_BL].pwm = 0;
yabahiro 39:784552c26163 1961 mtc=false;
yabahiro 39:784552c26163 1962 break;
yabahiro 39:784552c26163 1963 case 1:
yabahiro 39:784552c26163 1964 motor[TIRE_BL].pwm += 5;
yabahiro 39:784552c26163 1965 mtc=false;
yabahiro 39:784552c26163 1966 break;
yabahiro 39:784552c26163 1967 case 3:
yabahiro 39:784552c26163 1968 motor[TIRE_BL].pwm += 10;
yabahiro 39:784552c26163 1969 mtc=false;
yabahiro 39:784552c26163 1970 break;
yabahiro 39:784552c26163 1971 case 2:
yabahiro 39:784552c26163 1972 motor[TIRE_BL].pwm += 20;
yabahiro 39:784552c26163 1973 motor[TIRE_BR].pwm = 0;
yabahiro 39:784552c26163 1974 mtc=false;
yabahiro 39:784552c26163 1975 break;
yabahiro 39:784552c26163 1976 }
yabahiro 33:dd598bb23ad1 1977 }
yabahiro 51:a0bdbddd08f7 1978 break;
yabahiro 51:a0bdbddd08f7 1979 case 100:
yabahiro 54:4167f10ecad0 1980 motor[TIRE_FR].pwm = 47;
yabahiro 51:a0bdbddd08f7 1981 motor[TIRE_FR].dir = BACK;
yabahiro 51:a0bdbddd08f7 1982 motor[TIRE_FL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1983 motor[TIRE_FL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1984 motor[TIRE_BR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1985 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 1986 motor[TIRE_BL].pwm = 55;
yabahiro 51:a0bdbddd08f7 1987 motor[TIRE_BL].dir = FOR;
yabahiro 51:a0bdbddd08f7 1988 break;
yabahiro 51:a0bdbddd08f7 1989 default:
yabahiro 51:a0bdbddd08f7 1990 motor[TIRE_FR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1991 motor[TIRE_FR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1992 motor[TIRE_FL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1993 motor[TIRE_FL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1994 motor[TIRE_BR].pwm = 50;
yabahiro 51:a0bdbddd08f7 1995 motor[TIRE_BR].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1996 motor[TIRE_BL].pwm = 50;
yabahiro 51:a0bdbddd08f7 1997 motor[TIRE_BL].dir = BRAKE;
yabahiro 51:a0bdbddd08f7 1998 break;
yabahiro 33:dd598bb23ad1 1999 }
kishibekairohan 13:b6e02d6261d7 2000 }
kishibekairohan 13:b6e02d6261d7 2001 #endif
kishibekairohan 13:b6e02d6261d7 2002
kishibekairohan 13:b6e02d6261d7 2003 #if USE_PROCESS_NUM>3
Ryosei 27:dd9f27fce7d1 2004 static void Process3()
kishibekairohan 13:b6e02d6261d7 2005 {
yabahiro 33:dd598bb23ad1 2006 //Clearly 赤ゾーン
kishibekairohan 35:33c6cdba5630 2007 LED::LED::TapeledMode(3);
yabahiro 58:bfc38c43dadb 2008 value=aime.read_ms();
yabahiro 33:dd598bb23ad1 2009 countss++;
yabahiro 54:4167f10ecad0 2010 switch(mode) {
yabahiro 54:4167f10ecad0 2011 case 1:
yabahiro 54:4167f10ecad0 2012 fast=40;
yabahiro 54:4167f10ecad0 2013 normal=30;
yabahiro 54:4167f10ecad0 2014 slow=20;
yabahiro 54:4167f10ecad0 2015 motor[TIRE_FR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2016 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2017 motor[TIRE_FL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2018 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2019 motor[TIRE_BR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2020 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2021 motor[TIRE_BL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2022 motor[TIRE_BL].dir = FOR;
yabahiro 58:bfc38c43dadb 2023 if(g[2]==0&&value>=1500) {
yabahiro 54:4167f10ecad0 2024 countss=100000;
yabahiro 54:4167f10ecad0 2025 cross=0;
yabahiro 54:4167f10ecad0 2026 mode=3;
yabahiro 54:4167f10ecad0 2027 }
yabahiro 54:4167f10ecad0 2028 break;
yabahiro 54:4167f10ecad0 2029 case 3:
yabahiro 54:4167f10ecad0 2030 motor[TIRE_FR].pwm = 255;
yabahiro 54:4167f10ecad0 2031 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 2032 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2033 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2034 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2035 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2036 motor[TIRE_BL].pwm = 255;
yabahiro 54:4167f10ecad0 2037 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 2038 if(g[0]==0) {
yabahiro 54:4167f10ecad0 2039 mode=10;
yabahiro 58:bfc38c43dadb 2040 aime.reset();
yabahiro 54:4167f10ecad0 2041 countss=100000;
yabahiro 56:61ebd4b759b4 2042 fast = 80;
yabahiro 56:61ebd4b759b4 2043 normal = 60;
yabahiro 56:61ebd4b759b4 2044 slow = 40;
yabahiro 54:4167f10ecad0 2045 }
yabahiro 54:4167f10ecad0 2046 break;
yabahiro 54:4167f10ecad0 2047 case 10:
yabahiro 54:4167f10ecad0 2048 switch(g[0]) {
yabahiro 54:4167f10ecad0 2049 case 98:
yabahiro 54:4167f10ecad0 2050 motor[TIRE_FR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2051 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2052 motor[TIRE_FL].pwm = normal+50;
yabahiro 54:4167f10ecad0 2053 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2054 motor[TIRE_BR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2055 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2056 motor[TIRE_BL].pwm = normal+50;
yabahiro 54:4167f10ecad0 2057 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2058 mtc=true;
yabahiro 58:bfc38c43dadb 2059 if(value>=1200) {
yabahiro 58:bfc38c43dadb 2060 cross++;
yabahiro 58:bfc38c43dadb 2061 countss=0;
yabahiro 58:bfc38c43dadb 2062 value=0;
yabahiro 58:bfc38c43dadb 2063 aime.reset();
yabahiro 58:bfc38c43dadb 2064 }
yabahiro 58:bfc38c43dadb 2065 /*
yabahiro 54:4167f10ecad0 2066 if(countss>80000) {
yabahiro 54:4167f10ecad0 2067 cross++;
yabahiro 54:4167f10ecad0 2068 countss=0;
yabahiro 54:4167f10ecad0 2069 }
yabahiro 58:bfc38c43dadb 2070 */
yabahiro 54:4167f10ecad0 2071 if(cross==2) {
yabahiro 54:4167f10ecad0 2072 fast = 10;
yabahiro 54:4167f10ecad0 2073 normal = 10;
yabahiro 54:4167f10ecad0 2074 slow = 5;
yabahiro 54:4167f10ecad0 2075 }
yabahiro 46:68296caae1af 2076
yabahiro 53:694dbd7dfa0e 2077 if(cross==3) {
yabahiro 54:4167f10ecad0 2078 fast=40;
yabahiro 54:4167f10ecad0 2079 normal=30;
yabahiro 54:4167f10ecad0 2080 slow=20;
yabahiro 54:4167f10ecad0 2081 mode=11;
yabahiro 58:bfc38c43dadb 2082 aime.reset();
yabahiro 53:694dbd7dfa0e 2083 countss=0;
yabahiro 53:694dbd7dfa0e 2084 cross=0;
yabahiro 54:4167f10ecad0 2085
yabahiro 53:694dbd7dfa0e 2086 }
yabahiro 54:4167f10ecad0 2087 break;
yabahiro 38:40e7fdf3c694 2088 case 0:
yabahiro 54:4167f10ecad0 2089 motor[TIRE_FR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2090 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 2091 motor[TIRE_FL].pwm = fast+60;
yabahiro 54:4167f10ecad0 2092 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2093 motor[TIRE_BR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2094 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 2095 motor[TIRE_BL].pwm = fast+45;
yabahiro 54:4167f10ecad0 2096 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2097 mtc=true;
yabahiro 38:40e7fdf3c694 2098 break;
yabahiro 38:40e7fdf3c694 2099 case 255:
yabahiro 54:4167f10ecad0 2100 motor[TIRE_FR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2101 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 2102 motor[TIRE_FL].pwm = slow+60;
yabahiro 54:4167f10ecad0 2103 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2104 motor[TIRE_BR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2105 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 2106 motor[TIRE_BL].pwm = fast+45;
yabahiro 54:4167f10ecad0 2107 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2108 mtc=true;
yabahiro 53:694dbd7dfa0e 2109 break;
yabahiro 53:694dbd7dfa0e 2110 case 253:
yabahiro 54:4167f10ecad0 2111 motor[TIRE_FR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2112 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2113 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2114 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2115 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2116 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 2117 motor[TIRE_BL].pwm = slow+45;
yabahiro 54:4167f10ecad0 2118 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2119 mtc=true;
yabahiro 53:694dbd7dfa0e 2120 break;
yabahiro 53:694dbd7dfa0e 2121 case 254:
yabahiro 54:4167f10ecad0 2122 motor[TIRE_FR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2123 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 2124 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2125 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2126 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2127 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 2128 motor[TIRE_BL].pwm = normal+45;
yabahiro 54:4167f10ecad0 2129 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2130 mtc=true;
yabahiro 53:694dbd7dfa0e 2131 break;
yabahiro 53:694dbd7dfa0e 2132 case 1:
yabahiro 54:4167f10ecad0 2133 motor[TIRE_FR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2134 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 2135 motor[TIRE_FL].pwm = fast+60;
yabahiro 54:4167f10ecad0 2136 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2137 motor[TIRE_BR].pwm = fast+50;
yabahiro 54:4167f10ecad0 2138 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 2139 motor[TIRE_BL].pwm = slow+45;
yabahiro 54:4167f10ecad0 2140 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2141 mtc=true;
yabahiro 53:694dbd7dfa0e 2142 break;
yabahiro 53:694dbd7dfa0e 2143 case 3:
yabahiro 54:4167f10ecad0 2144 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2145 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 2146 motor[TIRE_FL].pwm = slow+60;
yabahiro 54:4167f10ecad0 2147 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2148 motor[TIRE_BR].pwm = slow+50;
yabahiro 54:4167f10ecad0 2149 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2150 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2151 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2152 mtc=true;
yabahiro 53:694dbd7dfa0e 2153 break;
yabahiro 53:694dbd7dfa0e 2154 case 2:
yabahiro 54:4167f10ecad0 2155 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2156 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 2157 motor[TIRE_FL].pwm = normal+60;
yabahiro 54:4167f10ecad0 2158 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2159 motor[TIRE_BR].pwm = normal+50;
yabahiro 54:4167f10ecad0 2160 motor[TIRE_BR].dir = BACK;
yabahiro 53:694dbd7dfa0e 2161 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2162 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2163 mtc=true;
yabahiro 53:694dbd7dfa0e 2164 break;
yabahiro 53:694dbd7dfa0e 2165 }
yabahiro 54:4167f10ecad0 2166 if(g[0]!=98&&mtc==true) {
yabahiro 54:4167f10ecad0 2167 switch(g[1]) {
yabahiro 54:4167f10ecad0 2168 case 0:
yabahiro 54:4167f10ecad0 2169 mtc=false;
yabahiro 54:4167f10ecad0 2170 break;
yabahiro 54:4167f10ecad0 2171 case 255:
yabahiro 54:4167f10ecad0 2172 motor[TIRE_BR].pwm += 3;
yabahiro 54:4167f10ecad0 2173 mtc=false;
yabahiro 54:4167f10ecad0 2174 break;
yabahiro 54:4167f10ecad0 2175 case 253:
yabahiro 54:4167f10ecad0 2176 motor[TIRE_BR].pwm += 6;
yabahiro 54:4167f10ecad0 2177 mtc=false;
yabahiro 54:4167f10ecad0 2178 break;
yabahiro 54:4167f10ecad0 2179 case 254:
yabahiro 54:4167f10ecad0 2180 motor[TIRE_BR].pwm += 9;
yabahiro 54:4167f10ecad0 2181 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2182 mtc=false;
yabahiro 54:4167f10ecad0 2183 break;
yabahiro 54:4167f10ecad0 2184 case 1:
yabahiro 54:4167f10ecad0 2185 motor[TIRE_BL].pwm += 3;
yabahiro 54:4167f10ecad0 2186 mtc=false;
yabahiro 54:4167f10ecad0 2187 break;
yabahiro 54:4167f10ecad0 2188 case 3:
yabahiro 54:4167f10ecad0 2189 motor[TIRE_BL].pwm += 6;
yabahiro 54:4167f10ecad0 2190 mtc=false;
yabahiro 54:4167f10ecad0 2191 break;
yabahiro 54:4167f10ecad0 2192 case 2:
yabahiro 54:4167f10ecad0 2193 motor[TIRE_BL].pwm += 9;
yabahiro 54:4167f10ecad0 2194 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2195 mtc=false;
yabahiro 54:4167f10ecad0 2196 break;
yabahiro 54:4167f10ecad0 2197 }
yabahiro 54:4167f10ecad0 2198 }
yabahiro 54:4167f10ecad0 2199 break;
yabahiro 54:4167f10ecad0 2200 case 11:
yabahiro 54:4167f10ecad0 2201 motor[TIRE_FR].pwm = 15;
yabahiro 54:4167f10ecad0 2202 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2203 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2204 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2205 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2206 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2207 motor[TIRE_BL].pwm = 15;
yabahiro 54:4167f10ecad0 2208 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2209 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 53:694dbd7dfa0e 2210 countss=0;
yabahiro 54:4167f10ecad0 2211 cross=0;
yabahiro 54:4167f10ecad0 2212 mode=20;
yabahiro 53:694dbd7dfa0e 2213 }
yabahiro 54:4167f10ecad0 2214 break;
yabahiro 54:4167f10ecad0 2215 case 20:
yabahiro 54:4167f10ecad0 2216 solenoid.solenoid4= SOLENOID_ON;
yabahiro 53:694dbd7dfa0e 2217 switch(g[2]) {
yabahiro 54:4167f10ecad0 2218 case 98:
yabahiro 54:4167f10ecad0 2219 motor[TIRE_FR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2220 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2221 motor[TIRE_FL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2222 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2223 motor[TIRE_BR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2224 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2225 motor[TIRE_BL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2226 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2227 if(countss>30000) {
yabahiro 54:4167f10ecad0 2228 cross++;
yabahiro 54:4167f10ecad0 2229 countss=0;
yabahiro 54:4167f10ecad0 2230 }
yabahiro 54:4167f10ecad0 2231 mtc2=true;
yabahiro 54:4167f10ecad0 2232
yabahiro 54:4167f10ecad0 2233 if(YELLOW) {
yabahiro 54:4167f10ecad0 2234 if(cross==1) {
yabahiro 54:4167f10ecad0 2235 fast=20;
yabahiro 54:4167f10ecad0 2236 normal=15;
yabahiro 54:4167f10ecad0 2237 slow=15;
yabahiro 54:4167f10ecad0 2238 } else if(cross==2) {
yabahiro 54:4167f10ecad0 2239 mode=21;
yabahiro 54:4167f10ecad0 2240 countss=0;
yabahiro 54:4167f10ecad0 2241 cross=0;
yabahiro 54:4167f10ecad0 2242 }
yabahiro 54:4167f10ecad0 2243 } else {
yabahiro 54:4167f10ecad0 2244 if(cross==3) {
yabahiro 54:4167f10ecad0 2245 mode=21;
yabahiro 54:4167f10ecad0 2246 countss=0;
yabahiro 54:4167f10ecad0 2247 cross=0;
yabahiro 54:4167f10ecad0 2248 }
yabahiro 54:4167f10ecad0 2249 }
yabahiro 54:4167f10ecad0 2250 break;
yabahiro 53:694dbd7dfa0e 2251 case 0:
yabahiro 54:4167f10ecad0 2252 motor[TIRE_FR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2253 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2254 motor[TIRE_FL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2255 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2256 motor[TIRE_BR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2257 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2258 motor[TIRE_BL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2259 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2260 mtc2=true;
yabahiro 53:694dbd7dfa0e 2261 break;
yabahiro 53:694dbd7dfa0e 2262 case 255:
yabahiro 54:4167f10ecad0 2263 motor[TIRE_FR].pwm = normal+20;
yabahiro 54:4167f10ecad0 2264 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2265 motor[TIRE_FL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2266 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2267 motor[TIRE_BR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2268 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2269 motor[TIRE_BL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2270 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2271 mtc2=true;
yabahiro 38:40e7fdf3c694 2272 break;
yabahiro 38:40e7fdf3c694 2273 case 253:
yabahiro 54:4167f10ecad0 2274 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2275 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2276 motor[TIRE_FL].pwm = slow+20;
yabahiro 54:4167f10ecad0 2277 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2278 motor[TIRE_BR].pwm = slow+20;
yabahiro 54:4167f10ecad0 2279 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2280 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2281 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2282 mtc2=true;
yabahiro 38:40e7fdf3c694 2283 break;
yabahiro 38:40e7fdf3c694 2284 case 254:
yabahiro 54:4167f10ecad0 2285 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2286 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2287 motor[TIRE_FL].pwm = normal+20;
yabahiro 54:4167f10ecad0 2288 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2289 motor[TIRE_BR].pwm = normal+20;
yabahiro 53:694dbd7dfa0e 2290 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2291 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2292 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2293 mtc2=true;
yabahiro 53:694dbd7dfa0e 2294 break;
yabahiro 53:694dbd7dfa0e 2295 case 1:
yabahiro 54:4167f10ecad0 2296 motor[TIRE_FR].pwm = fast+20;
yabahiro 54:4167f10ecad0 2297 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2298 motor[TIRE_FL].pwm = slow+20;
yabahiro 54:4167f10ecad0 2299 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2300 motor[TIRE_BR].pwm = slow+20;
yabahiro 54:4167f10ecad0 2301 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2302 motor[TIRE_BL].pwm = fast+20;
yabahiro 54:4167f10ecad0 2303 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2304 mtc2=true;
yabahiro 53:694dbd7dfa0e 2305 break;
yabahiro 53:694dbd7dfa0e 2306 case 3:
yabahiro 54:4167f10ecad0 2307 motor[TIRE_FR].pwm = slow+20;
yabahiro 54:4167f10ecad0 2308 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2309 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2310 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2311 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2312 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2313 motor[TIRE_BL].pwm = slow+20;
yabahiro 54:4167f10ecad0 2314 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2315 mtc2=true;
yabahiro 53:694dbd7dfa0e 2316 break;
yabahiro 53:694dbd7dfa0e 2317 case 2:
yabahiro 54:4167f10ecad0 2318 motor[TIRE_FR].pwm = normal+20;
yabahiro 53:694dbd7dfa0e 2319 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 2320 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 2321 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 2322 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 2323 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2324 motor[TIRE_BL].pwm = normal+20;
yabahiro 38:40e7fdf3c694 2325 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2326 mtc2=true;
yabahiro 38:40e7fdf3c694 2327 break;
yabahiro 33:dd598bb23ad1 2328 }
yabahiro 54:4167f10ecad0 2329 if(g[2]!=98&&mtc2==true) {
yabahiro 54:4167f10ecad0 2330 switch(g[3]) {
yabahiro 54:4167f10ecad0 2331 case 0:
yabahiro 54:4167f10ecad0 2332 mtc2=false;
yabahiro 54:4167f10ecad0 2333 break;
yabahiro 54:4167f10ecad0 2334 case 255:
yabahiro 54:4167f10ecad0 2335 motor[TIRE_BL].pwm += 5;
yabahiro 54:4167f10ecad0 2336 mtc2=false;
yabahiro 54:4167f10ecad0 2337 break;
yabahiro 54:4167f10ecad0 2338 case 253:
yabahiro 54:4167f10ecad0 2339 motor[TIRE_BL].pwm += 10;
yabahiro 54:4167f10ecad0 2340 mtc2=false;
yabahiro 54:4167f10ecad0 2341 break;
yabahiro 54:4167f10ecad0 2342 case 254:
yabahiro 54:4167f10ecad0 2343 motor[TIRE_BL].pwm += 15;
yabahiro 54:4167f10ecad0 2344 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2345 mtc2=false;
yabahiro 54:4167f10ecad0 2346 break;
yabahiro 54:4167f10ecad0 2347 case 1:
yabahiro 54:4167f10ecad0 2348 motor[TIRE_FL].pwm += 5;
yabahiro 54:4167f10ecad0 2349 mtc2=false;
yabahiro 54:4167f10ecad0 2350 break;
yabahiro 54:4167f10ecad0 2351 case 3:
yabahiro 54:4167f10ecad0 2352 motor[TIRE_FL].pwm += 10;
yabahiro 54:4167f10ecad0 2353 mtc2=false;
yabahiro 54:4167f10ecad0 2354 break;
yabahiro 54:4167f10ecad0 2355 case 2:
yabahiro 54:4167f10ecad0 2356 motor[TIRE_FL].pwm += 15;
yabahiro 54:4167f10ecad0 2357 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2358 mtc2=false;
yabahiro 54:4167f10ecad0 2359 break;
yabahiro 54:4167f10ecad0 2360 }
yabahiro 38:40e7fdf3c694 2361 }
yabahiro 54:4167f10ecad0 2362 break;
yabahiro 54:4167f10ecad0 2363 case 21:
yabahiro 54:4167f10ecad0 2364 if(YELLOW) {
yabahiro 54:4167f10ecad0 2365 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2366 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2367 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2368 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2369 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2370 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2371 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2372 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2373 if(g[3]==98&&countss>=10000) {
yabahiro 54:4167f10ecad0 2374 mode=22;
yabahiro 58:bfc38c43dadb 2375 aime.reset();
yabahiro 54:4167f10ecad0 2376 countss=0;
yabahiro 54:4167f10ecad0 2377 fast=60;
yabahiro 54:4167f10ecad0 2378 normal=40;
yabahiro 54:4167f10ecad0 2379 slow=20;
yabahiro 54:4167f10ecad0 2380 }
yabahiro 54:4167f10ecad0 2381 } else {
yabahiro 38:40e7fdf3c694 2382 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2383 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2384 motor[TIRE_FL].pwm = 255;
yabahiro 54:4167f10ecad0 2385 motor[TIRE_FL].dir = BRAKE;
yabahiro 54:4167f10ecad0 2386 motor[TIRE_BR].pwm = 255;
yabahiro 54:4167f10ecad0 2387 motor[TIRE_BR].dir = BRAKE;
yabahiro 38:40e7fdf3c694 2388 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2389 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2390 if(g[1]==0) {
yabahiro 54:4167f10ecad0 2391 mode=22;
yabahiro 58:bfc38c43dadb 2392 aime.reset();
yabahiro 54:4167f10ecad0 2393 fast=60;
yabahiro 54:4167f10ecad0 2394 normal=40;
yabahiro 54:4167f10ecad0 2395 slow=25;
yabahiro 54:4167f10ecad0 2396 }
yabahiro 38:40e7fdf3c694 2397 }
yabahiro 54:4167f10ecad0 2398 break;
yabahiro 54:4167f10ecad0 2399 case 22:
yabahiro 54:4167f10ecad0 2400 if(YELLOW) {
yabahiro 54:4167f10ecad0 2401 if(g[4]==3||g[4]==2) {
yabahiro 38:40e7fdf3c694 2402 motor[TIRE_FR].pwm = 30;
yabahiro 38:40e7fdf3c694 2403 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2404 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2405 motor[TIRE_FL].dir = FOR;
yabahiro 38:40e7fdf3c694 2406 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2407 motor[TIRE_BR].dir = BACK;
yabahiro 38:40e7fdf3c694 2408 motor[TIRE_BL].pwm = 30;
yabahiro 38:40e7fdf3c694 2409 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2410 }
yabahiro 54:4167f10ecad0 2411 if(g[4]==253||g[4]==254) {
yabahiro 54:4167f10ecad0 2412 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2413 motor[TIRE_FR].dir = BACK;
yabahiro 38:40e7fdf3c694 2414 motor[TIRE_FL].pwm = 30;
yabahiro 38:40e7fdf3c694 2415 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2416 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2417 motor[TIRE_BR].dir = FOR;
yabahiro 53:694dbd7dfa0e 2418 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2419 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2420 }
yabahiro 54:4167f10ecad0 2421 switch(g[2]) {
yabahiro 54:4167f10ecad0 2422 case 0:
yabahiro 54:4167f10ecad0 2423 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2424 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2425 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2426 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2427 break;
yabahiro 54:4167f10ecad0 2428 case 255:
yabahiro 54:4167f10ecad0 2429 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2430 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2431 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2432 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2433 break;
yabahiro 54:4167f10ecad0 2434 case 253:
yabahiro 54:4167f10ecad0 2435 motor[TIRE_FR].pwm = 40;
yabahiro 54:4167f10ecad0 2436 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2437 motor[TIRE_BR].pwm = 20;
yabahiro 54:4167f10ecad0 2438 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2439 break;
yabahiro 54:4167f10ecad0 2440 case 254:
yabahiro 54:4167f10ecad0 2441 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2442 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2443 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2444 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2445 break;
yabahiro 54:4167f10ecad0 2446 case 1:
yabahiro 54:4167f10ecad0 2447 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2448 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2449 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2450 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2451 break;
yabahiro 54:4167f10ecad0 2452 case 3:
yabahiro 54:4167f10ecad0 2453 motor[TIRE_FR].pwm = 20;
yabahiro 54:4167f10ecad0 2454 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2455 motor[TIRE_BR].pwm = 40;
yabahiro 54:4167f10ecad0 2456 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2457 break;
yabahiro 54:4167f10ecad0 2458 case 2:
yabahiro 54:4167f10ecad0 2459 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2460 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2461 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2462 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2463 break;
yabahiro 54:4167f10ecad0 2464 }
yabahiro 54:4167f10ecad0 2465 switch(g[3]) {
yabahiro 54:4167f10ecad0 2466 case 0:
yabahiro 54:4167f10ecad0 2467 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2468 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2469 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2470 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2471 break;
yabahiro 54:4167f10ecad0 2472 case 255:
yabahiro 54:4167f10ecad0 2473 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2474 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2475 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2476 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2477 case 253:
yabahiro 54:4167f10ecad0 2478 motor[TIRE_FL].pwm = 20;
yabahiro 54:4167f10ecad0 2479 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2480 motor[TIRE_BL].pwm = 40;
yabahiro 54:4167f10ecad0 2481 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2482 break;
yabahiro 54:4167f10ecad0 2483 case 254:
yabahiro 54:4167f10ecad0 2484 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2485 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2486 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2487 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2488 break;
yabahiro 54:4167f10ecad0 2489 case 1:
yabahiro 54:4167f10ecad0 2490 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2491 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2492 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2493 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2494 break;
yabahiro 54:4167f10ecad0 2495 case 3:
yabahiro 54:4167f10ecad0 2496 motor[TIRE_FL].pwm = 40;
yabahiro 54:4167f10ecad0 2497 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2498 motor[TIRE_BL].pwm = 20;
yabahiro 54:4167f10ecad0 2499 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2500 break;
yabahiro 54:4167f10ecad0 2501 case 2:
yabahiro 54:4167f10ecad0 2502 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2503 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2504 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2505 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2506 break;
yabahiro 54:4167f10ecad0 2507 }
yabahiro 54:4167f10ecad0 2508 if(g[3]==0&&g[2]==0) {
yabahiro 54:4167f10ecad0 2509 mode=23;
yabahiro 58:bfc38c43dadb 2510 aime.reset();
yabahiro 54:4167f10ecad0 2511 countss=0;
yabahiro 56:61ebd4b759b4 2512 fast = 60;
yabahiro 56:61ebd4b759b4 2513 normal = 40;
yabahiro 54:4167f10ecad0 2514 slow = 30;
yabahiro 54:4167f10ecad0 2515 }
yabahiro 54:4167f10ecad0 2516 } else {
yabahiro 58:bfc38c43dadb 2517 if(value>=2200) {
yabahiro 58:bfc38c43dadb 2518 slow=25;
yabahiro 58:bfc38c43dadb 2519 normal=30;
yabahiro 58:bfc38c43dadb 2520 fast=40;
yabahiro 58:bfc38c43dadb 2521 }
yabahiro 58:bfc38c43dadb 2522 /*
yabahiro 54:4167f10ecad0 2523 if(g[1]==98) {
yabahiro 54:4167f10ecad0 2524 slow=25;
yabahiro 54:4167f10ecad0 2525 normal=30;
yabahiro 54:4167f10ecad0 2526 fast=40;
yabahiro 54:4167f10ecad0 2527 }
yabahiro 58:bfc38c43dadb 2528 */
yabahiro 58:bfc38c43dadb 2529 if(g[3]==0&&value>=2200) {
yabahiro 54:4167f10ecad0 2530 slow=25;
yabahiro 54:4167f10ecad0 2531 normal=40;
yabahiro 54:4167f10ecad0 2532 fast=60;
yabahiro 54:4167f10ecad0 2533 mode=23;
yabahiro 54:4167f10ecad0 2534 }
yabahiro 54:4167f10ecad0 2535 switch(g[1]) {
yabahiro 54:4167f10ecad0 2536 case 98:
yabahiro 54:4167f10ecad0 2537 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 54:4167f10ecad0 2538 fast=40;
yabahiro 54:4167f10ecad0 2539 normal=30;
yabahiro 54:4167f10ecad0 2540 slow=25;
yabahiro 54:4167f10ecad0 2541 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2542 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2543 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2544 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2545 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2546 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2547 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2548 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2549 break;
yabahiro 54:4167f10ecad0 2550 case 0:
yabahiro 54:4167f10ecad0 2551 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2552 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2553 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2554 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2555 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 2556 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2557 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2558 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2559 mtc=true;
yabahiro 54:4167f10ecad0 2560 break;
yabahiro 54:4167f10ecad0 2561 case 255:
yabahiro 54:4167f10ecad0 2562 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2563 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2564 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 2565 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2566 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 2567 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2568 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2569 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2570 mtc=true;
yabahiro 54:4167f10ecad0 2571 break;
yabahiro 54:4167f10ecad0 2572 case 253:
yabahiro 54:4167f10ecad0 2573 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2574 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2575 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2576 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2577 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2578 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2579 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 2580 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2581 mtc=true;
yabahiro 54:4167f10ecad0 2582 break;
yabahiro 54:4167f10ecad0 2583 case 254:
yabahiro 54:4167f10ecad0 2584 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2585 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2586 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2587 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2588 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2589 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2590 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2591 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2592 mtc=true;
yabahiro 54:4167f10ecad0 2593 break;
yabahiro 54:4167f10ecad0 2594 case 1:
yabahiro 54:4167f10ecad0 2595 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2596 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2597 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2598 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2599 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 2600 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2601 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 2602 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2603 mtc=true;
yabahiro 54:4167f10ecad0 2604 break;
yabahiro 54:4167f10ecad0 2605 case 3:
yabahiro 54:4167f10ecad0 2606 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2607 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2608 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 2609 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2610 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 2611 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2612 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2613 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2614 mtc=true;
yabahiro 54:4167f10ecad0 2615 break;
yabahiro 54:4167f10ecad0 2616 case 2:
yabahiro 54:4167f10ecad0 2617 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2618 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2619 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2620 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2621 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2622 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2623 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2624 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2625 mtc=true;
yabahiro 54:4167f10ecad0 2626 break;
yabahiro 54:4167f10ecad0 2627 }
yabahiro 54:4167f10ecad0 2628 if(g[1]!=98&&mtc==true) {
yabahiro 54:4167f10ecad0 2629 switch(g[0]) {
yabahiro 54:4167f10ecad0 2630 case 0:
yabahiro 54:4167f10ecad0 2631 mtc=false;
yabahiro 54:4167f10ecad0 2632 break;
yabahiro 54:4167f10ecad0 2633 case 255:
yabahiro 54:4167f10ecad0 2634 motor[TIRE_FL].pwm += 3;
yabahiro 54:4167f10ecad0 2635 mtc=false;
yabahiro 54:4167f10ecad0 2636 break;
yabahiro 54:4167f10ecad0 2637 case 253:
yabahiro 54:4167f10ecad0 2638 motor[TIRE_FL].pwm += 6;
yabahiro 54:4167f10ecad0 2639 mtc=false;
yabahiro 54:4167f10ecad0 2640 break;
yabahiro 54:4167f10ecad0 2641 case 254:
yabahiro 54:4167f10ecad0 2642 motor[TIRE_FL].pwm += 9;
yabahiro 54:4167f10ecad0 2643 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2644 mtc=false;
yabahiro 54:4167f10ecad0 2645 break;
yabahiro 54:4167f10ecad0 2646 case 1:
yabahiro 54:4167f10ecad0 2647 motor[TIRE_FR].pwm += 3;
yabahiro 54:4167f10ecad0 2648 mtc=false;
yabahiro 54:4167f10ecad0 2649 break;
yabahiro 54:4167f10ecad0 2650 case 3:
yabahiro 54:4167f10ecad0 2651 motor[TIRE_FR].pwm += 6;
yabahiro 54:4167f10ecad0 2652 mtc=false;
yabahiro 54:4167f10ecad0 2653 break;
yabahiro 54:4167f10ecad0 2654 case 2:
yabahiro 54:4167f10ecad0 2655 motor[TIRE_FR].pwm += 9;
yabahiro 54:4167f10ecad0 2656 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2657 mtc=false;
yabahiro 54:4167f10ecad0 2658 break;
yabahiro 54:4167f10ecad0 2659 }
yabahiro 54:4167f10ecad0 2660 }
yabahiro 54:4167f10ecad0 2661 }
yabahiro 54:4167f10ecad0 2662 break;
yabahiro 54:4167f10ecad0 2663 case 23:
yabahiro 54:4167f10ecad0 2664 if(YELLOW) {
yabahiro 54:4167f10ecad0 2665 switch(g[4]) {
yabahiro 54:4167f10ecad0 2666 case 98:
yabahiro 54:4167f10ecad0 2667 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2668 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2669 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2670 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2671 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2672 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2673 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2674 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2675 break;
yabahiro 54:4167f10ecad0 2676 case 99:
yabahiro 54:4167f10ecad0 2677 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2678 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2679 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2680 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2681 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2682 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2683 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2684 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2685 break;
yabahiro 54:4167f10ecad0 2686 case 0:
yabahiro 54:4167f10ecad0 2687 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2688 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2689 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2690 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2691 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2692 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2693 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2694 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2695 break;
yabahiro 54:4167f10ecad0 2696 case 255:
yabahiro 54:4167f10ecad0 2697 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2698 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2699 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2700 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2701 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2702 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2703 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2704 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2705 break;
yabahiro 54:4167f10ecad0 2706 case 253:
yabahiro 54:4167f10ecad0 2707 motor[TIRE_FR].pwm = slow+5;
yabahiro 54:4167f10ecad0 2708 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2709 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2710 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2711 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2712 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2713 motor[TIRE_BL].pwm = slow+5;
yabahiro 54:4167f10ecad0 2714 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2715 break;
yabahiro 54:4167f10ecad0 2716 case 254:
yabahiro 54:4167f10ecad0 2717 motor[TIRE_FR].pwm = normal+5;
yabahiro 54:4167f10ecad0 2718 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2719 motor[TIRE_FL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2720 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2721 motor[TIRE_BR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2722 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2723 motor[TIRE_BL].pwm = normal+5;
yabahiro 54:4167f10ecad0 2724 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2725 break;
yabahiro 54:4167f10ecad0 2726 case 1:
yabahiro 54:4167f10ecad0 2727 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 2728 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2729 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2730 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2731 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2732 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2733 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 2734 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2735 break;
yabahiro 54:4167f10ecad0 2736 case 3:
yabahiro 54:4167f10ecad0 2737 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2738 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2739 motor[TIRE_FL].pwm = slow+5;
yabahiro 54:4167f10ecad0 2740 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2741 motor[TIRE_BR].pwm = slow+5;
yabahiro 54:4167f10ecad0 2742 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2743 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2744 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2745 break;
yabahiro 54:4167f10ecad0 2746 case 2:
yabahiro 54:4167f10ecad0 2747 motor[TIRE_FR].pwm = fast-5;
yabahiro 54:4167f10ecad0 2748 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2749 motor[TIRE_FL].pwm = normal+5;
yabahiro 54:4167f10ecad0 2750 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2751 motor[TIRE_BR].pwm = normal+5;
yabahiro 54:4167f10ecad0 2752 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2753 motor[TIRE_BL].pwm = fast-5;
yabahiro 54:4167f10ecad0 2754 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2755 break;
yabahiro 54:4167f10ecad0 2756 }
yabahiro 58:bfc38c43dadb 2757 if(value>=2400) {
yabahiro 58:bfc38c43dadb 2758 fast=20;
yabahiro 58:bfc38c43dadb 2759 normal=15;
yabahiro 54:4167f10ecad0 2760 slow=10;
yabahiro 54:4167f10ecad0 2761 }
yabahiro 58:bfc38c43dadb 2762 if(g[3]==254&&value>=2700) {
yabahiro 54:4167f10ecad0 2763 mode=24;
yabahiro 54:4167f10ecad0 2764 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 56:61ebd4b759b4 2765 aime.reset();
yabahiro 54:4167f10ecad0 2766 countss=0;
yabahiro 54:4167f10ecad0 2767 fast=80;
yabahiro 54:4167f10ecad0 2768 normal=60;
yabahiro 54:4167f10ecad0 2769 slow=30;
yabahiro 54:4167f10ecad0 2770 }
yabahiro 58:bfc38c43dadb 2771
yabahiro 58:bfc38c43dadb 2772 /*
yabahiro 58:bfc38c43dadb 2773 if(value>=2500) {
yabahiro 58:bfc38c43dadb 2774 mode=24;
yabahiro 58:bfc38c43dadb 2775 aime.reset();
yabahiro 58:bfc38c43dadb 2776 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 58:bfc38c43dadb 2777 countss=0;
yabahiro 58:bfc38c43dadb 2778 fast=80;
yabahiro 58:bfc38c43dadb 2779 normal=60;
yabahiro 58:bfc38c43dadb 2780 slow=30;
yabahiro 58:bfc38c43dadb 2781 }
yabahiro 58:bfc38c43dadb 2782 if(g[1]==98) {
yabahiro 58:bfc38c43dadb 2783 fast=10;
yabahiro 58:bfc38c43dadb 2784 normal=10;
yabahiro 58:bfc38c43dadb 2785 slow=10;
yabahiro 58:bfc38c43dadb 2786 }
yabahiro 58:bfc38c43dadb 2787 */
yabahiro 54:4167f10ecad0 2788 } else {
yabahiro 54:4167f10ecad0 2789 if(UPLS||DOLS) {
yabahiro 54:4167f10ecad0 2790 if(UPLS||DOLS) {
yabahiro 54:4167f10ecad0 2791 motor[MOTOR_0].pwm = 200;
yabahiro 54:4167f10ecad0 2792 motor[MOTOR_0].dir = BRAKE;
yabahiro 54:4167f10ecad0 2793 fast=60;
yabahiro 54:4167f10ecad0 2794 normal=40;
yabahiro 54:4167f10ecad0 2795 slow=30;
yabahiro 54:4167f10ecad0 2796 countss=0;
yabahiro 54:4167f10ecad0 2797 mode=24;
yabahiro 54:4167f10ecad0 2798 }
yabahiro 54:4167f10ecad0 2799 } else {
yabahiro 54:4167f10ecad0 2800 motor[MOTOR_0].pwm = 100;
yabahiro 54:4167f10ecad0 2801 motor[MOTOR_0].dir = BACK;
yabahiro 54:4167f10ecad0 2802 }
yabahiro 54:4167f10ecad0 2803 motor[TIRE_FR].pwm = 100;
yabahiro 54:4167f10ecad0 2804 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 2805 motor[TIRE_FL].pwm = 100;
yabahiro 54:4167f10ecad0 2806 motor[TIRE_FL].dir = BRAKE;
yabahiro 54:4167f10ecad0 2807 motor[TIRE_BR].pwm = 100;
yabahiro 54:4167f10ecad0 2808 motor[TIRE_BR].dir = BRAKE;
yabahiro 54:4167f10ecad0 2809 motor[TIRE_BL].pwm = 100;
yabahiro 54:4167f10ecad0 2810 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 2811 }
yabahiro 54:4167f10ecad0 2812 break;
yabahiro 54:4167f10ecad0 2813 case 24:
yabahiro 54:4167f10ecad0 2814 if(YELLOW) {
yabahiro 56:61ebd4b759b4 2815 value=aime.read_ms();
yabahiro 56:61ebd4b759b4 2816 if(value>=4000) {
yabahiro 56:61ebd4b759b4 2817 mode=25;
yabahiro 56:61ebd4b759b4 2818 }
yabahiro 54:4167f10ecad0 2819 if(g[4]==3||g[4]==2) {
yabahiro 54:4167f10ecad0 2820 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2821 motor[TIRE_FR].dir = FOR;
yabahiro 53:694dbd7dfa0e 2822 motor[TIRE_FL].pwm = 30;
yabahiro 53:694dbd7dfa0e 2823 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2824 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2825 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2826 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2827 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2828 }
yabahiro 54:4167f10ecad0 2829 if(g[4]==253||g[4]==254) {
yabahiro 54:4167f10ecad0 2830 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2831 motor[TIRE_FR].dir = BACK;
yabahiro 53:694dbd7dfa0e 2832 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2833 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2834 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2835 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 2836 motor[TIRE_BL].pwm = 30;
yabahiro 52:4394a1debceb 2837 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2838 }
yabahiro 54:4167f10ecad0 2839 switch(g[2]) {
yabahiro 54:4167f10ecad0 2840 case 0:
yabahiro 54:4167f10ecad0 2841 motor[TIRE_FR].pwm = 25;
yabahiro 54:4167f10ecad0 2842 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2843 motor[TIRE_BR].pwm = 25;
yabahiro 54:4167f10ecad0 2844 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2845 break;
yabahiro 54:4167f10ecad0 2846 case 255:
yabahiro 54:4167f10ecad0 2847 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2848 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2849 motor[TIRE_BR].pwm = 25;
yabahiro 54:4167f10ecad0 2850 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2851 break;
yabahiro 54:4167f10ecad0 2852 case 253:
yabahiro 54:4167f10ecad0 2853 motor[TIRE_FR].pwm = 40;
yabahiro 54:4167f10ecad0 2854 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2855 motor[TIRE_BR].pwm = 25;
yabahiro 54:4167f10ecad0 2856 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2857 break;
yabahiro 54:4167f10ecad0 2858 case 254:
yabahiro 54:4167f10ecad0 2859 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2860 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 2861 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2862 motor[TIRE_BR].dir = BACK;
yabahiro 54:4167f10ecad0 2863 break;
yabahiro 54:4167f10ecad0 2864 case 1:
yabahiro 54:4167f10ecad0 2865 motor[TIRE_FR].pwm = 25;
yabahiro 54:4167f10ecad0 2866 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2867 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2868 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2869 break;
yabahiro 54:4167f10ecad0 2870 case 3:
yabahiro 54:4167f10ecad0 2871 motor[TIRE_FR].pwm = 25;
yabahiro 54:4167f10ecad0 2872 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 2873 motor[TIRE_BR].pwm = 40;
yabahiro 54:4167f10ecad0 2874 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2875 break;
yabahiro 54:4167f10ecad0 2876 case 2:
yabahiro 54:4167f10ecad0 2877 motor[TIRE_FR].pwm = 30;
yabahiro 54:4167f10ecad0 2878 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2879 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 2880 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2881 break;
yabahiro 54:4167f10ecad0 2882 }
yabahiro 54:4167f10ecad0 2883 switch(g[3]) {
yabahiro 54:4167f10ecad0 2884 case 0:
yabahiro 54:4167f10ecad0 2885 motor[TIRE_FL].pwm = 25;
yabahiro 54:4167f10ecad0 2886 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2887 motor[TIRE_BL].pwm = 25;
yabahiro 54:4167f10ecad0 2888 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2889 break;
yabahiro 54:4167f10ecad0 2890 case 255:
yabahiro 54:4167f10ecad0 2891 motor[TIRE_FL].pwm = 25;
yabahiro 54:4167f10ecad0 2892 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2893 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2894 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2895 case 253:
yabahiro 54:4167f10ecad0 2896 motor[TIRE_FL].pwm = 25;
yabahiro 54:4167f10ecad0 2897 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2898 motor[TIRE_BL].pwm = 40;
yabahiro 54:4167f10ecad0 2899 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2900 break;
yabahiro 54:4167f10ecad0 2901 case 254:
yabahiro 54:4167f10ecad0 2902 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2903 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2904 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2905 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2906 break;
yabahiro 54:4167f10ecad0 2907 case 1:
yabahiro 54:4167f10ecad0 2908 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2909 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2910 motor[TIRE_BL].pwm = 25;
yabahiro 54:4167f10ecad0 2911 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2912 break;
yabahiro 54:4167f10ecad0 2913 case 3:
yabahiro 54:4167f10ecad0 2914 motor[TIRE_FL].pwm = 40;
yabahiro 54:4167f10ecad0 2915 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2916 motor[TIRE_BL].pwm = 25;
yabahiro 54:4167f10ecad0 2917 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 2918 break;
yabahiro 54:4167f10ecad0 2919 case 2:
yabahiro 54:4167f10ecad0 2920 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 2921 motor[TIRE_FL].dir = FOR;
yabahiro 54:4167f10ecad0 2922 motor[TIRE_BL].pwm = 30;
yabahiro 54:4167f10ecad0 2923 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 2924 break;
yabahiro 54:4167f10ecad0 2925 }
yabahiro 54:4167f10ecad0 2926 if(g[3]==0&&g[2]==0) {
yabahiro 54:4167f10ecad0 2927 mode=25;
yabahiro 54:4167f10ecad0 2928 }
yabahiro 54:4167f10ecad0 2929 } else {
yabahiro 54:4167f10ecad0 2930 if(g[1]==98&&countss>=40000) {
yabahiro 54:4167f10ecad0 2931 mode=31;
yabahiro 54:4167f10ecad0 2932 fast = 60;
yabahiro 54:4167f10ecad0 2933 normal = 40;
yabahiro 54:4167f10ecad0 2934 slow = 30;
yabahiro 54:4167f10ecad0 2935 countss=0;
yabahiro 54:4167f10ecad0 2936 }
yabahiro 54:4167f10ecad0 2937 switch(g[1]) {
yabahiro 54:4167f10ecad0 2938 case 98:
yabahiro 54:4167f10ecad0 2939 fast=40;
yabahiro 54:4167f10ecad0 2940 normal=30;
yabahiro 54:4167f10ecad0 2941 slow=25;
yabahiro 54:4167f10ecad0 2942 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2943 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2944 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 2945 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2946 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 2947 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2948 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2949 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2950 break;
yabahiro 54:4167f10ecad0 2951 case 0:
yabahiro 54:4167f10ecad0 2952 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2953 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2954 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2955 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2956 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 2957 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2958 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2959 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2960 mtc=true;
yabahiro 54:4167f10ecad0 2961 break;
yabahiro 54:4167f10ecad0 2962 case 255:
yabahiro 54:4167f10ecad0 2963 motor[TIRE_FR].pwm = fast;
yabahiro 54:4167f10ecad0 2964 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2965 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 2966 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 2967 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 2968 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 2969 motor[TIRE_BL].pwm = fast;
yabahiro 54:4167f10ecad0 2970 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2971 mtc=true;
yabahiro 54:4167f10ecad0 2972 break;
yabahiro 54:4167f10ecad0 2973 case 253:
yabahiro 54:4167f10ecad0 2974 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2975 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2976 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2977 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2978 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2979 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2980 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 2981 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2982 mtc=true;
yabahiro 54:4167f10ecad0 2983 break;
yabahiro 54:4167f10ecad0 2984 case 254:
yabahiro 54:4167f10ecad0 2985 motor[TIRE_FR].pwm = normal;
yabahiro 54:4167f10ecad0 2986 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2987 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 2988 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 2989 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 2990 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 2991 motor[TIRE_BL].pwm = normal;
yabahiro 54:4167f10ecad0 2992 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 2993 mtc=true;
yabahiro 54:4167f10ecad0 2994 break;
yabahiro 54:4167f10ecad0 2995 case 1:
yabahiro 54:4167f10ecad0 2996 motor[TIRE_FR].pwm = slow;
yabahiro 54:4167f10ecad0 2997 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 2998 motor[TIRE_FL].pwm = fast;
yabahiro 54:4167f10ecad0 2999 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3000 motor[TIRE_BR].pwm = fast;
yabahiro 54:4167f10ecad0 3001 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3002 motor[TIRE_BL].pwm = slow;
yabahiro 54:4167f10ecad0 3003 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 3004 mtc=true;
yabahiro 54:4167f10ecad0 3005 break;
yabahiro 54:4167f10ecad0 3006 case 3:
yabahiro 54:4167f10ecad0 3007 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3008 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 3009 motor[TIRE_FL].pwm = slow;
yabahiro 54:4167f10ecad0 3010 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3011 motor[TIRE_BR].pwm = slow;
yabahiro 54:4167f10ecad0 3012 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3013 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 3014 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 3015 mtc=true;
yabahiro 54:4167f10ecad0 3016 break;
yabahiro 54:4167f10ecad0 3017 case 2:
yabahiro 54:4167f10ecad0 3018 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3019 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 3020 motor[TIRE_FL].pwm = normal;
yabahiro 54:4167f10ecad0 3021 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3022 motor[TIRE_BR].pwm = normal;
yabahiro 54:4167f10ecad0 3023 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3024 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 3025 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 3026 mtc=true;
yabahiro 54:4167f10ecad0 3027 break;
yabahiro 54:4167f10ecad0 3028 }
yabahiro 54:4167f10ecad0 3029 if(g[1]!=98&&mtc==true) {
yabahiro 54:4167f10ecad0 3030 switch(g[0]) {
yabahiro 54:4167f10ecad0 3031 case 0:
yabahiro 54:4167f10ecad0 3032 mtc=false;
yabahiro 54:4167f10ecad0 3033 break;
yabahiro 54:4167f10ecad0 3034 case 255:
yabahiro 54:4167f10ecad0 3035 motor[TIRE_FL].pwm += 3;
yabahiro 54:4167f10ecad0 3036 mtc=false;
yabahiro 54:4167f10ecad0 3037 break;
yabahiro 54:4167f10ecad0 3038 case 253:
yabahiro 54:4167f10ecad0 3039 motor[TIRE_FL].pwm += 6;
yabahiro 54:4167f10ecad0 3040 mtc=false;
yabahiro 54:4167f10ecad0 3041 break;
yabahiro 54:4167f10ecad0 3042 case 254:
yabahiro 54:4167f10ecad0 3043 motor[TIRE_FL].pwm += 9;
yabahiro 54:4167f10ecad0 3044 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3045 mtc=false;
yabahiro 54:4167f10ecad0 3046 break;
yabahiro 54:4167f10ecad0 3047 case 1:
yabahiro 54:4167f10ecad0 3048 motor[TIRE_FR].pwm += 3;
yabahiro 54:4167f10ecad0 3049 mtc=false;
yabahiro 54:4167f10ecad0 3050 break;
yabahiro 54:4167f10ecad0 3051 case 3:
yabahiro 54:4167f10ecad0 3052 motor[TIRE_FR].pwm += 6;
yabahiro 54:4167f10ecad0 3053 mtc=false;
yabahiro 54:4167f10ecad0 3054 break;
yabahiro 54:4167f10ecad0 3055 case 2:
yabahiro 54:4167f10ecad0 3056 motor[TIRE_FR].pwm += 9;
yabahiro 54:4167f10ecad0 3057 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 3058 mtc=false;
yabahiro 54:4167f10ecad0 3059 break;
yabahiro 54:4167f10ecad0 3060 }
yabahiro 54:4167f10ecad0 3061 }
yabahiro 52:4394a1debceb 3062 }
yabahiro 54:4167f10ecad0 3063 break;
yabahiro 54:4167f10ecad0 3064 case 25:
kishibekairohan 47:a9cad8502999 3065 motor[TIRE_FR].pwm = 100;
kishibekairohan 47:a9cad8502999 3066 motor[TIRE_FR].dir = BRAKE;
kishibekairohan 47:a9cad8502999 3067 motor[TIRE_FL].pwm = 100;
kishibekairohan 47:a9cad8502999 3068 motor[TIRE_FL].dir = BRAKE;
kishibekairohan 47:a9cad8502999 3069 motor[TIRE_BR].pwm = 100;
kishibekairohan 47:a9cad8502999 3070 motor[TIRE_BR].dir = BRAKE;
kishibekairohan 47:a9cad8502999 3071 motor[TIRE_BL].pwm = 100;
kishibekairohan 47:a9cad8502999 3072 motor[TIRE_BL].dir = BRAKE;
yabahiro 46:68296caae1af 3073 if(UPLS==true||DOLS==true) {
yabahiro 54:4167f10ecad0 3074 if(UPLS==true||DOLS==true) {
yabahiro 54:4167f10ecad0 3075 motor[MOTOR_0].pwm = 200;
yabahiro 54:4167f10ecad0 3076 motor[MOTOR_0].dir = BRAKE;
yabahiro 54:4167f10ecad0 3077 countss = 0;
yabahiro 54:4167f10ecad0 3078 mode=26;
yabahiro 54:4167f10ecad0 3079 }
yabahiro 46:68296caae1af 3080 } else {
yabahiro 46:68296caae1af 3081 motor[MOTOR_0].pwm = 100;
yabahiro 46:68296caae1af 3082 motor[MOTOR_0].dir = BACK;
yabahiro 46:68296caae1af 3083 }
yabahiro 54:4167f10ecad0 3084 break;
yabahiro 54:4167f10ecad0 3085 case 26:
yabahiro 56:61ebd4b759b4 3086 /*
yabahiro 56:61ebd4b759b4 3087 if (g[3] == 0&&countss>=30000) {
yabahiro 56:61ebd4b759b4 3088 mode = 40;
yabahiro 56:61ebd4b759b4 3089 }
yabahiro 56:61ebd4b759b4 3090 */
yabahiro 56:61ebd4b759b4 3091 if (g[1] != 99) {
yabahiro 54:4167f10ecad0 3092 mode = 31;
yabahiro 54:4167f10ecad0 3093 }
yabahiro 38:40e7fdf3c694 3094 switch(g[4]) {
yabahiro 38:40e7fdf3c694 3095 case 98:
yabahiro 38:40e7fdf3c694 3096 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3097 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3098 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3099 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3100 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3101 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3102 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3103 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3104 break;
yabahiro 38:40e7fdf3c694 3105 case 99:
yabahiro 38:40e7fdf3c694 3106 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3107 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3108 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3109 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3110 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3111 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3112 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3113 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3114 break;
yabahiro 38:40e7fdf3c694 3115 case 0:
yabahiro 38:40e7fdf3c694 3116 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3117 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3118 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3119 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3120 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3121 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3122 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3123 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3124 break;
yabahiro 38:40e7fdf3c694 3125 case 255:
yabahiro 38:40e7fdf3c694 3126 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3127 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3128 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3129 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3130 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3131 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3132 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3133 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3134 break;
yabahiro 38:40e7fdf3c694 3135 case 253:
yabahiro 46:68296caae1af 3136 motor[TIRE_FR].pwm = 25;
yabahiro 38:40e7fdf3c694 3137 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3138 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3139 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3140 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3141 motor[TIRE_BR].dir = FOR;
yabahiro 46:68296caae1af 3142 motor[TIRE_BL].pwm = 25;
yabahiro 38:40e7fdf3c694 3143 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3144 break;
yabahiro 38:40e7fdf3c694 3145 case 254:
yabahiro 38:40e7fdf3c694 3146 motor[TIRE_FR].pwm = 40;
yabahiro 38:40e7fdf3c694 3147 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3148 motor[TIRE_FL].pwm = 60;
yabahiro 38:40e7fdf3c694 3149 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3150 motor[TIRE_BR].pwm = 60;
yabahiro 38:40e7fdf3c694 3151 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3152 motor[TIRE_BL].pwm = 40;
yabahiro 38:40e7fdf3c694 3153 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3154 break;
yabahiro 38:40e7fdf3c694 3155 case 1:
yabahiro 38:40e7fdf3c694 3156 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3157 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3158 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3159 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3160 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3161 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3162 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3163 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3164 break;
yabahiro 38:40e7fdf3c694 3165 case 3:
yabahiro 38:40e7fdf3c694 3166 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3167 motor[TIRE_FR].dir = FOR;
yabahiro 46:68296caae1af 3168 motor[TIRE_FL].pwm = 25;
yabahiro 38:40e7fdf3c694 3169 motor[TIRE_FL].dir = BACK;
yabahiro 46:68296caae1af 3170 motor[TIRE_BR].pwm = 25;
yabahiro 38:40e7fdf3c694 3171 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3172 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3173 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3174 break;
yabahiro 38:40e7fdf3c694 3175 case 2:
yabahiro 38:40e7fdf3c694 3176 motor[TIRE_FR].pwm = 60;
yabahiro 38:40e7fdf3c694 3177 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3178 motor[TIRE_FL].pwm = 40;
yabahiro 38:40e7fdf3c694 3179 motor[TIRE_FL].dir = BACK;
yabahiro 38:40e7fdf3c694 3180 motor[TIRE_BR].pwm = 40;
yabahiro 38:40e7fdf3c694 3181 motor[TIRE_BR].dir = FOR;
kishibekairohan 41:99a1158f3eca 3182 motor[TIRE_BL].pwm = 60;
yabahiro 38:40e7fdf3c694 3183 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3184 break;
yabahiro 38:40e7fdf3c694 3185 }
yabahiro 54:4167f10ecad0 3186 break;
yabahiro 54:4167f10ecad0 3187 case 31:
yabahiro 54:4167f10ecad0 3188 motor[TIRE_FR].pwm = 255;
yabahiro 54:4167f10ecad0 3189 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3190 motor[TIRE_FL].pwm = 45;
yabahiro 54:4167f10ecad0 3191 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3192 motor[TIRE_BR].pwm = 45;
yabahiro 54:4167f10ecad0 3193 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3194 motor[TIRE_BL].pwm = 255;
yabahiro 54:4167f10ecad0 3195 motor[TIRE_BL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 3196 if(g[3]==0) {
yabahiro 54:4167f10ecad0 3197 cross=0;
yabahiro 54:4167f10ecad0 3198 countss=0;
yabahiro 54:4167f10ecad0 3199 mode=40;
yabahiro 56:61ebd4b759b4 3200 fast = 70;
yabahiro 56:61ebd4b759b4 3201 normal = 50;
yabahiro 54:4167f10ecad0 3202 slow = 30;
yabahiro 54:4167f10ecad0 3203 }
yabahiro 54:4167f10ecad0 3204 break;
yabahiro 54:4167f10ecad0 3205 case 40:
yabahiro 54:4167f10ecad0 3206 if(YELLOW) {
yabahiro 54:4167f10ecad0 3207 if(cross==1) {
yabahiro 54:4167f10ecad0 3208 mode=41;
yabahiro 54:4167f10ecad0 3209 countss=0;
yabahiro 54:4167f10ecad0 3210 cross=0;
yabahiro 54:4167f10ecad0 3211 }
yabahiro 54:4167f10ecad0 3212 } else {
yabahiro 54:4167f10ecad0 3213 if(cross==3) {
yabahiro 54:4167f10ecad0 3214 fast = 60;
yabahiro 54:4167f10ecad0 3215 normal = 40;
yabahiro 54:4167f10ecad0 3216 slow = 30;
yabahiro 54:4167f10ecad0 3217 mode=41;
yabahiro 54:4167f10ecad0 3218 countss=0;
yabahiro 54:4167f10ecad0 3219 cross=0;
yabahiro 54:4167f10ecad0 3220 }
yabahiro 54:4167f10ecad0 3221 }
yabahiro 54:4167f10ecad0 3222 /*
yabahiro 54:4167f10ecad0 3223 if(LIF||LIB) {
yabahiro 54:4167f10ecad0 3224 mode=42;
yabahiro 33:dd598bb23ad1 3225 }
yabahiro 54:4167f10ecad0 3226 */
yabahiro 54:4167f10ecad0 3227 switch(g[3]) {
yabahiro 54:4167f10ecad0 3228 case 98:
yabahiro 54:4167f10ecad0 3229 motor[TIRE_FR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3230 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3231 motor[TIRE_FL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3232 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3233 motor[TIRE_BR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3234 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3235 motor[TIRE_BL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3236 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3237 if(countss>30000) {
yabahiro 54:4167f10ecad0 3238 cross++;
yabahiro 54:4167f10ecad0 3239 countss=0;
yabahiro 54:4167f10ecad0 3240 }
yabahiro 54:4167f10ecad0 3241 mtc2=true;
yabahiro 54:4167f10ecad0 3242 break;
yabahiro 54:4167f10ecad0 3243 case 0:
yabahiro 54:4167f10ecad0 3244 motor[TIRE_FR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3245 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3246 motor[TIRE_FL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3247 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3248 motor[TIRE_BR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3249 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3250 motor[TIRE_BL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3251 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3252 mtc2=true;
yabahiro 54:4167f10ecad0 3253 break;
yabahiro 54:4167f10ecad0 3254 case 255:
yabahiro 54:4167f10ecad0 3255 motor[TIRE_FR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3256 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3257 motor[TIRE_FL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3258 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3259 motor[TIRE_BR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3260 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3261 motor[TIRE_BL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3262 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3263 mtc2=true;
yabahiro 54:4167f10ecad0 3264 break;
yabahiro 54:4167f10ecad0 3265 case 253:
yabahiro 54:4167f10ecad0 3266 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3267 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 3268 motor[TIRE_FL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3269 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3270 motor[TIRE_BR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3271 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3272 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 3273 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 3274 mtc2=true;
yabahiro 54:4167f10ecad0 3275 break;
yabahiro 54:4167f10ecad0 3276 case 254:
yabahiro 54:4167f10ecad0 3277 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3278 motor[TIRE_FR].dir = FREE;
yabahiro 54:4167f10ecad0 3279 motor[TIRE_FL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3280 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3281 motor[TIRE_BR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3282 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3283 motor[TIRE_BL].pwm = 0;
yabahiro 54:4167f10ecad0 3284 motor[TIRE_BL].dir = FREE;
yabahiro 54:4167f10ecad0 3285 mtc2=true;
yabahiro 54:4167f10ecad0 3286 break;
yabahiro 54:4167f10ecad0 3287 case 1:
yabahiro 54:4167f10ecad0 3288 motor[TIRE_FR].pwm = fast+15;
yabahiro 54:4167f10ecad0 3289 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3290 motor[TIRE_FL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3291 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3292 motor[TIRE_BR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3293 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3294 motor[TIRE_BL].pwm = fast+15;
yabahiro 54:4167f10ecad0 3295 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3296 mtc2=true;
yabahiro 54:4167f10ecad0 3297 break;
yabahiro 54:4167f10ecad0 3298 case 3:
yabahiro 54:4167f10ecad0 3299 motor[TIRE_FR].pwm = slow+15;
yabahiro 54:4167f10ecad0 3300 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3301 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 3302 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 3303 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3304 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 3305 motor[TIRE_BL].pwm = slow+15;
yabahiro 54:4167f10ecad0 3306 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3307 mtc2=true;
yabahiro 54:4167f10ecad0 3308 break;
yabahiro 54:4167f10ecad0 3309 case 2:
yabahiro 54:4167f10ecad0 3310 motor[TIRE_FR].pwm = normal+15;
yabahiro 54:4167f10ecad0 3311 motor[TIRE_FR].dir = BACK;
yabahiro 54:4167f10ecad0 3312 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 3313 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 3314 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3315 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 3316 motor[TIRE_BL].pwm = normal+15;
yabahiro 54:4167f10ecad0 3317 motor[TIRE_BL].dir = FOR;
yabahiro 54:4167f10ecad0 3318 mtc2=true;
yabahiro 54:4167f10ecad0 3319 break;
yabahiro 54:4167f10ecad0 3320 }
yabahiro 54:4167f10ecad0 3321 if(g[2]!=98&&mtc2==true) {
yabahiro 54:4167f10ecad0 3322 switch(g[2]) {
yabahiro 54:4167f10ecad0 3323 case 0:
yabahiro 54:4167f10ecad0 3324 mtc2=false;
yabahiro 54:4167f10ecad0 3325 break;
yabahiro 54:4167f10ecad0 3326 case 255:
yabahiro 54:4167f10ecad0 3327 motor[TIRE_FR].pwm += 3;
yabahiro 54:4167f10ecad0 3328 mtc2=false;
yabahiro 54:4167f10ecad0 3329 break;
yabahiro 54:4167f10ecad0 3330 case 253:
yabahiro 54:4167f10ecad0 3331 motor[TIRE_FR].pwm += 6;
yabahiro 54:4167f10ecad0 3332 mtc2=false;
yabahiro 54:4167f10ecad0 3333 break;
yabahiro 54:4167f10ecad0 3334 case 254:
yabahiro 54:4167f10ecad0 3335 motor[TIRE_FR].pwm += 9;
yabahiro 54:4167f10ecad0 3336 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3337 mtc2=false;
yabahiro 54:4167f10ecad0 3338 break;
yabahiro 54:4167f10ecad0 3339 case 1:
yabahiro 54:4167f10ecad0 3340 motor[TIRE_BR].pwm += 3;
yabahiro 54:4167f10ecad0 3341 mtc2=false;
yabahiro 54:4167f10ecad0 3342 break;
yabahiro 54:4167f10ecad0 3343 case 3:
yabahiro 54:4167f10ecad0 3344 motor[TIRE_BR].pwm += 6;
yabahiro 54:4167f10ecad0 3345 mtc2=false;
yabahiro 54:4167f10ecad0 3346 break;
yabahiro 54:4167f10ecad0 3347 case 2:
yabahiro 54:4167f10ecad0 3348 motor[TIRE_BR].pwm += 9;
yabahiro 54:4167f10ecad0 3349 motor[TIRE_FR].pwm = 0;
yabahiro 54:4167f10ecad0 3350 mtc2=false;
yabahiro 54:4167f10ecad0 3351 break;
yabahiro 54:4167f10ecad0 3352 }
yabahiro 54:4167f10ecad0 3353 }
yabahiro 54:4167f10ecad0 3354 break;
yabahiro 54:4167f10ecad0 3355 case 41:
yabahiro 54:4167f10ecad0 3356 /*
yabahiro 54:4167f10ecad0 3357 if(LIF||LIB) {
yabahiro 54:4167f10ecad0 3358 mode=42;
yabahiro 54:4167f10ecad0 3359 }
yabahiro 54:4167f10ecad0 3360 */
yabahiro 54:4167f10ecad0 3361 motor[TIRE_FR].pwm = 255;
yabahiro 54:4167f10ecad0 3362 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3363 motor[TIRE_FL].pwm = 30;
yabahiro 54:4167f10ecad0 3364 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3365 motor[TIRE_BR].pwm = 30;
yabahiro 54:4167f10ecad0 3366 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3367 motor[TIRE_BL].pwm = 255;
yabahiro 54:4167f10ecad0 3368 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 3369 if(g[1]==0) {
yabahiro 54:4167f10ecad0 3370 countss=0;
yabahiro 54:4167f10ecad0 3371 mode=70;
yabahiro 56:61ebd4b759b4 3372 normal = 120;
yabahiro 56:61ebd4b759b4 3373 fast = 140;
yabahiro 56:61ebd4b759b4 3374 slow = 100;
yabahiro 54:4167f10ecad0 3375 }
yabahiro 54:4167f10ecad0 3376 break;
yabahiro 54:4167f10ecad0 3377 case 42:
yabahiro 54:4167f10ecad0 3378 motor[TIRE_FR].pwm = 40;
yabahiro 38:40e7fdf3c694 3379 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 3380 motor[TIRE_FL].pwm = 0;
yabahiro 54:4167f10ecad0 3381 motor[TIRE_FL].dir = FREE;
yabahiro 54:4167f10ecad0 3382 motor[TIRE_BR].pwm = 0;
yabahiro 54:4167f10ecad0 3383 motor[TIRE_BR].dir = FREE;
yabahiro 54:4167f10ecad0 3384 motor[TIRE_BL].pwm = 40;
yabahiro 38:40e7fdf3c694 3385 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3386 if(g[1]==0) {
yabahiro 54:4167f10ecad0 3387 countss=0;
yabahiro 54:4167f10ecad0 3388 mode=70;
yabahiro 53:694dbd7dfa0e 3389 }
yabahiro 54:4167f10ecad0 3390 break;
yabahiro 54:4167f10ecad0 3391 case 70:
yabahiro 38:40e7fdf3c694 3392 switch(g[1]) {
yabahiro 54:4167f10ecad0 3393 case 99:
yabahiro 54:4167f10ecad0 3394 if(countss>=100000) {
yabahiro 54:4167f10ecad0 3395 mode=100;
yabahiro 54:4167f10ecad0 3396 }
yabahiro 54:4167f10ecad0 3397 break;
yabahiro 38:40e7fdf3c694 3398 case 98:
yabahiro 38:40e7fdf3c694 3399 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 3400 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3401 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 3402 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3403 motor[TIRE_BR].pwm = normal+5;
yabahiro 38:40e7fdf3c694 3404 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3405 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 3406 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3407 break;
yabahiro 38:40e7fdf3c694 3408 case 0:
yabahiro 54:4167f10ecad0 3409 motor[TIRE_FR].pwm = 100;
yabahiro 38:40e7fdf3c694 3410 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 3411 motor[TIRE_FL].pwm = 100;
yabahiro 38:40e7fdf3c694 3412 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3413 motor[TIRE_BR].pwm = 105;
yabahiro 38:40e7fdf3c694 3414 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3415 motor[TIRE_BL].pwm = 100;
yabahiro 38:40e7fdf3c694 3416 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3417 mtc=true;
yabahiro 38:40e7fdf3c694 3418 break;
yabahiro 38:40e7fdf3c694 3419 case 255:
yabahiro 38:40e7fdf3c694 3420 motor[TIRE_FR].pwm = fast;
yabahiro 38:40e7fdf3c694 3421 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3422 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 3423 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3424 motor[TIRE_BR].pwm = slow+5;
yabahiro 38:40e7fdf3c694 3425 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3426 motor[TIRE_BL].pwm = fast;
yabahiro 38:40e7fdf3c694 3427 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3428 mtc=true;
yabahiro 38:40e7fdf3c694 3429 break;
yabahiro 38:40e7fdf3c694 3430 case 253:
yabahiro 38:40e7fdf3c694 3431 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 3432 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3433 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3434 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3435 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3436 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3437 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 3438 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3439 mtc=true;
yabahiro 38:40e7fdf3c694 3440 break;
yabahiro 38:40e7fdf3c694 3441 case 254:
yabahiro 38:40e7fdf3c694 3442 motor[TIRE_FR].pwm = normal;
yabahiro 38:40e7fdf3c694 3443 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3444 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3445 motor[TIRE_FL].dir = FREE;
yabahiro 38:40e7fdf3c694 3446 motor[TIRE_BR].pwm = 0;
yabahiro 38:40e7fdf3c694 3447 motor[TIRE_BR].dir = FREE;
yabahiro 38:40e7fdf3c694 3448 motor[TIRE_BL].pwm = normal;
yabahiro 38:40e7fdf3c694 3449 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3450 mtc=true;
yabahiro 38:40e7fdf3c694 3451 break;
yabahiro 38:40e7fdf3c694 3452 case 1:
yabahiro 38:40e7fdf3c694 3453 motor[TIRE_FR].pwm = slow;
yabahiro 38:40e7fdf3c694 3454 motor[TIRE_FR].dir = FOR;
yabahiro 38:40e7fdf3c694 3455 motor[TIRE_FL].pwm = fast;
yabahiro 38:40e7fdf3c694 3456 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3457 motor[TIRE_BR].pwm = fast+5;
yabahiro 38:40e7fdf3c694 3458 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3459 motor[TIRE_BL].pwm = slow;
yabahiro 38:40e7fdf3c694 3460 motor[TIRE_BL].dir = BACK;
yabahiro 38:40e7fdf3c694 3461 mtc=true;
yabahiro 38:40e7fdf3c694 3462 break;
yabahiro 38:40e7fdf3c694 3463 case 3:
yabahiro 38:40e7fdf3c694 3464 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3465 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3466 motor[TIRE_FL].pwm = slow;
yabahiro 38:40e7fdf3c694 3467 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3468 motor[TIRE_BR].pwm = slow+5;
yabahiro 38:40e7fdf3c694 3469 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3470 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3471 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3472 mtc=true;
yabahiro 38:40e7fdf3c694 3473 break;
yabahiro 38:40e7fdf3c694 3474 case 2:
yabahiro 38:40e7fdf3c694 3475 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3476 motor[TIRE_FR].dir = FREE;
yabahiro 38:40e7fdf3c694 3477 motor[TIRE_FL].pwm = normal;
yabahiro 38:40e7fdf3c694 3478 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3479 motor[TIRE_BR].pwm = normal+5;
yabahiro 38:40e7fdf3c694 3480 motor[TIRE_BR].dir = FOR;
yabahiro 38:40e7fdf3c694 3481 motor[TIRE_BL].pwm = 0;
yabahiro 38:40e7fdf3c694 3482 motor[TIRE_BL].dir = FREE;
yabahiro 38:40e7fdf3c694 3483 mtc=true;
yabahiro 38:40e7fdf3c694 3484 break;
yabahiro 38:40e7fdf3c694 3485 }
yabahiro 38:40e7fdf3c694 3486 if(g[1]!=98&&mtc==true) {
yabahiro 38:40e7fdf3c694 3487 switch(g[0]) {
yabahiro 38:40e7fdf3c694 3488 case 0:
yabahiro 38:40e7fdf3c694 3489 mtc=false;
yabahiro 38:40e7fdf3c694 3490 break;
yabahiro 38:40e7fdf3c694 3491 case 255:
kishibekairohan 44:2aff0da5ebdb 3492 motor[TIRE_FL].pwm += 3;
yabahiro 38:40e7fdf3c694 3493 mtc=false;
yabahiro 38:40e7fdf3c694 3494 break;
yabahiro 38:40e7fdf3c694 3495 case 253:
kishibekairohan 44:2aff0da5ebdb 3496 motor[TIRE_FL].pwm += 6;
yabahiro 38:40e7fdf3c694 3497 mtc=false;
yabahiro 38:40e7fdf3c694 3498 break;
yabahiro 38:40e7fdf3c694 3499 case 254:
kishibekairohan 44:2aff0da5ebdb 3500 motor[TIRE_FL].pwm += 9;
yabahiro 38:40e7fdf3c694 3501 motor[TIRE_FR].pwm = 0;
yabahiro 38:40e7fdf3c694 3502 mtc=false;
yabahiro 38:40e7fdf3c694 3503 break;
yabahiro 38:40e7fdf3c694 3504 case 1:
kishibekairohan 44:2aff0da5ebdb 3505 motor[TIRE_FR].pwm += 3;
yabahiro 38:40e7fdf3c694 3506 mtc=false;
yabahiro 38:40e7fdf3c694 3507 break;
yabahiro 38:40e7fdf3c694 3508 case 3:
kishibekairohan 44:2aff0da5ebdb 3509 motor[TIRE_FR].pwm += 6;
yabahiro 38:40e7fdf3c694 3510 mtc=false;
yabahiro 38:40e7fdf3c694 3511 break;
yabahiro 38:40e7fdf3c694 3512 case 2:
kishibekairohan 44:2aff0da5ebdb 3513 motor[TIRE_FR].pwm += 9;
yabahiro 38:40e7fdf3c694 3514 motor[TIRE_FL].pwm = 0;
yabahiro 38:40e7fdf3c694 3515 mtc=false;
yabahiro 38:40e7fdf3c694 3516 break;
yabahiro 38:40e7fdf3c694 3517 }
yabahiro 33:dd598bb23ad1 3518 }
yabahiro 54:4167f10ecad0 3519 break;
yabahiro 54:4167f10ecad0 3520 case 100:
yabahiro 54:4167f10ecad0 3521 motor[TIRE_FR].pwm = 50;
yabahiro 54:4167f10ecad0 3522 motor[TIRE_FR].dir = FOR;
yabahiro 54:4167f10ecad0 3523 motor[TIRE_FL].pwm = 55;
yabahiro 54:4167f10ecad0 3524 motor[TIRE_FL].dir = BACK;
yabahiro 54:4167f10ecad0 3525 motor[TIRE_BR].pwm = 60;
yabahiro 54:4167f10ecad0 3526 motor[TIRE_BR].dir = FOR;
yabahiro 54:4167f10ecad0 3527 motor[TIRE_BL].pwm = 50;
yabahiro 54:4167f10ecad0 3528 motor[TIRE_BL].dir = BACK;
yabahiro 54:4167f10ecad0 3529 break;
yabahiro 54:4167f10ecad0 3530 default:
yabahiro 54:4167f10ecad0 3531 motor[TIRE_FR].pwm = 50;
yabahiro 54:4167f10ecad0 3532 motor[TIRE_FR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3533 motor[TIRE_FL].pwm = 50;
yabahiro 54:4167f10ecad0 3534 motor[TIRE_FL].dir = BRAKE;
yabahiro 54:4167f10ecad0 3535 motor[TIRE_BR].pwm = 50;
yabahiro 54:4167f10ecad0 3536 motor[TIRE_BR].dir = BRAKE;
yabahiro 54:4167f10ecad0 3537 motor[TIRE_BL].pwm = 50;
yabahiro 54:4167f10ecad0 3538 motor[TIRE_BL].dir = BRAKE;
yabahiro 54:4167f10ecad0 3539 break;
yabahiro 53:694dbd7dfa0e 3540 }
kishibekairohan 13:b6e02d6261d7 3541 }
kishibekairohan 13:b6e02d6261d7 3542 #endif
kishibekairohan 13:b6e02d6261d7 3543
kishibekairohan 13:b6e02d6261d7 3544 #if USE_PROCESS_NUM>4
Ryosei 27:dd9f27fce7d1 3545 static void Process4()
M_souta 22:7d93f79a3686 3546 {
yabahiro 48:5562a99479e5 3547 //Oh So 決勝青ゾーン
yabahiro 48:5562a99479e5 3548 LED::LED::TapeledMode(2);
yabahiro 48:5562a99479e5 3549 countss++;
yabahiro 48:5562a99479e5 3550 if(mode==1) {//スタートゾーンから白線検知
yabahiro 48:5562a99479e5 3551 fast=40;
yabahiro 48:5562a99479e5 3552 normal=30;
yabahiro 48:5562a99479e5 3553 slow=20;
yabahiro 48:5562a99479e5 3554 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3555 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3556 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3557 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3558 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3559 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3560 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3561 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3562 if(g[2]==0&&countss>=100000) {
yabahiro 48:5562a99479e5 3563 countss=100000;
yabahiro 48:5562a99479e5 3564 cross=0;
yabahiro 48:5562a99479e5 3565 mode=3;
yabahiro 48:5562a99479e5 3566 }
yabahiro 48:5562a99479e5 3567 } else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro 48:5562a99479e5 3568 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3569 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3570 motor[TIRE_FL].pwm = 255;
yabahiro 48:5562a99479e5 3571 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 3572 motor[TIRE_BR].pwm = 255;
yabahiro 48:5562a99479e5 3573 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 3574 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3575 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3576 if(g[1]==0) {
yabahiro 48:5562a99479e5 3577 mode=10;
yabahiro 48:5562a99479e5 3578 countss=100000;
yabahiro 48:5562a99479e5 3579 }
yabahiro 48:5562a99479e5 3580 } else if(mode==10) { //縦ライントレース
yabahiro 48:5562a99479e5 3581 switch(g[1]) {
yabahiro 48:5562a99479e5 3582 case 98:
yabahiro 48:5562a99479e5 3583 motor[TIRE_FR].pwm = normal+50;
yabahiro 48:5562a99479e5 3584 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3585 motor[TIRE_FL].pwm = normal+50;
yabahiro 48:5562a99479e5 3586 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3587 motor[TIRE_BR].pwm = normal+50;
yabahiro 48:5562a99479e5 3588 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3589 motor[TIRE_BL].pwm = normal+50;
yabahiro 48:5562a99479e5 3590 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3591 mtc=true;
yabahiro 49:697b4e9ce884 3592 if(YELLOW) {
yabahiro 49:697b4e9ce884 3593 if(countss>80000) {
yabahiro 49:697b4e9ce884 3594 cross++;
yabahiro 49:697b4e9ce884 3595 countss=0;
yabahiro 49:697b4e9ce884 3596 }
yabahiro 48:5562a99479e5 3597
yabahiro 49:697b4e9ce884 3598 if(cross==2) {
yabahiro 49:697b4e9ce884 3599 fast = 10;
yabahiro 49:697b4e9ce884 3600 normal = 10;
yabahiro 49:697b4e9ce884 3601 slow = 5;
yabahiro 49:697b4e9ce884 3602 }
yabahiro 48:5562a99479e5 3603
yabahiro 49:697b4e9ce884 3604 if(cross==3) {
yabahiro 49:697b4e9ce884 3605 fast=40;
yabahiro 49:697b4e9ce884 3606 normal=30;
yabahiro 49:697b4e9ce884 3607 slow=20;
yabahiro 49:697b4e9ce884 3608 mode=11;
yabahiro 49:697b4e9ce884 3609 countss=0;
yabahiro 49:697b4e9ce884 3610 cross=0;
yabahiro 49:697b4e9ce884 3611 }
yabahiro 49:697b4e9ce884 3612 } else {
yabahiro 48:5562a99479e5 3613 mode=11;
yabahiro 48:5562a99479e5 3614 }
yabahiro 48:5562a99479e5 3615 break;
yabahiro 48:5562a99479e5 3616 case 0:
yabahiro 48:5562a99479e5 3617 motor[TIRE_FR].pwm = fast+50;
yabahiro 48:5562a99479e5 3618 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3619 motor[TIRE_FL].pwm = fast+50;
yabahiro 48:5562a99479e5 3620 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3621 motor[TIRE_BR].pwm = fast+50;
yabahiro 48:5562a99479e5 3622 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3623 motor[TIRE_BL].pwm = fast+50;
yabahiro 48:5562a99479e5 3624 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3625 mtc=true;
yabahiro 48:5562a99479e5 3626 break;
yabahiro 48:5562a99479e5 3627 case 255:
yabahiro 48:5562a99479e5 3628 motor[TIRE_FR].pwm = fast+50;
yabahiro 48:5562a99479e5 3629 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3630 motor[TIRE_FL].pwm = slow+50;
yabahiro 48:5562a99479e5 3631 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3632 motor[TIRE_BR].pwm = slow+50;
yabahiro 48:5562a99479e5 3633 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3634 motor[TIRE_BL].pwm = fast+50;
yabahiro 48:5562a99479e5 3635 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3636 mtc=true;
yabahiro 48:5562a99479e5 3637 break;
yabahiro 48:5562a99479e5 3638 case 253:
yabahiro 48:5562a99479e5 3639 motor[TIRE_FR].pwm = slow+50;
yabahiro 48:5562a99479e5 3640 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3641 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3642 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3643 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3644 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3645 motor[TIRE_BL].pwm = slow+50;
yabahiro 48:5562a99479e5 3646 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3647 mtc=true;
yabahiro 48:5562a99479e5 3648 break;
yabahiro 48:5562a99479e5 3649 case 254:
yabahiro 48:5562a99479e5 3650 motor[TIRE_FR].pwm = normal+50;
yabahiro 48:5562a99479e5 3651 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3652 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3653 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3654 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3655 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3656 motor[TIRE_BL].pwm = normal+50;
yabahiro 48:5562a99479e5 3657 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3658 mtc=true;
yabahiro 48:5562a99479e5 3659 break;
yabahiro 48:5562a99479e5 3660 case 1:
yabahiro 48:5562a99479e5 3661 motor[TIRE_FR].pwm = slow+50;
yabahiro 48:5562a99479e5 3662 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3663 motor[TIRE_FL].pwm = fast+50;
yabahiro 48:5562a99479e5 3664 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3665 motor[TIRE_BR].pwm = fast+50;
yabahiro 48:5562a99479e5 3666 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3667 motor[TIRE_BL].pwm = slow+50;
yabahiro 48:5562a99479e5 3668 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3669 mtc=true;
yabahiro 48:5562a99479e5 3670 break;
yabahiro 48:5562a99479e5 3671 case 3:
yabahiro 48:5562a99479e5 3672 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3673 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3674 motor[TIRE_FL].pwm = slow+50;
yabahiro 48:5562a99479e5 3675 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3676 motor[TIRE_BR].pwm = slow+50;
yabahiro 48:5562a99479e5 3677 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3678 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3679 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3680 mtc=true;
yabahiro 48:5562a99479e5 3681 break;
yabahiro 48:5562a99479e5 3682 case 2:
yabahiro 48:5562a99479e5 3683 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3684 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3685 motor[TIRE_FL].pwm = normal+50;
yabahiro 48:5562a99479e5 3686 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3687 motor[TIRE_BR].pwm = normal+50;
yabahiro 48:5562a99479e5 3688 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3689 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3690 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3691 mtc=true;
yabahiro 48:5562a99479e5 3692 break;
yabahiro 48:5562a99479e5 3693 }
yabahiro 48:5562a99479e5 3694 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 3695 switch(g[0]) {
yabahiro 48:5562a99479e5 3696 case 0:
yabahiro 48:5562a99479e5 3697 mtc=false;
yabahiro 48:5562a99479e5 3698 break;
yabahiro 48:5562a99479e5 3699 case 255:
yabahiro 48:5562a99479e5 3700 motor[TIRE_FL].pwm += 3;
yabahiro 48:5562a99479e5 3701 mtc=false;
yabahiro 48:5562a99479e5 3702 break;
yabahiro 48:5562a99479e5 3703 case 253:
yabahiro 48:5562a99479e5 3704 motor[TIRE_FL].pwm += 6;
yabahiro 48:5562a99479e5 3705 mtc=false;
yabahiro 48:5562a99479e5 3706 break;
yabahiro 48:5562a99479e5 3707 case 254:
yabahiro 48:5562a99479e5 3708 motor[TIRE_FL].pwm += 9;
yabahiro 48:5562a99479e5 3709 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3710 mtc=false;
yabahiro 48:5562a99479e5 3711 break;
yabahiro 48:5562a99479e5 3712 case 1:
yabahiro 48:5562a99479e5 3713 motor[TIRE_FR].pwm += 3;
yabahiro 48:5562a99479e5 3714 mtc=false;
yabahiro 48:5562a99479e5 3715 break;
yabahiro 48:5562a99479e5 3716 case 3:
yabahiro 48:5562a99479e5 3717 motor[TIRE_FR].pwm += 6;
yabahiro 48:5562a99479e5 3718 mtc=false;
yabahiro 48:5562a99479e5 3719 break;
yabahiro 48:5562a99479e5 3720 case 2:
yabahiro 48:5562a99479e5 3721 motor[TIRE_FR].pwm += 9;
yabahiro 48:5562a99479e5 3722 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3723 mtc=false;
yabahiro 48:5562a99479e5 3724 break;
yabahiro 48:5562a99479e5 3725 }
yabahiro 48:5562a99479e5 3726 }
yabahiro 48:5562a99479e5 3727 } else if(mode==11) {
yabahiro 48:5562a99479e5 3728 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 3729 motor[TIRE_FR].dir = FOR;
yabahiro 49:697b4e9ce884 3730 motor[TIRE_FL].pwm = 50;
yabahiro 49:697b4e9ce884 3731 motor[TIRE_FL].dir = BRAKE;
yabahiro 49:697b4e9ce884 3732 motor[TIRE_BR].pwm = 50;
yabahiro 49:697b4e9ce884 3733 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 3734 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 3735 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3736 if(g[2]==0 || g[2]==255 || g[2]==254 || g[2]==253) {
yabahiro 48:5562a99479e5 3737 countss=0;
yabahiro 48:5562a99479e5 3738 cross=0;
yabahiro 48:5562a99479e5 3739 mode=20;
yabahiro 48:5562a99479e5 3740 }
yabahiro 48:5562a99479e5 3741 } else if(mode==20) {
yabahiro 48:5562a99479e5 3742 switch(g[2]) {
yabahiro 48:5562a99479e5 3743 case 98:
yabahiro 48:5562a99479e5 3744 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3745 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3746 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3747 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3748 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3749 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3750 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3751 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3752 if(countss>30000) {
yabahiro 48:5562a99479e5 3753 cross++;
yabahiro 48:5562a99479e5 3754 countss=0;
yabahiro 48:5562a99479e5 3755 }
yabahiro 48:5562a99479e5 3756 mtc2=true;
yabahiro 48:5562a99479e5 3757
yabahiro 48:5562a99479e5 3758 if(YELLOW) {
yabahiro 49:697b4e9ce884 3759 solenoid.solenoid4= SOLENOID_ON;
yabahiro 48:5562a99479e5 3760 if(cross==1) {
yabahiro 48:5562a99479e5 3761 fast=20;
yabahiro 48:5562a99479e5 3762 normal=15;
yabahiro 48:5562a99479e5 3763 slow=15;
yabahiro 48:5562a99479e5 3764 } else if(cross==2) {
yabahiro 48:5562a99479e5 3765 mode=21;
yabahiro 48:5562a99479e5 3766 countss=0;
yabahiro 48:5562a99479e5 3767 cross=0;
yabahiro 48:5562a99479e5 3768 }
yabahiro 48:5562a99479e5 3769 } else {
yabahiro 49:697b4e9ce884 3770 if(cross==2) {
yabahiro 49:697b4e9ce884 3771 fast=20;
yabahiro 49:697b4e9ce884 3772 normal=15;
yabahiro 49:697b4e9ce884 3773 slow=15;
yabahiro 49:697b4e9ce884 3774 }
yabahiro 48:5562a99479e5 3775 if(cross==3) {
yabahiro 48:5562a99479e5 3776 mode=21;
yabahiro 48:5562a99479e5 3777 countss=0;
yabahiro 48:5562a99479e5 3778 cross=0;
yabahiro 48:5562a99479e5 3779 }
yabahiro 48:5562a99479e5 3780 }
yabahiro 48:5562a99479e5 3781 break;
yabahiro 48:5562a99479e5 3782 case 0:
yabahiro 48:5562a99479e5 3783 motor[TIRE_FR].pwm = fast+20;
yabahiro 48:5562a99479e5 3784 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3785 motor[TIRE_FL].pwm = fast+20;
yabahiro 48:5562a99479e5 3786 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3787 motor[TIRE_BR].pwm = fast+20;
yabahiro 48:5562a99479e5 3788 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3789 motor[TIRE_BL].pwm = fast+20;
yabahiro 48:5562a99479e5 3790 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3791 mtc2=true;
yabahiro 48:5562a99479e5 3792 break;
yabahiro 48:5562a99479e5 3793 case 255:
yabahiro 48:5562a99479e5 3794 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3795 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3796 motor[TIRE_FL].pwm = fast+20;
yabahiro 48:5562a99479e5 3797 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3798 motor[TIRE_BR].pwm = fast+20;
yabahiro 48:5562a99479e5 3799 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3800 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3801 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3802 mtc2=true;
yabahiro 48:5562a99479e5 3803 break;
yabahiro 48:5562a99479e5 3804 case 253:
yabahiro 48:5562a99479e5 3805 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3806 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3807 motor[TIRE_FL].pwm = slow+20;
yabahiro 48:5562a99479e5 3808 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3809 motor[TIRE_BR].pwm = slow+20;
yabahiro 48:5562a99479e5 3810 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3811 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3812 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3813 mtc2=true;
yabahiro 48:5562a99479e5 3814 break;
yabahiro 48:5562a99479e5 3815 case 254:
yabahiro 48:5562a99479e5 3816 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 3817 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3818 motor[TIRE_FL].pwm = normal+20;
yabahiro 48:5562a99479e5 3819 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3820 motor[TIRE_BR].pwm = normal+20;
yabahiro 48:5562a99479e5 3821 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3822 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3823 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3824 mtc2=true;
yabahiro 48:5562a99479e5 3825 break;
yabahiro 48:5562a99479e5 3826 case 1:
yabahiro 48:5562a99479e5 3827 motor[TIRE_FR].pwm = fast+20;
yabahiro 48:5562a99479e5 3828 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3829 motor[TIRE_FL].pwm = slow+20;
yabahiro 48:5562a99479e5 3830 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3831 motor[TIRE_BR].pwm = slow+20;
yabahiro 48:5562a99479e5 3832 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3833 motor[TIRE_BL].pwm = fast+20;
yabahiro 48:5562a99479e5 3834 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3835 mtc2=true;
yabahiro 48:5562a99479e5 3836 break;
yabahiro 48:5562a99479e5 3837 case 3:
yabahiro 48:5562a99479e5 3838 motor[TIRE_FR].pwm = slow+20;
yabahiro 48:5562a99479e5 3839 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3840 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3841 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3842 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3843 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3844 motor[TIRE_BL].pwm = slow+20;
yabahiro 48:5562a99479e5 3845 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3846 mtc2=true;
yabahiro 48:5562a99479e5 3847 break;
yabahiro 48:5562a99479e5 3848 case 2:
yabahiro 48:5562a99479e5 3849 motor[TIRE_FR].pwm = normal+20;
yabahiro 48:5562a99479e5 3850 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3851 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3852 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3853 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 3854 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3855 motor[TIRE_BL].pwm = normal+20;
yabahiro 48:5562a99479e5 3856 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3857 mtc2=true;
yabahiro 48:5562a99479e5 3858 break;
yabahiro 48:5562a99479e5 3859 }
yabahiro 48:5562a99479e5 3860 if(g[2]!=98&&mtc2==true) {
yabahiro 48:5562a99479e5 3861 switch(g[3]) {
yabahiro 48:5562a99479e5 3862 case 0:
yabahiro 48:5562a99479e5 3863 mtc2=false;
yabahiro 48:5562a99479e5 3864 break;
yabahiro 48:5562a99479e5 3865 case 255:
yabahiro 48:5562a99479e5 3866 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 3867 mtc2=false;
yabahiro 48:5562a99479e5 3868 break;
yabahiro 48:5562a99479e5 3869 case 253:
yabahiro 48:5562a99479e5 3870 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 3871 mtc2=false;
yabahiro 48:5562a99479e5 3872 break;
yabahiro 48:5562a99479e5 3873 case 254:
yabahiro 48:5562a99479e5 3874 motor[TIRE_BL].pwm += 15;
yabahiro 48:5562a99479e5 3875 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 3876 mtc2=false;
yabahiro 48:5562a99479e5 3877 break;
yabahiro 48:5562a99479e5 3878 case 1:
yabahiro 48:5562a99479e5 3879 motor[TIRE_FL].pwm += 5;
yabahiro 48:5562a99479e5 3880 mtc2=false;
yabahiro 48:5562a99479e5 3881 break;
yabahiro 48:5562a99479e5 3882 case 3:
yabahiro 48:5562a99479e5 3883 motor[TIRE_FL].pwm += 10;
yabahiro 48:5562a99479e5 3884 mtc2=false;
yabahiro 48:5562a99479e5 3885 break;
yabahiro 48:5562a99479e5 3886 case 2:
yabahiro 48:5562a99479e5 3887 motor[TIRE_FL].pwm += 15;
yabahiro 48:5562a99479e5 3888 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 3889 mtc2=false;
yabahiro 48:5562a99479e5 3890 break;
yabahiro 48:5562a99479e5 3891 }
yabahiro 48:5562a99479e5 3892 }
yabahiro 48:5562a99479e5 3893 }
yabahiro 48:5562a99479e5 3894 if(YELLOW) {
yabahiro 48:5562a99479e5 3895 if(mode==21) {
yabahiro 48:5562a99479e5 3896 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3897 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3898 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3899 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3900 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3901 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3902 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3903 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3904 if(g[3]==98&&countss>=10000) {
yabahiro 48:5562a99479e5 3905 mode=22;
yabahiro 48:5562a99479e5 3906 countss=0;
yabahiro 48:5562a99479e5 3907 fast=60;
yabahiro 48:5562a99479e5 3908 normal=40;
yabahiro 48:5562a99479e5 3909 slow=20;
yabahiro 48:5562a99479e5 3910 }
yabahiro 48:5562a99479e5 3911 } else if(mode==22) {
yabahiro 48:5562a99479e5 3912 if(g[4]==3||g[4]==2) {
yabahiro 48:5562a99479e5 3913 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3914 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3915 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3916 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 3917 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3918 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3919 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3920 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3921 }
yabahiro 48:5562a99479e5 3922 if(g[4]==253||g[4]==254) {
yabahiro 48:5562a99479e5 3923 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3924 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3925 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3926 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3927 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3928 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3929 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3930 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 3931 }
yabahiro 48:5562a99479e5 3932 switch(g[2]) {
yabahiro 48:5562a99479e5 3933 case 0:
yabahiro 48:5562a99479e5 3934 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3935 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3936 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3937 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3938 break;
yabahiro 48:5562a99479e5 3939 case 255:
yabahiro 48:5562a99479e5 3940 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3941 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3942 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3943 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3944 break;
yabahiro 48:5562a99479e5 3945 case 253:
yabahiro 48:5562a99479e5 3946 motor[TIRE_FR].pwm = 40;
yabahiro 48:5562a99479e5 3947 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3948 motor[TIRE_BR].pwm = 20;
yabahiro 48:5562a99479e5 3949 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 3950 break;
yabahiro 48:5562a99479e5 3951 case 254:
yabahiro 48:5562a99479e5 3952 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3953 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 3954 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3955 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 3956 break;
yabahiro 48:5562a99479e5 3957 case 1:
yabahiro 48:5562a99479e5 3958 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3959 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3960 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3961 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3962 break;
yabahiro 48:5562a99479e5 3963 case 3:
yabahiro 48:5562a99479e5 3964 motor[TIRE_FR].pwm = 20;
yabahiro 48:5562a99479e5 3965 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 3966 motor[TIRE_BR].pwm = 40;
yabahiro 48:5562a99479e5 3967 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3968 break;
yabahiro 48:5562a99479e5 3969 case 2:
yabahiro 48:5562a99479e5 3970 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 3971 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 3972 motor[TIRE_BR].pwm = 30;
yabahiro 48:5562a99479e5 3973 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 3974 break;
yabahiro 48:5562a99479e5 3975 }
yabahiro 48:5562a99479e5 3976 switch(g[3]) {
yabahiro 48:5562a99479e5 3977 case 0:
yabahiro 48:5562a99479e5 3978 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3979 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3980 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 3981 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 3982 break;
yabahiro 48:5562a99479e5 3983 case 255:
yabahiro 48:5562a99479e5 3984 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3985 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3986 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3987 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3988 case 253:
yabahiro 48:5562a99479e5 3989 motor[TIRE_FL].pwm = 20;
yabahiro 48:5562a99479e5 3990 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 3991 motor[TIRE_BL].pwm = 40;
yabahiro 48:5562a99479e5 3992 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3993 break;
yabahiro 48:5562a99479e5 3994 case 254:
yabahiro 48:5562a99479e5 3995 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 3996 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 3997 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 3998 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 3999 break;
yabahiro 48:5562a99479e5 4000 case 1:
yabahiro 48:5562a99479e5 4001 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 4002 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4003 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 4004 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4005 break;
yabahiro 48:5562a99479e5 4006 case 3:
yabahiro 48:5562a99479e5 4007 motor[TIRE_FL].pwm = 40;
yabahiro 48:5562a99479e5 4008 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4009 motor[TIRE_BL].pwm = 20;
yabahiro 48:5562a99479e5 4010 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4011 break;
yabahiro 48:5562a99479e5 4012 case 2:
yabahiro 48:5562a99479e5 4013 motor[TIRE_FL].pwm = 30;
yabahiro 48:5562a99479e5 4014 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4015 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 4016 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4017 break;
yabahiro 48:5562a99479e5 4018 }
yabahiro 48:5562a99479e5 4019 if(g[3]==0&&g[2]==0) {
yabahiro 48:5562a99479e5 4020 mode=23;
yabahiro 48:5562a99479e5 4021 countss=0;
yabahiro 48:5562a99479e5 4022 }
yabahiro 48:5562a99479e5 4023 } else if(mode==23) {
yabahiro 48:5562a99479e5 4024 switch(g[4]) {
yabahiro 48:5562a99479e5 4025 case 98:
yabahiro 48:5562a99479e5 4026 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 4027 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4028 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 4029 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4030 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 4031 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4032 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 4033 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4034 break;
yabahiro 48:5562a99479e5 4035 case 99:
yabahiro 48:5562a99479e5 4036 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4037 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4038 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4039 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4040 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4041 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4042 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4043 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4044 break;
yabahiro 48:5562a99479e5 4045 case 0:
yabahiro 48:5562a99479e5 4046 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 4047 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4048 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 4049 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4050 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 4051 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4052 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 4053 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4054 break;
yabahiro 48:5562a99479e5 4055 case 255:
yabahiro 48:5562a99479e5 4056 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4057 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4058 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4059 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4060 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4061 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4062 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4063 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4064 break;
yabahiro 48:5562a99479e5 4065 case 253:
yabahiro 48:5562a99479e5 4066 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 4067 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4068 motor[TIRE_FL].pwm = slow-5;
yabahiro 48:5562a99479e5 4069 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4070 motor[TIRE_BR].pwm = slow-5;
yabahiro 48:5562a99479e5 4071 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4072 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 4073 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4074 break;
yabahiro 48:5562a99479e5 4075 case 254:
yabahiro 48:5562a99479e5 4076 motor[TIRE_FR].pwm = fast-5;
yabahiro 48:5562a99479e5 4077 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4078 motor[TIRE_FL].pwm = normal-5;
yabahiro 48:5562a99479e5 4079 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4080 motor[TIRE_BR].pwm = normal-5;
yabahiro 48:5562a99479e5 4081 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4082 motor[TIRE_BL].pwm = fast-5;
yabahiro 48:5562a99479e5 4083 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4084 break;
yabahiro 48:5562a99479e5 4085 case 1:
yabahiro 48:5562a99479e5 4086 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4087 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4088 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4089 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4090 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4091 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4092 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4093 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4094 break;
yabahiro 48:5562a99479e5 4095 case 3:
yabahiro 48:5562a99479e5 4096 motor[TIRE_FR].pwm = slow-5;
yabahiro 48:5562a99479e5 4097 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4098 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 4099 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4100 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 4101 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4102 motor[TIRE_BL].pwm = slow-5;
yabahiro 48:5562a99479e5 4103 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4104 break;
yabahiro 48:5562a99479e5 4105 case 2:
yabahiro 48:5562a99479e5 4106 motor[TIRE_FR].pwm = normal-5;
yabahiro 48:5562a99479e5 4107 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4108 motor[TIRE_FL].pwm = fast-5;
yabahiro 48:5562a99479e5 4109 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4110 motor[TIRE_BR].pwm = fast-5;
yabahiro 48:5562a99479e5 4111 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4112 motor[TIRE_BL].pwm = normal-5;
yabahiro 48:5562a99479e5 4113 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4114 break;
yabahiro 48:5562a99479e5 4115 }
yabahiro 48:5562a99479e5 4116 if(g[2]==254&&countss>=100000) {
yabahiro 48:5562a99479e5 4117 mode=24;
yabahiro 48:5562a99479e5 4118 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 48:5562a99479e5 4119 countss=0;
yabahiro 48:5562a99479e5 4120 fast=60;
yabahiro 48:5562a99479e5 4121 normal=40;
yabahiro 48:5562a99479e5 4122 slow=20;
yabahiro 48:5562a99479e5 4123 }
yabahiro 48:5562a99479e5 4124 } else if(mode==24) {
yabahiro 48:5562a99479e5 4125 motor[TIRE_FR].pwm = 60;
yabahiro 48:5562a99479e5 4126 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4127 motor[TIRE_FL].pwm = 60;
yabahiro 48:5562a99479e5 4128 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4129 motor[TIRE_BR].pwm = 60;
yabahiro 48:5562a99479e5 4130 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4131 motor[TIRE_BL].pwm = 60;
yabahiro 48:5562a99479e5 4132 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4133 if(g[0]==0) {
yabahiro 48:5562a99479e5 4134 mode=25;
yabahiro 48:5562a99479e5 4135 }
yabahiro 48:5562a99479e5 4136 } else if(mode==25) {
yabahiro 48:5562a99479e5 4137 motor[TIRE_FR].pwm = 100;
yabahiro 48:5562a99479e5 4138 motor[TIRE_FR].dir = BRAKE;
yabahiro 48:5562a99479e5 4139 motor[TIRE_FL].pwm = 100;
yabahiro 48:5562a99479e5 4140 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4141 motor[TIRE_BR].pwm = 100;
yabahiro 48:5562a99479e5 4142 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4143 motor[TIRE_BL].pwm = 100;
yabahiro 48:5562a99479e5 4144 motor[TIRE_BL].dir = BRAKE;
yabahiro 48:5562a99479e5 4145 if(DOLS==true||UPLS==true) {
yabahiro 48:5562a99479e5 4146 motor[MOTOR_0].pwm = 200;
yabahiro 48:5562a99479e5 4147 motor[MOTOR_0].dir = BRAKE;
yabahiro 48:5562a99479e5 4148 mode=26;
yabahiro 48:5562a99479e5 4149 countss=0;
yabahiro 48:5562a99479e5 4150 } else {
yabahiro 48:5562a99479e5 4151 motor[MOTOR_0].pwm = 100;
yabahiro 48:5562a99479e5 4152 motor[MOTOR_0].dir = BACK;
yabahiro 48:5562a99479e5 4153 }
yabahiro 48:5562a99479e5 4154 } else if(mode==26) {
yabahiro 48:5562a99479e5 4155 if(g[0]==98&&countss>=40000) {
yabahiro 48:5562a99479e5 4156 mode=31;
yabahiro 48:5562a99479e5 4157 countss=0;
yabahiro 48:5562a99479e5 4158 }
yabahiro 48:5562a99479e5 4159 switch(g[0]) {
yabahiro 48:5562a99479e5 4160 case 98:
yabahiro 48:5562a99479e5 4161 fast=40;
yabahiro 48:5562a99479e5 4162 normal=30;
yabahiro 48:5562a99479e5 4163 slow=25;
yabahiro 48:5562a99479e5 4164 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4165 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4166 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4167 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4168 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4169 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4170 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4171 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4172 break;
yabahiro 48:5562a99479e5 4173 case 0:
yabahiro 48:5562a99479e5 4174 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4175 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4176 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4177 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4178 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4179 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4180 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4181 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4182 mtc=true;
yabahiro 48:5562a99479e5 4183 break;
yabahiro 48:5562a99479e5 4184 case 255:
yabahiro 48:5562a99479e5 4185 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4186 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4187 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4188 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4189 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4190 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4191 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4192 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4193 mtc=true;
yabahiro 48:5562a99479e5 4194 break;
yabahiro 48:5562a99479e5 4195 case 253:
yabahiro 48:5562a99479e5 4196 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4197 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4198 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4199 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4200 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4201 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4202 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4203 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4204 mtc=true;
yabahiro 48:5562a99479e5 4205 break;
yabahiro 48:5562a99479e5 4206 case 254:
yabahiro 48:5562a99479e5 4207 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4208 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4209 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4210 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4211 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4212 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4213 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4214 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4215 mtc=true;
yabahiro 48:5562a99479e5 4216 break;
yabahiro 48:5562a99479e5 4217 case 1:
yabahiro 48:5562a99479e5 4218 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4219 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4220 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4221 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4222 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4223 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4224 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4225 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4226 mtc=true;
yabahiro 48:5562a99479e5 4227 break;
yabahiro 48:5562a99479e5 4228 case 3:
yabahiro 48:5562a99479e5 4229 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4230 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4231 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4232 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4233 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4234 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4235 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4236 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4237 mtc=true;
yabahiro 48:5562a99479e5 4238 break;
yabahiro 48:5562a99479e5 4239 case 2:
yabahiro 48:5562a99479e5 4240 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4241 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4242 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4243 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4244 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4245 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4246 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4247 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4248 mtc=true;
yabahiro 48:5562a99479e5 4249 break;
yabahiro 48:5562a99479e5 4250 }
yabahiro 48:5562a99479e5 4251 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4252 switch(g[1]) {
yabahiro 48:5562a99479e5 4253 case 0:
yabahiro 48:5562a99479e5 4254 mtc=false;
yabahiro 48:5562a99479e5 4255 break;
yabahiro 48:5562a99479e5 4256 case 255:
yabahiro 48:5562a99479e5 4257 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4258 mtc=false;
yabahiro 48:5562a99479e5 4259 break;
yabahiro 48:5562a99479e5 4260 case 253:
yabahiro 48:5562a99479e5 4261 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4262 mtc=false;
yabahiro 48:5562a99479e5 4263 break;
yabahiro 48:5562a99479e5 4264 case 254:
yabahiro 48:5562a99479e5 4265 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4266 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4267 mtc=false;
yabahiro 48:5562a99479e5 4268 break;
yabahiro 48:5562a99479e5 4269 case 1:
yabahiro 48:5562a99479e5 4270 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4271 mtc=false;
yabahiro 48:5562a99479e5 4272 break;
yabahiro 48:5562a99479e5 4273 case 3:
yabahiro 48:5562a99479e5 4274 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4275 mtc=false;
yabahiro 48:5562a99479e5 4276 break;
yabahiro 48:5562a99479e5 4277 case 2:
yabahiro 48:5562a99479e5 4278 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4279 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4280 mtc=false;
yabahiro 48:5562a99479e5 4281 break;
yabahiro 48:5562a99479e5 4282 }
yabahiro 48:5562a99479e5 4283 }
yabahiro 48:5562a99479e5 4284 }
yabahiro 48:5562a99479e5 4285 } else {
yabahiro 48:5562a99479e5 4286 if(mode==21) {
yabahiro 49:697b4e9ce884 4287 if(g[0]==98&&countss>=40000) {
yabahiro 48:5562a99479e5 4288 fast=60;
yabahiro 48:5562a99479e5 4289 normal=30;
yabahiro 48:5562a99479e5 4290 slow=25;
yabahiro 48:5562a99479e5 4291 mode=31;
yabahiro 48:5562a99479e5 4292 countss=0;
yabahiro 48:5562a99479e5 4293 }
yabahiro 48:5562a99479e5 4294 switch(g[0]) {
yabahiro 48:5562a99479e5 4295 case 98:
yabahiro 48:5562a99479e5 4296 fast=40;
yabahiro 48:5562a99479e5 4297 normal=30;
yabahiro 48:5562a99479e5 4298 slow=25;
yabahiro 48:5562a99479e5 4299 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4300 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4301 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4302 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4303 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4304 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4305 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4306 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4307 break;
yabahiro 48:5562a99479e5 4308 case 0:
yabahiro 48:5562a99479e5 4309 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4310 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4311 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4312 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4313 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4314 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4315 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4316 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4317 mtc=true;
yabahiro 48:5562a99479e5 4318 break;
yabahiro 48:5562a99479e5 4319 case 255:
yabahiro 48:5562a99479e5 4320 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4321 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4322 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4323 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4324 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4325 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4326 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4327 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4328 mtc=true;
yabahiro 48:5562a99479e5 4329 break;
yabahiro 48:5562a99479e5 4330 case 253:
yabahiro 48:5562a99479e5 4331 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4332 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4333 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4334 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4335 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4336 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4337 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4338 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4339 mtc=true;
yabahiro 48:5562a99479e5 4340 break;
yabahiro 48:5562a99479e5 4341 case 254:
yabahiro 48:5562a99479e5 4342 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4343 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4344 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4345 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4346 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4347 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4348 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4349 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4350 mtc=true;
yabahiro 48:5562a99479e5 4351 break;
yabahiro 48:5562a99479e5 4352 case 1:
yabahiro 48:5562a99479e5 4353 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4354 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4355 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4356 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4357 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4358 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4359 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4360 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4361 mtc=true;
yabahiro 48:5562a99479e5 4362 break;
yabahiro 48:5562a99479e5 4363 case 3:
yabahiro 48:5562a99479e5 4364 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4365 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4366 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4367 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4368 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4369 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4370 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4371 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4372 mtc=true;
yabahiro 48:5562a99479e5 4373 break;
yabahiro 48:5562a99479e5 4374 case 2:
yabahiro 48:5562a99479e5 4375 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4376 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4377 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4378 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4379 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4380 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4381 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4382 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4383 mtc=true;
yabahiro 48:5562a99479e5 4384 break;
yabahiro 48:5562a99479e5 4385 }
yabahiro 48:5562a99479e5 4386 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4387 switch(g[1]) {
yabahiro 48:5562a99479e5 4388 case 0:
yabahiro 48:5562a99479e5 4389 mtc=false;
yabahiro 48:5562a99479e5 4390 break;
yabahiro 48:5562a99479e5 4391 case 255:
yabahiro 48:5562a99479e5 4392 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4393 mtc=false;
yabahiro 48:5562a99479e5 4394 break;
yabahiro 48:5562a99479e5 4395 case 253:
yabahiro 48:5562a99479e5 4396 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4397 mtc=false;
yabahiro 48:5562a99479e5 4398 break;
yabahiro 48:5562a99479e5 4399 case 254:
yabahiro 48:5562a99479e5 4400 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4401 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4402 mtc=false;
yabahiro 48:5562a99479e5 4403 break;
yabahiro 48:5562a99479e5 4404 case 1:
yabahiro 48:5562a99479e5 4405 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4406 mtc=false;
yabahiro 48:5562a99479e5 4407 break;
yabahiro 48:5562a99479e5 4408 case 3:
yabahiro 48:5562a99479e5 4409 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4410 mtc=false;
yabahiro 48:5562a99479e5 4411 break;
yabahiro 48:5562a99479e5 4412 case 2:
yabahiro 48:5562a99479e5 4413 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4414 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4415 mtc=false;
yabahiro 48:5562a99479e5 4416 break;
yabahiro 48:5562a99479e5 4417 }
yabahiro 48:5562a99479e5 4418 }
yabahiro 48:5562a99479e5 4419 }
yabahiro 48:5562a99479e5 4420 }
yabahiro 48:5562a99479e5 4421
yabahiro 48:5562a99479e5 4422 /*
yabahiro 48:5562a99479e5 4423 if(mode==31) {
yabahiro 48:5562a99479e5 4424 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4425 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4426 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4427 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4428 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4429 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4430 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4431 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4432 if(countss>=5000) {
yabahiro 48:5562a99479e5 4433 countss=0;
yabahiro 48:5562a99479e5 4434 mode=33;
yabahiro 48:5562a99479e5 4435 }
yabahiro 48:5562a99479e5 4436 } else if(mode==33) {
yabahiro 48:5562a99479e5 4437 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 4438 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4439 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4440 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4441 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4442 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4443 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 4444 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4445 if(g[3]==0) {
yabahiro 48:5562a99479e5 4446 cross=0;
yabahiro 48:5562a99479e5 4447 countss=0;
yabahiro 48:5562a99479e5 4448 mode=40;
yabahiro 48:5562a99479e5 4449 }
yabahiro 48:5562a99479e5 4450 } else
yabahiro 48:5562a99479e5 4451 */
yabahiro 48:5562a99479e5 4452 if(mode==31) {
yabahiro 48:5562a99479e5 4453 motor[TIRE_FR].pwm = 45;
yabahiro 48:5562a99479e5 4454 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4455 motor[TIRE_FL].pwm = 255;
yabahiro 48:5562a99479e5 4456 motor[TIRE_FL].dir = BRAKE;
yabahiro 48:5562a99479e5 4457 motor[TIRE_BR].pwm = 255;
yabahiro 48:5562a99479e5 4458 motor[TIRE_BR].dir = BRAKE;
yabahiro 48:5562a99479e5 4459 motor[TIRE_BL].pwm = 45;
yabahiro 48:5562a99479e5 4460 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4461 if(g[3]==0) {
yabahiro 48:5562a99479e5 4462 cross=0;
yabahiro 48:5562a99479e5 4463 countss=0;
yabahiro 48:5562a99479e5 4464 mode=40;
yabahiro 48:5562a99479e5 4465 }
yabahiro 48:5562a99479e5 4466 } else if(mode==40) {
yabahiro 48:5562a99479e5 4467 switch(g[3]) {
yabahiro 48:5562a99479e5 4468 case 98:
yabahiro 48:5562a99479e5 4469 motor[TIRE_FR].pwm = normal+15;
yabahiro 48:5562a99479e5 4470 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4471 motor[TIRE_FL].pwm = normal+15;
yabahiro 48:5562a99479e5 4472 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4473 motor[TIRE_BR].pwm = normal+15;
yabahiro 48:5562a99479e5 4474 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4475 motor[TIRE_BL].pwm = normal+15;
yabahiro 48:5562a99479e5 4476 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4477 if(countss>10000) {
yabahiro 48:5562a99479e5 4478 cross++;
yabahiro 48:5562a99479e5 4479 countss=0;
yabahiro 48:5562a99479e5 4480 }
yabahiro 48:5562a99479e5 4481 mtc2=true;
yabahiro 48:5562a99479e5 4482 if(cross==1) {
yabahiro 48:5562a99479e5 4483 mode=41;
yabahiro 48:5562a99479e5 4484 countss=0;
yabahiro 48:5562a99479e5 4485 cross=0;
yabahiro 48:5562a99479e5 4486 }
yabahiro 48:5562a99479e5 4487 break;
yabahiro 48:5562a99479e5 4488 case 0:
yabahiro 48:5562a99479e5 4489 motor[TIRE_FR].pwm = fast+15;
yabahiro 48:5562a99479e5 4490 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4491 motor[TIRE_FL].pwm = fast+15;
yabahiro 48:5562a99479e5 4492 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4493 motor[TIRE_BR].pwm = fast+15;
yabahiro 48:5562a99479e5 4494 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4495 motor[TIRE_BL].pwm = fast+15;
yabahiro 48:5562a99479e5 4496 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4497 mtc2=true;
yabahiro 48:5562a99479e5 4498 break;
yabahiro 48:5562a99479e5 4499 case 255:
yabahiro 48:5562a99479e5 4500 motor[TIRE_FR].pwm = slow+15;
yabahiro 48:5562a99479e5 4501 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4502 motor[TIRE_FL].pwm = fast+15;
yabahiro 48:5562a99479e5 4503 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4504 motor[TIRE_BR].pwm = fast+15;
yabahiro 48:5562a99479e5 4505 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4506 motor[TIRE_BL].pwm = slow+15;
yabahiro 48:5562a99479e5 4507 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4508 mtc2=true;
yabahiro 48:5562a99479e5 4509 break;
yabahiro 48:5562a99479e5 4510 case 253:
yabahiro 48:5562a99479e5 4511 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4512 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4513 motor[TIRE_FL].pwm = slow+15;
yabahiro 48:5562a99479e5 4514 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4515 motor[TIRE_BR].pwm = slow+15;
yabahiro 48:5562a99479e5 4516 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4517 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4518 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4519 mtc2=true;
yabahiro 48:5562a99479e5 4520 break;
yabahiro 48:5562a99479e5 4521 case 254:
yabahiro 48:5562a99479e5 4522 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4523 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4524 motor[TIRE_FL].pwm = normal+15;
yabahiro 48:5562a99479e5 4525 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4526 motor[TIRE_BR].pwm = normal+15;
yabahiro 48:5562a99479e5 4527 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4528 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4529 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4530 mtc2=true;
yabahiro 48:5562a99479e5 4531 break;
yabahiro 48:5562a99479e5 4532 case 1:
yabahiro 48:5562a99479e5 4533 motor[TIRE_FR].pwm = fast+15;
yabahiro 48:5562a99479e5 4534 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4535 motor[TIRE_FL].pwm = slow+15;
yabahiro 48:5562a99479e5 4536 motor[TIRE_FL].dir = BACK;
yabahiro 48:5562a99479e5 4537 motor[TIRE_BR].pwm = slow+15;
yabahiro 48:5562a99479e5 4538 motor[TIRE_BR].dir = FOR;
yabahiro 48:5562a99479e5 4539 motor[TIRE_BL].pwm = fast+15;
yabahiro 48:5562a99479e5 4540 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4541 mtc2=true;
yabahiro 48:5562a99479e5 4542 break;
yabahiro 48:5562a99479e5 4543 case 3:
yabahiro 48:5562a99479e5 4544 motor[TIRE_FR].pwm = slow+15;
yabahiro 48:5562a99479e5 4545 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4546 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4547 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4548 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4549 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4550 motor[TIRE_BL].pwm = slow+15;
yabahiro 48:5562a99479e5 4551 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4552 mtc2=true;
yabahiro 48:5562a99479e5 4553 break;
yabahiro 48:5562a99479e5 4554 case 2:
yabahiro 48:5562a99479e5 4555 motor[TIRE_FR].pwm = normal+15;
yabahiro 48:5562a99479e5 4556 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4557 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4558 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4559 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4560 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4561 motor[TIRE_BL].pwm = normal+15;
yabahiro 48:5562a99479e5 4562 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4563 mtc2=true;
yabahiro 48:5562a99479e5 4564 break;
yabahiro 48:5562a99479e5 4565 }
yabahiro 48:5562a99479e5 4566 if(g[2]!=98&&mtc2==true) {
yabahiro 48:5562a99479e5 4567 switch(g[2]) {
yabahiro 48:5562a99479e5 4568 case 0:
yabahiro 48:5562a99479e5 4569 mtc2=false;
yabahiro 48:5562a99479e5 4570 break;
yabahiro 48:5562a99479e5 4571 case 255:
yabahiro 48:5562a99479e5 4572 motor[TIRE_FL].pwm += 5;
yabahiro 48:5562a99479e5 4573 mtc2=false;
yabahiro 48:5562a99479e5 4574 break;
yabahiro 48:5562a99479e5 4575 case 253:
yabahiro 48:5562a99479e5 4576 motor[TIRE_FL].pwm += 10;
yabahiro 48:5562a99479e5 4577 mtc2=false;
yabahiro 48:5562a99479e5 4578 break;
yabahiro 48:5562a99479e5 4579 case 254:
yabahiro 48:5562a99479e5 4580 motor[TIRE_FL].pwm += 20;
yabahiro 48:5562a99479e5 4581 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4582 mtc2=false;
yabahiro 48:5562a99479e5 4583 break;
yabahiro 48:5562a99479e5 4584 case 1:
yabahiro 48:5562a99479e5 4585 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4586 mtc2=false;
yabahiro 48:5562a99479e5 4587 break;
yabahiro 48:5562a99479e5 4588 case 3:
yabahiro 48:5562a99479e5 4589 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4590 mtc2=false;
yabahiro 48:5562a99479e5 4591 break;
yabahiro 48:5562a99479e5 4592 case 2:
yabahiro 48:5562a99479e5 4593 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4594 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4595 mtc2=false;
yabahiro 48:5562a99479e5 4596 break;
yabahiro 48:5562a99479e5 4597 }
yabahiro 48:5562a99479e5 4598 }
yabahiro 48:5562a99479e5 4599 } else if(mode==41) {
yabahiro 48:5562a99479e5 4600 if(LIF||LIB) {
yabahiro 48:5562a99479e5 4601 mode=42;
yabahiro 48:5562a99479e5 4602 }
yabahiro 48:5562a99479e5 4603 motor[TIRE_FR].pwm = 30;
yabahiro 48:5562a99479e5 4604 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4605 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4606 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4607 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4608 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4609 motor[TIRE_BL].pwm = 30;
yabahiro 48:5562a99479e5 4610 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4611 if(g[1]==0) {
yabahiro 48:5562a99479e5 4612 countss=0;
yabahiro 48:5562a99479e5 4613 mode=70;
yabahiro 48:5562a99479e5 4614 normal=60;
yabahiro 48:5562a99479e5 4615 fast=70;
yabahiro 48:5562a99479e5 4616 slow=40;
yabahiro 48:5562a99479e5 4617 }
yabahiro 48:5562a99479e5 4618 } else if(mode==42) {
yabahiro 48:5562a99479e5 4619 motor[TIRE_FR].pwm = 40;
yabahiro 48:5562a99479e5 4620 motor[TIRE_FR].dir = FOR;
yabahiro 48:5562a99479e5 4621 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4622 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4623 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4624 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4625 motor[TIRE_BL].pwm = 40;
yabahiro 48:5562a99479e5 4626 motor[TIRE_BL].dir = BACK;
yabahiro 48:5562a99479e5 4627 if(g[1]==0) {
yabahiro 48:5562a99479e5 4628 countss=0;
yabahiro 48:5562a99479e5 4629 mode=70;
yabahiro 48:5562a99479e5 4630 }
yabahiro 48:5562a99479e5 4631 } else if(mode==70) {
yabahiro 48:5562a99479e5 4632 switch(g[0]) {
yabahiro 48:5562a99479e5 4633 case 99:
yabahiro 48:5562a99479e5 4634 if(countss>=100000) {
yabahiro 48:5562a99479e5 4635 mode=100;
yabahiro 48:5562a99479e5 4636 }
yabahiro 48:5562a99479e5 4637 break;
yabahiro 48:5562a99479e5 4638 case 98:
yabahiro 48:5562a99479e5 4639 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4640 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4641 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4642 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4643 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4644 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4645 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4646 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4647 break;
yabahiro 48:5562a99479e5 4648 case 0:
yabahiro 48:5562a99479e5 4649 motor[TIRE_FR].pwm = 80;
yabahiro 48:5562a99479e5 4650 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4651 motor[TIRE_FL].pwm = 80;
yabahiro 48:5562a99479e5 4652 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4653 motor[TIRE_BR].pwm = 80;
yabahiro 48:5562a99479e5 4654 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4655 motor[TIRE_BL].pwm = 80;
yabahiro 48:5562a99479e5 4656 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4657 mtc=true;
yabahiro 48:5562a99479e5 4658 break;
yabahiro 48:5562a99479e5 4659 case 255:
yabahiro 48:5562a99479e5 4660 motor[TIRE_FR].pwm = fast;
yabahiro 48:5562a99479e5 4661 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4662 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4663 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4664 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4665 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4666 motor[TIRE_BL].pwm = fast;
yabahiro 48:5562a99479e5 4667 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4668 mtc=true;
yabahiro 48:5562a99479e5 4669 break;
yabahiro 48:5562a99479e5 4670 case 253:
yabahiro 48:5562a99479e5 4671 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4672 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4673 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4674 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4675 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4676 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4677 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4678 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4679 mtc=true;
yabahiro 48:5562a99479e5 4680 break;
yabahiro 48:5562a99479e5 4681 case 254:
yabahiro 48:5562a99479e5 4682 motor[TIRE_FR].pwm = normal;
yabahiro 48:5562a99479e5 4683 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4684 motor[TIRE_FL].pwm = 0;
yabahiro 48:5562a99479e5 4685 motor[TIRE_FL].dir = FREE;
yabahiro 48:5562a99479e5 4686 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4687 motor[TIRE_BR].dir = FREE;
yabahiro 48:5562a99479e5 4688 motor[TIRE_BL].pwm = normal;
yabahiro 48:5562a99479e5 4689 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4690 mtc=true;
yabahiro 48:5562a99479e5 4691 break;
yabahiro 48:5562a99479e5 4692 case 1:
yabahiro 48:5562a99479e5 4693 motor[TIRE_FR].pwm = slow;
yabahiro 48:5562a99479e5 4694 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4695 motor[TIRE_FL].pwm = fast;
yabahiro 48:5562a99479e5 4696 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4697 motor[TIRE_BR].pwm = fast;
yabahiro 48:5562a99479e5 4698 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4699 motor[TIRE_BL].pwm = slow;
yabahiro 48:5562a99479e5 4700 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4701 mtc=true;
yabahiro 48:5562a99479e5 4702 break;
yabahiro 48:5562a99479e5 4703 case 3:
yabahiro 48:5562a99479e5 4704 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4705 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4706 motor[TIRE_FL].pwm = slow;
yabahiro 48:5562a99479e5 4707 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4708 motor[TIRE_BR].pwm = slow;
yabahiro 48:5562a99479e5 4709 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4710 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4711 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4712 mtc=true;
yabahiro 48:5562a99479e5 4713 break;
yabahiro 48:5562a99479e5 4714 case 2:
yabahiro 48:5562a99479e5 4715 motor[TIRE_FR].pwm = 0;
yabahiro 48:5562a99479e5 4716 motor[TIRE_FR].dir = FREE;
yabahiro 48:5562a99479e5 4717 motor[TIRE_FL].pwm = normal;
yabahiro 48:5562a99479e5 4718 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4719 motor[TIRE_BR].pwm = normal;
yabahiro 48:5562a99479e5 4720 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4721 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4722 motor[TIRE_BL].dir = FREE;
yabahiro 48:5562a99479e5 4723 mtc=true;
yabahiro 48:5562a99479e5 4724 break;
yabahiro 48:5562a99479e5 4725 }
yabahiro 48:5562a99479e5 4726 if(g[1]!=98&&mtc==true) {
yabahiro 48:5562a99479e5 4727 switch(g[1]) {
yabahiro 48:5562a99479e5 4728 case 0:
yabahiro 48:5562a99479e5 4729 mtc=false;
yabahiro 48:5562a99479e5 4730 break;
yabahiro 48:5562a99479e5 4731 case 255:
yabahiro 48:5562a99479e5 4732 motor[TIRE_BR].pwm += 5;
yabahiro 48:5562a99479e5 4733 mtc=false;
yabahiro 48:5562a99479e5 4734 break;
yabahiro 48:5562a99479e5 4735 case 253:
yabahiro 48:5562a99479e5 4736 motor[TIRE_BR].pwm += 10;
yabahiro 48:5562a99479e5 4737 mtc=false;
yabahiro 48:5562a99479e5 4738 break;
yabahiro 48:5562a99479e5 4739 case 254:
yabahiro 48:5562a99479e5 4740 motor[TIRE_BR].pwm += 20;
yabahiro 48:5562a99479e5 4741 motor[TIRE_BL].pwm = 0;
yabahiro 48:5562a99479e5 4742 mtc=false;
yabahiro 48:5562a99479e5 4743 break;
yabahiro 48:5562a99479e5 4744 case 1:
yabahiro 48:5562a99479e5 4745 motor[TIRE_BL].pwm += 5;
yabahiro 48:5562a99479e5 4746 mtc=false;
yabahiro 48:5562a99479e5 4747 break;
yabahiro 48:5562a99479e5 4748 case 3:
yabahiro 48:5562a99479e5 4749 motor[TIRE_BL].pwm += 10;
yabahiro 48:5562a99479e5 4750 mtc=false;
yabahiro 48:5562a99479e5 4751 break;
yabahiro 48:5562a99479e5 4752 case 2:
yabahiro 48:5562a99479e5 4753 motor[TIRE_BL].pwm += 20;
yabahiro 48:5562a99479e5 4754 motor[TIRE_BR].pwm = 0;
yabahiro 48:5562a99479e5 4755 mtc=false;
yabahiro 48:5562a99479e5 4756 break;
yabahiro 48:5562a99479e5 4757 }
yabahiro 48:5562a99479e5 4758 }
yabahiro 48:5562a99479e5 4759 } else if(mode==100) {
yabahiro 48:5562a99479e5 4760 motor[TIRE_FR].pwm = 50;
yabahiro 48:5562a99479e5 4761 motor[TIRE_FR].dir = BACK;
yabahiro 48:5562a99479e5 4762 motor[TIRE_FL].pwm = 50;
yabahiro 48:5562a99479e5 4763 motor[TIRE_FL].dir = FOR;
yabahiro 48:5562a99479e5 4764 motor[TIRE_BR].pwm = 50;
yabahiro 48:5562a99479e5 4765 motor[TIRE_BR].dir = BACK;
yabahiro 48:5562a99479e5 4766 motor[TIRE_BL].pwm = 50;
yabahiro 48:5562a99479e5 4767 motor[TIRE_BL].dir = FOR;
yabahiro 48:5562a99479e5 4768 } else {
yabahiro 48:5562a99479e5 4769 }
yabahiro 33:dd598bb23ad1 4770
kishibekairohan 13:b6e02d6261d7 4771 }
kishibekairohan 13:b6e02d6261d7 4772 #endif
kishibekairohan 13:b6e02d6261d7 4773
kishibekairohan 13:b6e02d6261d7 4774 #if USE_PROCESS_NUM>5
Ryosei 27:dd9f27fce7d1 4775 static void Process5()
Ryosei 27:dd9f27fce7d1 4776 {
yabahiro 56:61ebd4b759b4 4777 countss++;
yabahiro 56:61ebd4b759b4 4778 switch(mode) {
yabahiro 56:61ebd4b759b4 4779 case 1:
yabahiro 56:61ebd4b759b4 4780 mode=2;
yabahiro 56:61ebd4b759b4 4781 countss=0;
yabahiro 56:61ebd4b759b4 4782 fast = 60;
yabahiro 56:61ebd4b759b4 4783 normal = 40;
yabahiro 56:61ebd4b759b4 4784 slow = 30;
yabahiro 56:61ebd4b759b4 4785 break;
yabahiro 56:61ebd4b759b4 4786 case 2:
yabahiro 56:61ebd4b759b4 4787 if(YELLOW) {
yabahiro 56:61ebd4b759b4 4788 switch(g[4]) {
yabahiro 56:61ebd4b759b4 4789 case 98:
yabahiro 56:61ebd4b759b4 4790 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4791 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4792 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4793 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4794 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4795 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4796 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4797 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4798 break;
yabahiro 56:61ebd4b759b4 4799 case 99:
yabahiro 56:61ebd4b759b4 4800 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 4801 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4802 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 4803 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4804 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 4805 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4806 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 4807 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4808 break;
yabahiro 56:61ebd4b759b4 4809 case 0:
yabahiro 56:61ebd4b759b4 4810 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4811 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4812 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4813 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4814 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4815 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4816 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4817 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4818 break;
yabahiro 56:61ebd4b759b4 4819 case 255:
yabahiro 56:61ebd4b759b4 4820 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 4821 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4822 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 4823 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4824 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 4825 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4826 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 4827 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4828 break;
yabahiro 56:61ebd4b759b4 4829 case 253:
yabahiro 56:61ebd4b759b4 4830 motor[TIRE_FR].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4831 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4832 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4833 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4834 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4835 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4836 motor[TIRE_BL].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4837 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4838 break;
yabahiro 56:61ebd4b759b4 4839 case 254:
yabahiro 56:61ebd4b759b4 4840 motor[TIRE_FR].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4841 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4842 motor[TIRE_FL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4843 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4844 motor[TIRE_BR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4845 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4846 motor[TIRE_BL].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4847 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4848 break;
yabahiro 56:61ebd4b759b4 4849 case 1:
yabahiro 56:61ebd4b759b4 4850 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 4851 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4852 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 4853 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4854 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 4855 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4856 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 4857 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4858 break;
yabahiro 56:61ebd4b759b4 4859 case 3:
yabahiro 56:61ebd4b759b4 4860 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4861 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4862 motor[TIRE_FL].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4863 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4864 motor[TIRE_BR].pwm = slow+5;
yabahiro 56:61ebd4b759b4 4865 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4866 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4867 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4868 break;
yabahiro 56:61ebd4b759b4 4869 case 2:
yabahiro 56:61ebd4b759b4 4870 motor[TIRE_FR].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4871 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4872 motor[TIRE_FL].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4873 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4874 motor[TIRE_BR].pwm = normal+5;
yabahiro 56:61ebd4b759b4 4875 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4876 motor[TIRE_BL].pwm = fast-5;
yabahiro 56:61ebd4b759b4 4877 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4878 break;
yabahiro 56:61ebd4b759b4 4879 }
yabahiro 56:61ebd4b759b4 4880 if(g[1]==98||g[1]==0||g[1]==1||g[1]==2||g[1]==3||g[1]==254||g[1]==253||g[1]==255) {
yabahiro 56:61ebd4b759b4 4881 fast=10;
yabahiro 56:61ebd4b759b4 4882 normal=10;
yabahiro 56:61ebd4b759b4 4883 slow=10;
yabahiro 56:61ebd4b759b4 4884 }
yabahiro 56:61ebd4b759b4 4885 if(g[3]==254&&countss>=100000) {
yabahiro 56:61ebd4b759b4 4886 mode=3;
yabahiro 56:61ebd4b759b4 4887 solenoid.solenoid4 = SOLENOID_OFF;
yabahiro 56:61ebd4b759b4 4888 aime.start();
yabahiro 56:61ebd4b759b4 4889 aime.reset();
yabahiro 56:61ebd4b759b4 4890 countss=0;
yabahiro 56:61ebd4b759b4 4891 fast=80;
yabahiro 56:61ebd4b759b4 4892 normal=60;
yabahiro 56:61ebd4b759b4 4893 slow=30;
yabahiro 56:61ebd4b759b4 4894 }
yabahiro 56:61ebd4b759b4 4895 } else {
yabahiro 56:61ebd4b759b4 4896 if(UPLS||DOLS) {
yabahiro 56:61ebd4b759b4 4897 if(UPLS||DOLS) {
yabahiro 56:61ebd4b759b4 4898 motor[MOTOR_0].pwm = 200;
yabahiro 56:61ebd4b759b4 4899 motor[MOTOR_0].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4900 fast=60;
yabahiro 56:61ebd4b759b4 4901 normal=40;
yabahiro 56:61ebd4b759b4 4902 slow=30;
yabahiro 56:61ebd4b759b4 4903 countss=0;
yabahiro 56:61ebd4b759b4 4904 mode=24;
yabahiro 56:61ebd4b759b4 4905 }
yabahiro 56:61ebd4b759b4 4906 } else {
yabahiro 56:61ebd4b759b4 4907 motor[MOTOR_0].pwm = 100;
yabahiro 56:61ebd4b759b4 4908 motor[MOTOR_0].dir = BACK;
yabahiro 56:61ebd4b759b4 4909 }
yabahiro 56:61ebd4b759b4 4910 motor[TIRE_FR].pwm = 100;
yabahiro 56:61ebd4b759b4 4911 motor[TIRE_FR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4912 motor[TIRE_FL].pwm = 100;
yabahiro 56:61ebd4b759b4 4913 motor[TIRE_FL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4914 motor[TIRE_BR].pwm = 100;
yabahiro 56:61ebd4b759b4 4915 motor[TIRE_BR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4916 motor[TIRE_BL].pwm = 100;
yabahiro 56:61ebd4b759b4 4917 motor[TIRE_BL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 4918 }
yabahiro 56:61ebd4b759b4 4919 break;
yabahiro 56:61ebd4b759b4 4920 case 3:
yabahiro 56:61ebd4b759b4 4921 if(YELLOW) {
yabahiro 56:61ebd4b759b4 4922 value=aime.read_ms();
yabahiro 56:61ebd4b759b4 4923 if(value>=5000) {
yabahiro 56:61ebd4b759b4 4924 mode=4;
yabahiro 56:61ebd4b759b4 4925 }
yabahiro 56:61ebd4b759b4 4926 if(g[4]==3||g[4]==2) {
yabahiro 56:61ebd4b759b4 4927 motor[TIRE_FR].pwm = 20;
yabahiro 56:61ebd4b759b4 4928 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4929 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 4930 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 4931 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4932 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 4933 motor[TIRE_BL].pwm = 20;
yabahiro 56:61ebd4b759b4 4934 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 4935 }
yabahiro 56:61ebd4b759b4 4936 if(g[4]==253||g[4]==254) {
yabahiro 56:61ebd4b759b4 4937 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4938 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4939 motor[TIRE_FL].pwm = 20;
yabahiro 56:61ebd4b759b4 4940 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 4941 motor[TIRE_BR].pwm = 20;
yabahiro 56:61ebd4b759b4 4942 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4943 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 4944 motor[TIRE_BL].dir = FOR;
yabahiro 56:61ebd4b759b4 4945 }
yabahiro 56:61ebd4b759b4 4946 switch(g[2]) {
yabahiro 56:61ebd4b759b4 4947 case 0:
yabahiro 56:61ebd4b759b4 4948 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 4949 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4950 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 4951 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4952 break;
yabahiro 56:61ebd4b759b4 4953 case 255:
yabahiro 56:61ebd4b759b4 4954 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4955 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4956 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 4957 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4958 break;
yabahiro 56:61ebd4b759b4 4959 case 253:
yabahiro 56:61ebd4b759b4 4960 motor[TIRE_FR].pwm = 40;
yabahiro 56:61ebd4b759b4 4961 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4962 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 4963 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 4964 break;
yabahiro 56:61ebd4b759b4 4965 case 254:
yabahiro 56:61ebd4b759b4 4966 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4967 motor[TIRE_FR].dir = BACK;
yabahiro 56:61ebd4b759b4 4968 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4969 motor[TIRE_BR].dir = BACK;
yabahiro 56:61ebd4b759b4 4970 break;
yabahiro 56:61ebd4b759b4 4971 case 1:
yabahiro 56:61ebd4b759b4 4972 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 4973 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4974 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4975 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4976 break;
yabahiro 56:61ebd4b759b4 4977 case 3:
yabahiro 56:61ebd4b759b4 4978 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 4979 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 4980 motor[TIRE_BR].pwm = 40;
yabahiro 56:61ebd4b759b4 4981 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4982 break;
yabahiro 56:61ebd4b759b4 4983 case 2:
yabahiro 56:61ebd4b759b4 4984 motor[TIRE_FR].pwm = 30;
yabahiro 56:61ebd4b759b4 4985 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 4986 motor[TIRE_BR].pwm = 30;
yabahiro 56:61ebd4b759b4 4987 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 4988 break;
yabahiro 56:61ebd4b759b4 4989 }
yabahiro 56:61ebd4b759b4 4990 switch(g[3]) {
yabahiro 56:61ebd4b759b4 4991 case 0:
yabahiro 56:61ebd4b759b4 4992 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 4993 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 4994 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 4995 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 4996 break;
yabahiro 56:61ebd4b759b4 4997 case 255:
yabahiro 56:61ebd4b759b4 4998 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 4999 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5000 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 5001 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5002 case 253:
yabahiro 56:61ebd4b759b4 5003 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 5004 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5005 motor[TIRE_BL].pwm = 40;
yabahiro 56:61ebd4b759b4 5006 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5007 break;
yabahiro 56:61ebd4b759b4 5008 case 254:
yabahiro 56:61ebd4b759b4 5009 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 5010 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5011 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 5012 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5013 break;
yabahiro 56:61ebd4b759b4 5014 case 1:
yabahiro 56:61ebd4b759b4 5015 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 5016 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 5017 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 5018 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5019 break;
yabahiro 56:61ebd4b759b4 5020 case 3:
yabahiro 56:61ebd4b759b4 5021 motor[TIRE_FL].pwm = 40;
yabahiro 56:61ebd4b759b4 5022 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 5023 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 5024 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5025 break;
yabahiro 56:61ebd4b759b4 5026 case 2:
yabahiro 56:61ebd4b759b4 5027 motor[TIRE_FL].pwm = 30;
yabahiro 56:61ebd4b759b4 5028 motor[TIRE_FL].dir = FOR;
yabahiro 56:61ebd4b759b4 5029 motor[TIRE_BL].pwm = 30;
yabahiro 56:61ebd4b759b4 5030 motor[TIRE_BL].dir = FOR;
yabahiro 56:61ebd4b759b4 5031 break;
yabahiro 56:61ebd4b759b4 5032 }
yabahiro 56:61ebd4b759b4 5033 if(g[3]==0&&g[2]==0) {
yabahiro 56:61ebd4b759b4 5034 mode=25;
yabahiro 56:61ebd4b759b4 5035 }
yabahiro 56:61ebd4b759b4 5036 } else {
yabahiro 56:61ebd4b759b4 5037 if(g[1]==98&&countss>=40000) {
yabahiro 56:61ebd4b759b4 5038 mode=31;
yabahiro 56:61ebd4b759b4 5039 fast = 60;
yabahiro 56:61ebd4b759b4 5040 normal = 40;
yabahiro 56:61ebd4b759b4 5041 slow = 30;
yabahiro 56:61ebd4b759b4 5042 countss=0;
yabahiro 56:61ebd4b759b4 5043 }
yabahiro 56:61ebd4b759b4 5044 switch(g[1]) {
yabahiro 56:61ebd4b759b4 5045 case 98:
yabahiro 56:61ebd4b759b4 5046 fast=40;
yabahiro 56:61ebd4b759b4 5047 normal=30;
yabahiro 56:61ebd4b759b4 5048 slow=25;
yabahiro 56:61ebd4b759b4 5049 motor[TIRE_FR].pwm = normal;
yabahiro 56:61ebd4b759b4 5050 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5051 motor[TIRE_FL].pwm = normal;
yabahiro 56:61ebd4b759b4 5052 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5053 motor[TIRE_BR].pwm = normal;
yabahiro 56:61ebd4b759b4 5054 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5055 motor[TIRE_BL].pwm = normal;
yabahiro 56:61ebd4b759b4 5056 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5057 break;
yabahiro 56:61ebd4b759b4 5058 case 0:
yabahiro 56:61ebd4b759b4 5059 motor[TIRE_FR].pwm = fast;
yabahiro 56:61ebd4b759b4 5060 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5061 motor[TIRE_FL].pwm = fast;
yabahiro 56:61ebd4b759b4 5062 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5063 motor[TIRE_BR].pwm = fast;
yabahiro 56:61ebd4b759b4 5064 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5065 motor[TIRE_BL].pwm = fast;
yabahiro 56:61ebd4b759b4 5066 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5067 mtc=true;
yabahiro 56:61ebd4b759b4 5068 break;
yabahiro 56:61ebd4b759b4 5069 case 255:
yabahiro 56:61ebd4b759b4 5070 motor[TIRE_FR].pwm = fast;
yabahiro 56:61ebd4b759b4 5071 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5072 motor[TIRE_FL].pwm = slow;
yabahiro 56:61ebd4b759b4 5073 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5074 motor[TIRE_BR].pwm = slow;
yabahiro 56:61ebd4b759b4 5075 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5076 motor[TIRE_BL].pwm = fast;
yabahiro 56:61ebd4b759b4 5077 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5078 mtc=true;
yabahiro 56:61ebd4b759b4 5079 break;
yabahiro 56:61ebd4b759b4 5080 case 253:
yabahiro 56:61ebd4b759b4 5081 motor[TIRE_FR].pwm = slow;
yabahiro 56:61ebd4b759b4 5082 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5083 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5084 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5085 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5086 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5087 motor[TIRE_BL].pwm = slow;
yabahiro 56:61ebd4b759b4 5088 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5089 mtc=true;
yabahiro 56:61ebd4b759b4 5090 break;
yabahiro 56:61ebd4b759b4 5091 case 254:
yabahiro 56:61ebd4b759b4 5092 motor[TIRE_FR].pwm = normal;
yabahiro 56:61ebd4b759b4 5093 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5094 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5095 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5096 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5097 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5098 motor[TIRE_BL].pwm = normal;
yabahiro 56:61ebd4b759b4 5099 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5100 mtc=true;
yabahiro 56:61ebd4b759b4 5101 break;
yabahiro 56:61ebd4b759b4 5102 case 1:
yabahiro 56:61ebd4b759b4 5103 motor[TIRE_FR].pwm = slow;
yabahiro 56:61ebd4b759b4 5104 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5105 motor[TIRE_FL].pwm = fast;
yabahiro 56:61ebd4b759b4 5106 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5107 motor[TIRE_BR].pwm = fast;
yabahiro 56:61ebd4b759b4 5108 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5109 motor[TIRE_BL].pwm = slow;
yabahiro 56:61ebd4b759b4 5110 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5111 mtc=true;
yabahiro 56:61ebd4b759b4 5112 break;
yabahiro 56:61ebd4b759b4 5113 case 3:
yabahiro 56:61ebd4b759b4 5114 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5115 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5116 motor[TIRE_FL].pwm = slow;
yabahiro 56:61ebd4b759b4 5117 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5118 motor[TIRE_BR].pwm = slow;
yabahiro 56:61ebd4b759b4 5119 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5120 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5121 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5122 mtc=true;
yabahiro 56:61ebd4b759b4 5123 break;
yabahiro 56:61ebd4b759b4 5124 case 2:
yabahiro 56:61ebd4b759b4 5125 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5126 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5127 motor[TIRE_FL].pwm = normal;
yabahiro 56:61ebd4b759b4 5128 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5129 motor[TIRE_BR].pwm = normal;
yabahiro 56:61ebd4b759b4 5130 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5131 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5132 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5133 mtc=true;
yabahiro 56:61ebd4b759b4 5134 break;
yabahiro 56:61ebd4b759b4 5135 }
yabahiro 56:61ebd4b759b4 5136 if(g[1]!=98&&mtc==true) {
yabahiro 56:61ebd4b759b4 5137 switch(g[0]) {
yabahiro 56:61ebd4b759b4 5138 case 0:
yabahiro 56:61ebd4b759b4 5139 mtc=false;
yabahiro 56:61ebd4b759b4 5140 break;
yabahiro 56:61ebd4b759b4 5141 case 255:
yabahiro 56:61ebd4b759b4 5142 motor[TIRE_FL].pwm += 3;
yabahiro 56:61ebd4b759b4 5143 mtc=false;
yabahiro 56:61ebd4b759b4 5144 break;
yabahiro 56:61ebd4b759b4 5145 case 253:
yabahiro 56:61ebd4b759b4 5146 motor[TIRE_FL].pwm += 6;
yabahiro 56:61ebd4b759b4 5147 mtc=false;
yabahiro 56:61ebd4b759b4 5148 break;
yabahiro 56:61ebd4b759b4 5149 case 254:
yabahiro 56:61ebd4b759b4 5150 motor[TIRE_FL].pwm += 9;
yabahiro 56:61ebd4b759b4 5151 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5152 mtc=false;
yabahiro 56:61ebd4b759b4 5153 break;
yabahiro 56:61ebd4b759b4 5154 case 1:
yabahiro 56:61ebd4b759b4 5155 motor[TIRE_FR].pwm += 3;
yabahiro 56:61ebd4b759b4 5156 mtc=false;
yabahiro 56:61ebd4b759b4 5157 break;
yabahiro 56:61ebd4b759b4 5158 case 3:
yabahiro 56:61ebd4b759b4 5159 motor[TIRE_FR].pwm += 6;
yabahiro 56:61ebd4b759b4 5160 mtc=false;
yabahiro 56:61ebd4b759b4 5161 break;
yabahiro 56:61ebd4b759b4 5162 case 2:
yabahiro 56:61ebd4b759b4 5163 motor[TIRE_FR].pwm += 9;
yabahiro 56:61ebd4b759b4 5164 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5165 mtc=false;
yabahiro 56:61ebd4b759b4 5166 break;
yabahiro 56:61ebd4b759b4 5167 }
yabahiro 56:61ebd4b759b4 5168 }
yabahiro 56:61ebd4b759b4 5169 }
yabahiro 56:61ebd4b759b4 5170 break;
yabahiro 56:61ebd4b759b4 5171 case 4:
yabahiro 56:61ebd4b759b4 5172 motor[TIRE_FR].pwm = 100;
yabahiro 56:61ebd4b759b4 5173 motor[TIRE_FR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5174 motor[TIRE_FL].pwm = 100;
yabahiro 56:61ebd4b759b4 5175 motor[TIRE_FL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5176 motor[TIRE_BR].pwm = 100;
yabahiro 56:61ebd4b759b4 5177 motor[TIRE_BR].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5178 motor[TIRE_BL].pwm = 100;
yabahiro 56:61ebd4b759b4 5179 motor[TIRE_BL].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5180 if(UPLS==true||DOLS==true) {
yabahiro 56:61ebd4b759b4 5181 if(UPLS==true||DOLS==true) {
yabahiro 56:61ebd4b759b4 5182 motor[MOTOR_0].pwm = 200;
yabahiro 56:61ebd4b759b4 5183 motor[MOTOR_0].dir = BRAKE;
yabahiro 56:61ebd4b759b4 5184 countss = 0;
yabahiro 56:61ebd4b759b4 5185 mode=26;
yabahiro 56:61ebd4b759b4 5186 }
yabahiro 56:61ebd4b759b4 5187 } else {
yabahiro 56:61ebd4b759b4 5188 motor[MOTOR_0].pwm = 100;
yabahiro 56:61ebd4b759b4 5189 motor[MOTOR_0].dir = BACK;
yabahiro 56:61ebd4b759b4 5190 }
yabahiro 56:61ebd4b759b4 5191 break;
yabahiro 56:61ebd4b759b4 5192 case 5:
yabahiro 56:61ebd4b759b4 5193 /*
yabahiro 56:61ebd4b759b4 5194 if (g[3] == 0&&countss>=30000) {
yabahiro 56:61ebd4b759b4 5195 mode = 40;
yabahiro 56:61ebd4b759b4 5196 }
yabahiro 56:61ebd4b759b4 5197 */
yabahiro 56:61ebd4b759b4 5198 if (g[1] != 99) {
yabahiro 56:61ebd4b759b4 5199 mode = 31;
yabahiro 56:61ebd4b759b4 5200 }
yabahiro 56:61ebd4b759b4 5201 switch(g[4]) {
yabahiro 56:61ebd4b759b4 5202 case 98:
yabahiro 56:61ebd4b759b4 5203 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5204 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5205 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5206 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5207 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5208 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5209 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5210 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5211 break;
yabahiro 56:61ebd4b759b4 5212 case 99:
yabahiro 56:61ebd4b759b4 5213 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5214 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5215 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5216 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5217 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5218 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5219 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5220 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5221 break;
yabahiro 56:61ebd4b759b4 5222 case 0:
yabahiro 56:61ebd4b759b4 5223 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5224 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5225 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5226 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5227 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5228 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5229 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5230 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5231 break;
yabahiro 56:61ebd4b759b4 5232 case 255:
yabahiro 56:61ebd4b759b4 5233 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5234 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5235 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5236 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5237 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5238 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5239 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5240 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5241 break;
yabahiro 56:61ebd4b759b4 5242 case 253:
yabahiro 56:61ebd4b759b4 5243 motor[TIRE_FR].pwm = 25;
yabahiro 56:61ebd4b759b4 5244 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5245 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5246 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5247 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5248 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5249 motor[TIRE_BL].pwm = 25;
yabahiro 56:61ebd4b759b4 5250 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5251 break;
yabahiro 56:61ebd4b759b4 5252 case 254:
yabahiro 56:61ebd4b759b4 5253 motor[TIRE_FR].pwm = 40;
yabahiro 56:61ebd4b759b4 5254 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5255 motor[TIRE_FL].pwm = 60;
yabahiro 56:61ebd4b759b4 5256 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5257 motor[TIRE_BR].pwm = 60;
yabahiro 56:61ebd4b759b4 5258 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5259 motor[TIRE_BL].pwm = 40;
yabahiro 56:61ebd4b759b4 5260 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5261 break;
yabahiro 56:61ebd4b759b4 5262 case 1:
yabahiro 56:61ebd4b759b4 5263 motor[TIRE_FR].pwm = 0;
yabahiro 56:61ebd4b759b4 5264 motor[TIRE_FR].dir = FREE;
yabahiro 56:61ebd4b759b4 5265 motor[TIRE_FL].pwm = 0;
yabahiro 56:61ebd4b759b4 5266 motor[TIRE_FL].dir = FREE;
yabahiro 56:61ebd4b759b4 5267 motor[TIRE_BR].pwm = 0;
yabahiro 56:61ebd4b759b4 5268 motor[TIRE_BR].dir = FREE;
yabahiro 56:61ebd4b759b4 5269 motor[TIRE_BL].pwm = 0;
yabahiro 56:61ebd4b759b4 5270 motor[TIRE_BL].dir = FREE;
yabahiro 56:61ebd4b759b4 5271 break;
yabahiro 56:61ebd4b759b4 5272 case 3:
yabahiro 56:61ebd4b759b4 5273 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5274 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5275 motor[TIRE_FL].pwm = 25;
yabahiro 56:61ebd4b759b4 5276 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5277 motor[TIRE_BR].pwm = 25;
yabahiro 56:61ebd4b759b4 5278 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5279 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5280 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5281 break;
yabahiro 56:61ebd4b759b4 5282 case 2:
yabahiro 56:61ebd4b759b4 5283 motor[TIRE_FR].pwm = 60;
yabahiro 56:61ebd4b759b4 5284 motor[TIRE_FR].dir = FOR;
yabahiro 56:61ebd4b759b4 5285 motor[TIRE_FL].pwm = 40;
yabahiro 56:61ebd4b759b4 5286 motor[TIRE_FL].dir = BACK;
yabahiro 56:61ebd4b759b4 5287 motor[TIRE_BR].pwm = 40;
yabahiro 56:61ebd4b759b4 5288 motor[TIRE_BR].dir = FOR;
yabahiro 56:61ebd4b759b4 5289 motor[TIRE_BL].pwm = 60;
yabahiro 56:61ebd4b759b4 5290 motor[TIRE_BL].dir = BACK;
yabahiro 56:61ebd4b759b4 5291 break;
yabahiro 56:61ebd4b759b4 5292 }
yabahiro 56:61ebd4b759b4 5293 break;
yabahiro 56:61ebd4b759b4 5294 }
yabahiro 46:68296caae1af 5295
kishibekairohan 13:b6e02d6261d7 5296 }
kishibekairohan 13:b6e02d6261d7 5297 #endif
kishibekairohan 13:b6e02d6261d7 5298
kishibekairohan 13:b6e02d6261d7 5299 #if USE_PROCESS_NUM>6
Ryosei 27:dd9f27fce7d1 5300 static void Process6()
kishibekairohan 13:b6e02d6261d7 5301 {
Ryosei 27:dd9f27fce7d1 5302
kishibekairohan 13:b6e02d6261d7 5303 }
kishibekairohan 13:b6e02d6261d7 5304 #endif
kishibekairohan 13:b6e02d6261d7 5305
kishibekairohan 13:b6e02d6261d7 5306 #if USE_PROCESS_NUM>7
kishibekairohan 13:b6e02d6261d7 5307 static void Process7()
kishibekairohan 13:b6e02d6261d7 5308 {
yabahiro 33:dd598bb23ad1 5309
kishibekairohan 12:c09b3e08a316 5310 }
kishibekairohan 12:c09b3e08a316 5311 #endif
kishibekairohan 12:c09b3e08a316 5312
Ryosei 27:dd9f27fce7d1 5313 #if USE_PROCESS_NUM>8
kishibekairohan 13:b6e02d6261d7 5314 static void Process8()
kishibekairohan 12:c09b3e08a316 5315 {
yabahiro 33:dd598bb23ad1 5316
kishibekairohan 12:c09b3e08a316 5317 }
kishibekairohan 12:c09b3e08a316 5318 #endif
kishibekairohan 12:c09b3e08a316 5319
kishibekairohan 13:b6e02d6261d7 5320 #if USE_PROCESS_NUM>9
kishibekairohan 13:b6e02d6261d7 5321 static void Process9()
kishibekairohan 12:c09b3e08a316 5322 {
Ryosei 27:dd9f27fce7d1 5323
t_yamamoto 0:669ef71cba68 5324 }
t_yamamoto 0:669ef71cba68 5325 #endif
t_yamamoto 0:669ef71cba68 5326 #endif
t_yamamoto 0:669ef71cba68 5327 #pragma endregion PROCESS
t_yamamoto 0:669ef71cba68 5328
t_yamamoto 0:669ef71cba68 5329 static void AllActuatorReset()
t_yamamoto 0:669ef71cba68 5330 {
yabahiro 33:dd598bb23ad1 5331 #ifdef USE_SOLENOID
yabahiro 33:dd598bb23ad1 5332 solenoid.all = ALL_SOLENOID_OFF;
yabahiro 33:dd598bb23ad1 5333 #endif
yabahiro 33:dd598bb23ad1 5334
yabahiro 33:dd598bb23ad1 5335 #ifdef USE_MOTOR
yabahiro 33:dd598bb23ad1 5336 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro 33:dd598bb23ad1 5337 motor[i].dir = FREE;
yabahiro 33:dd598bb23ad1 5338 motor[i].pwm = 0;
yabahiro 33:dd598bb23ad1 5339 }
yabahiro 33:dd598bb23ad1 5340 #endif
t_yamamoto 0:669ef71cba68 5341 }
t_yamamoto 0:669ef71cba68 5342
kishibekairohan 16:3f2c2d89372b 5343 #pragma region USER-DEFINED-FUNCTIONS
M_souta 29:44d5454ce8fa 5344
M_souta 29:44d5454ce8fa 5345 uint8_t SetStatus(int pwmVal)
Ryosei 27:dd9f27fce7d1 5346 {
M_souta 29:44d5454ce8fa 5347 if (pwmVal < 0) return BACK;
M_souta 29:44d5454ce8fa 5348 else if (pwmVal > 0) return FOR;
M_souta 29:44d5454ce8fa 5349 else if (pwmVal == 0) return BRAKE;
M_souta 29:44d5454ce8fa 5350 else return BRAKE;
M_souta 22:7d93f79a3686 5351 }
kishibekairohan 16:3f2c2d89372b 5352
M_souta 29:44d5454ce8fa 5353 uint8_t SetPWM(int pwmVal)
Ryosei 27:dd9f27fce7d1 5354 {
M_souta 29:44d5454ce8fa 5355 if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255;
M_souta 29:44d5454ce8fa 5356 else return abs(pwmVal);
M_souta 22:7d93f79a3686 5357 }
yabahiro 55:844ac0974740 5358 /*
yabahiro 55:844ac0974740 5359 void Count(){
yabahiro 55:844ac0974740 5360 num++;
yabahiro 55:844ac0974740 5361 }
yabahiro 55:844ac0974740 5362 */
t_yamamoto 0:669ef71cba68 5363 #pragma endregion