大季 矢花
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Diff: System/Process/Process.cpp
- Revision:
- 46:68296caae1af
- Parent:
- 45:0cf48a0605cd
- Child:
- 47:a9cad8502999
--- a/System/Process/Process.cpp Mon Nov 11 08:11:29 2019 +0000
+++ b/System/Process/Process.cpp Tue Nov 12 07:12:03 2019 +0000
@@ -94,7 +94,7 @@
int fast = 60;
int normal = 40;
-int slow = 20;
+int slow = 25;
#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
@@ -214,7 +214,7 @@
while(1) {
//pc.printf("4:%d\n\r",g[4]);
-
+
if(EMC==0) {
fast=40;
normal=30;
@@ -488,8 +488,7 @@
cross=0;
mode=3;
}
- }
- else if(mode==3) { //横ライントレースから縦ライントレースへ
+ } else if(mode==3) { //横ライントレースから縦ライントレースへ
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 255;
@@ -502,8 +501,7 @@
mode=10;
countss=100000;
}
- }
- else if(mode==10) { //縦ライントレース
+ } else if(mode==10) { //縦ライントレース
switch(g[1]) {
case 98:
motor[TIRE_FR].pwm = normal+50;
@@ -519,13 +517,13 @@
cross++;
countss=0;
}
-
- if(cross==2){
- fast = 10;
- normal = 10;
+
+ if(cross==2) {
+ fast = 10;
+ normal = 10;
slow = 5;
}
-
+
if(cross==3) {
fast=40;
normal=30;
@@ -660,8 +658,7 @@
cross=0;
mode=20;
}
- }
- else if(mode==20) {
+ } else if(mode==20) {
solenoid.solenoid4= SOLENOID_ON;
switch(g[2]) {
case 98:
@@ -678,14 +675,13 @@
countss=0;
}
mtc2=true;
-
+
if(YELLOW) {
if(cross==1) {
- fast=30;
- normal=20;
- slow=20;
- }
- else if(cross==2) {
+ fast=30;
+ normal=20;
+ slow=20;
+ } else if(cross==2) {
mode=21;
countss=0;
cross=0;
@@ -827,8 +823,7 @@
normal=40;
slow=20;
}
- }
- else if(mode==22) {
+ } else if(mode==22) {
if(g[4]==3||g[4]==2) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -940,8 +935,7 @@
mode=23;
countss=0;
}
- }
- else if(mode==23) {
+ } else if(mode==23) {
switch(g[4]) {
case 98:
motor[TIRE_FR].pwm = fast-5;
@@ -1034,22 +1028,6 @@
motor[TIRE_BL].dir = FOR;
break;
}
- if(DOLS==true||UPLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- }
- if(g[0]==98) {
- fast=20;
- normal=15;
- slow=10;
- if(DOLS==true||UPLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
- }
if(g[2]==254&&countss>=100000) {
mode=24;
solenoid.solenoid4 = SOLENOID_OFF;
@@ -1058,15 +1036,7 @@
normal=40;
slow=20;
}
- }
- else if(mode==24) {
- if(DOLS==true||UPLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
+ } else if(mode==24) {
if(g[4]==3||g[4]==2) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -1175,17 +1145,29 @@
break;
}
if(g[3]==0&&g[2]==0) {
- if(UPLS==true||DOLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- mode=25;
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
+ mode=25;
}
- }
- else if(mode==25) {
+ } else if(mode==25) {
+ motor[TIRE_FR].pwm = 100;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 100;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 100;
+ motor[TIRE_BL].dir = BRAKE;
+ if(DOLS==true||UPLS==true) {
+ motor[MOTOR_0].pwm = 200;
+ motor[MOTOR_0].dir = BRAKE;
+ fast=30;
+ normal=25;
+ slow=20;
+ mode=26;
+ } else {
+ motor[MOTOR_0].pwm = 100;
+ motor[MOTOR_0].dir = BACK;
+ }
+ } else if(mode==26) {
switch(g[4]) {
case 98:
motor[TIRE_FR].pwm = 60;
@@ -1282,8 +1264,7 @@
mode=31;
}
}
- }
- else {
+ } else {
if(mode==21) {
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
@@ -1430,6 +1411,14 @@
}
}
} else if(mode==23) {
+ motor[TIRE_FR].pwm = 100;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 100;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 100;
+ motor[TIRE_BL].dir = BRAKE;
if(UPLS==true||DOLS==true) {
motor[MOTOR_0].pwm = 200;
motor[MOTOR_0].dir = BRAKE;
@@ -1441,14 +1430,6 @@
} else {
motor[MOTOR_0].pwm = 100;
motor[MOTOR_0].dir = BACK;
- motor[TIRE_FR].pwm = 100;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 100;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 100;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 100;
- motor[TIRE_BL].dir = BRAKE;
}
} else if(mode==24) {
@@ -1941,8 +1922,7 @@
cross=0;
mode=3;
}
- }
- else if(mode==3) { //横ライントレースから縦ライントレースへ
+ } else if(mode==3) { //横ライントレースから縦ライントレースへ
motor[TIRE_FR].pwm = 255;
motor[TIRE_FR].dir = BRAKE;
motor[TIRE_FL].pwm = 30;
@@ -1955,8 +1935,7 @@
mode=10;
countss=100000;
}
- }
- else if(mode==10) { //縦ライントレース
+ } else if(mode==10) { //縦ライントレース
switch(g[0]) {
case 98:
motor[TIRE_FR].pwm = normal+50;
@@ -1972,12 +1951,12 @@
cross++;
countss=0;
}
- if(cross==2){
- fast = 10;
- normal = 10;
+ if(cross==2) {
+ fast = 10;
+ normal = 10;
slow = 5;
- }
-
+ }
+
if(cross==3) {
fast=40;
normal=30;
@@ -1985,7 +1964,7 @@
mode=11;
countss=0;
cross=0;
-
+
}
break;
case 0:
@@ -2099,8 +2078,7 @@
break;
}
}
- }
- else if(mode==11) {
+ } else if(mode==11) {
motor[TIRE_FR].pwm = 25;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = normal;
@@ -2114,8 +2092,7 @@
cross=0;
mode=20;
}
- }
- else if(mode==20) {
+ } else if(mode==20) {
solenoid.solenoid4= SOLENOID_ON;
switch(g[2]) {
case 98:
@@ -2132,14 +2109,13 @@
countss=0;
}
mtc2=true;
-
+
if(YELLOW) {
if(cross==1) {
- fast=30;
- normal=20;
- slow=20;
- }
- else if(cross==2) {
+ fast=20;
+ normal=15;
+ slow=15;
+ } else if(cross==2) {
mode=21;
countss=0;
cross=0;
@@ -2281,8 +2257,7 @@
normal=40;
slow=20;
}
- }
- else if(mode==22) {
+ } else if(mode==22) {
if(g[4]==3||g[4]==2) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -2394,8 +2369,7 @@
mode=23;
countss=0;
}
- }
- else if(mode==23) {
+ } else if(mode==23) {
switch(g[4]) {
case 98:
motor[TIRE_FR].pwm = fast-5;
@@ -2438,23 +2412,23 @@
motor[TIRE_BL].dir = FREE;
break;
case 253:
- motor[TIRE_FR].pwm = slow-5;
+ motor[TIRE_FR].pwm = slow+5;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = fast-5;
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = fast-5;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow-5;
+ motor[TIRE_BL].pwm = slow+5;
motor[TIRE_BL].dir = BACK;
break;
case 254:
- motor[TIRE_FR].pwm = normal-5;
+ motor[TIRE_FR].pwm = normal+5;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = fast-5;
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = fast-5;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = normal-5;
+ motor[TIRE_BL].pwm = normal+5;
motor[TIRE_BL].dir = BACK;
break;
case 1:
@@ -2470,9 +2444,9 @@
case 3:
motor[TIRE_FR].pwm = fast-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = slow-5;
+ motor[TIRE_FL].pwm = slow+5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow-5;
+ motor[TIRE_BR].pwm = slow+5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = fast-5;
motor[TIRE_BL].dir = BACK;
@@ -2480,9 +2454,9 @@
case 2:
motor[TIRE_FR].pwm = fast-5;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = normal-5;
+ motor[TIRE_FL].pwm = normal+5;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal-5;
+ motor[TIRE_BR].pwm = normal+5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = fast-5;
motor[TIRE_BL].dir = BACK;
@@ -2512,13 +2486,11 @@
normal=40;
slow=20;
}
- }
- else if(mode==24) {
+ } else if(mode==24) {
if(DOLS==true||UPLS==true) {
motor[MOTOR_0].pwm = 200;
motor[MOTOR_0].dir = BRAKE;
- }
- else {
+ } else {
motor[MOTOR_0].pwm = 100;
motor[MOTOR_0].dir = BACK;
}
@@ -2544,21 +2516,21 @@
}
switch(g[2]) {
case 0:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = 25;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = 25;
motor[TIRE_BR].dir = FREE;
break;
case 255:
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = 25;
motor[TIRE_BR].dir = FREE;
break;
case 253:
motor[TIRE_FR].pwm = 40;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = 25;
motor[TIRE_BR].dir = FREE;
break;
case 254:
@@ -2568,13 +2540,13 @@
motor[TIRE_BR].dir = BACK;
break;
case 1:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = 25;
motor[TIRE_FR].dir = FREE;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BR].dir = FOR;
break;
case 3:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = 25;
motor[TIRE_FR].dir = FREE;
motor[TIRE_BR].pwm = 40;
motor[TIRE_BR].dir = FOR;
@@ -2588,18 +2560,18 @@
}
switch(g[3]) {
case 0:
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = 25;
motor[TIRE_FL].dir = FREE;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = 25;
motor[TIRE_BL].dir = FREE;
break;
case 255:
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = 25;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BL].pwm = 30;
motor[TIRE_BL].dir = BACK;
case 253:
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = 25;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BL].pwm = 40;
motor[TIRE_BL].dir = BACK;
@@ -2613,13 +2585,13 @@
case 1:
motor[TIRE_FL].pwm = 30;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = 25;
motor[TIRE_BL].dir = FREE;
break;
case 3:
motor[TIRE_FL].pwm = 40;
motor[TIRE_FL].dir = FOR;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = 25;
motor[TIRE_BL].dir = FREE;
break;
case 2:
@@ -2630,17 +2602,19 @@
break;
}
if(g[3]==0&&g[2]==0) {
- if(UPLS==true||DOLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- mode=25;
- } else {
- motor[MOTOR_0].pwm = 100;
- motor[MOTOR_0].dir = BACK;
- }
+ mode=25;
}
- }
- else if(mode==25) {
+ } else if(mode==25) {
+
+ if(UPLS==true||DOLS==true) {
+ motor[MOTOR_0].pwm = 200;
+ motor[MOTOR_0].dir = BRAKE;
+ mode=26;
+ } else {
+ motor[MOTOR_0].pwm = 100;
+ motor[MOTOR_0].dir = BACK;
+ }
+ } else if(mode==26) {
switch(g[4]) {
case 98:
motor[TIRE_FR].pwm = 60;
@@ -2683,13 +2657,13 @@
motor[TIRE_BL].dir = FREE;
break;
case 253:
- motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].pwm = 25;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 60;
motor[TIRE_FL].dir = BACK;
motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].pwm = 25;
motor[TIRE_BL].dir = BACK;
break;
case 254:
@@ -2715,9 +2689,9 @@
case 3:
motor[TIRE_FR].pwm = 60;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].pwm = 25;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].pwm = 25;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 60;
motor[TIRE_BL].dir = BACK;
@@ -2737,8 +2711,7 @@
mode=31;
}
}
- }
- else {
+ } else {
if(mode==21) {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
@@ -2752,27 +2725,26 @@
mode=22;
fast=60;
normal=40;
- slow=20;
+ slow=25;
}
- }
- else if(mode==22) {
+ } else if(mode==22) {
if(g[1]==98) {
- slow=20;
+ slow=25;
normal=30;
fast=40;
}
- if(g[3]==0){
- slow=20;
+ if(g[3]==0) {
+ slow=25;
normal=40;
fast=60;
mode=23;
- }
+ }
switch(g[1]) {
case 98:
solenoid.solenoid4 = SOLENOID_OFF;
fast=40;
normal=30;
- slow=20;
+ slow=25;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = normal;
@@ -2893,18 +2865,18 @@
break;
}
}
- }
- else if(mode==23) {
- if(UPLS==true||DOLS==true) {
- motor[MOTOR_0].pwm = 200;
- motor[MOTOR_0].dir = BRAKE;
- fast=60;
- normal=40;
- slow=20;
- countss=0;
- mode=24;
- }
- else {
+ } else if(mode==23) {
+ if(UPLS||DOLS) {
+ if(UPLS||DOLS) {
+ motor[MOTOR_0].pwm = 200;
+ motor[MOTOR_0].dir = BRAKE;
+ fast=60;
+ normal=40;
+ slow=25;
+ countss=0;
+ mode=24;
+ }
+ } else {
motor[MOTOR_0].pwm = 100;
motor[MOTOR_0].dir = BACK;
}
@@ -2916,8 +2888,7 @@
motor[TIRE_BR].dir = BRAKE;
motor[TIRE_BL].pwm = 100;
motor[TIRE_BL].dir = BRAKE;
- }
- else if(mode==24) {
+ } else if(mode==24) {
if(g[1]==98&&countss>=40000) {
mode=31;
countss=0;
@@ -2926,7 +2897,7 @@
case 98:
fast=40;
normal=30;
- slow=20;
+ slow=25;
motor[TIRE_FR].pwm = normal;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = normal;
@@ -3049,7 +3020,7 @@
}
}
}
-
+
/*
if(mode==31) {
motor[TIRE_FR].pwm = 0;
@@ -3077,7 +3048,7 @@
mode=33;
countss=0;
}
- }
+ }
*/
if(mode==31) {
motor[TIRE_FR].pwm = 255;
@@ -3093,17 +3064,16 @@
countss=0;
mode=40;
}
- }
- else if(mode==40) {
+ } else if(mode==40) {
switch(g[3]) {
case 98:
- motor[TIRE_FR].pwm = normal+30;
+ motor[TIRE_FR].pwm = normal+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = normal+30;
+ motor[TIRE_FL].pwm = normal+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal+30;
+ motor[TIRE_BR].pwm = normal+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = normal+30;
+ motor[TIRE_BL].pwm = normal+15;
motor[TIRE_BL].dir = FOR;
if(countss>30000) {
cross++;
@@ -3112,33 +3082,33 @@
mtc2=true;
break;
case 0:
- motor[TIRE_FR].pwm = fast+30;
+ motor[TIRE_FR].pwm = fast+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+30;
+ motor[TIRE_FL].pwm = fast+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast+30;
+ motor[TIRE_BR].pwm = fast+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast+30;
+ motor[TIRE_BL].pwm = fast+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 255:
- motor[TIRE_FR].pwm = slow+30;
+ motor[TIRE_FR].pwm = slow+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = fast+30;
+ motor[TIRE_FL].pwm = fast+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast+30;
+ motor[TIRE_BR].pwm = fast+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = slow+30;
+ motor[TIRE_BL].pwm = slow+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 253:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = slow+30;
+ motor[TIRE_FL].pwm = slow+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow+30;
+ motor[TIRE_BR].pwm = slow+15;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -3147,44 +3117,44 @@
case 254:
motor[TIRE_FR].pwm = 0;
motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = normal+30;
+ motor[TIRE_FL].pwm = normal+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal+30;
+ motor[TIRE_BR].pwm = normal+15;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm = fast+30;
+ motor[TIRE_FR].pwm = fast+15;
motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = slow+30;
+ motor[TIRE_FL].pwm = slow+15;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow+30;
+ motor[TIRE_BR].pwm = slow+15;
motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = fast+30;
+ motor[TIRE_BL].pwm = fast+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm = slow+30;
+ motor[TIRE_FR].pwm = slow+15;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = slow+30;
+ motor[TIRE_BL].pwm = slow+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm = normal+30;
+ motor[TIRE_FR].pwm = normal+15;
motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
motor[TIRE_FL].dir = FREE;
motor[TIRE_BR].pwm = 0;
motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = normal+30;
+ motor[TIRE_BL].pwm = normal+15;
motor[TIRE_BL].dir = FOR;
mtc2=true;
break;
@@ -3222,24 +3192,25 @@
break;
}
}
-
+
if(YELLOW) {
if(cross==1) {
mode=41;
countss=0;
cross=0;
}
- }
- else {
+ } else {
if(cross==3) {
mode=41;
countss=0;
cross=0;
}
}
-
- }
- else if(mode==41) {
+ if(LIF||LIB) {
+ mode=42;
+ }
+
+ } else if(mode==41) {
if(LIF||LIB) {
mode=42;
}
@@ -3258,8 +3229,7 @@
fast=100;
slow=60;
}
- }
- else if(mode==42) {
+ } else if(mode==42) {
motor[TIRE_FR].pwm = 40;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
@@ -3272,8 +3242,7 @@
countss=0;
mode=70;
}
- }
- else if(mode==70) {
+ } else if(mode==70) {
switch(g[1]) {
case 99:
if(countss>=100000) {
@@ -3285,7 +3254,7 @@
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = normal;
motor[TIRE_BL].dir = BACK;
@@ -3295,7 +3264,7 @@
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 100;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 100;
+ motor[TIRE_BR].pwm = 105;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 100;
motor[TIRE_BL].dir = BACK;
@@ -3306,7 +3275,7 @@
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = fast;
motor[TIRE_BL].dir = BACK;
@@ -3339,7 +3308,7 @@
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = fast;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = fast;
+ motor[TIRE_BR].pwm = fast+5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = slow;
motor[TIRE_BL].dir = BACK;
@@ -3350,7 +3319,7 @@
motor[TIRE_FR].dir = FREE;
motor[TIRE_FL].pwm = slow;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = slow;
+ motor[TIRE_BR].pwm = slow+5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -3361,7 +3330,7 @@
motor[TIRE_FR].dir = FREE;
motor[TIRE_FL].pwm = normal;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = normal;
+ motor[TIRE_BR].pwm = normal+5;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
motor[TIRE_BL].dir = FREE;
@@ -3401,18 +3370,17 @@
break;
}
}
- }
- else if(mode==100) {
+ } else if(mode==100) {
motor[TIRE_FR].pwm = 50;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 50;
+ motor[TIRE_FL].pwm = 55;
motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 50;
+ motor[TIRE_BR].pwm = 60;
motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 50;
motor[TIRE_BL].dir = BACK;
- }
-
+ }
+
}
#endif
@@ -3426,7 +3394,7 @@
#if USE_PROCESS_NUM>5
static void Process5()
{
-
+
}
#endif