大季 矢花
/
MB2019_main_ver3-11-3
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Diff: System/Process/Process.cpp
- Revision:
- 24:370616a56815
- Parent:
- 23:c853372cf626
- Child:
- 25:b3a9f34b201d
diff -r c853372cf626 -r 370616a56815 System/Process/Process.cpp
--- a/System/Process/Process.cpp Wed Sep 18 01:58:57 2019 +0000
+++ b/System/Process/Process.cpp Wed Sep 18 02:03:56 2019 +0000
@@ -780,64 +780,7 @@
#if USE_PROCESS_NUM>7
static void Process7()
{
- if(lineFase == 0) { // 前進
- switch(linePara[0]) {
- case -2: adj_F = 10;
- break;
- case -3: adj_F = 5;
- break;
- case -1: adj_F = 2;
- break;
- case 0: adj_F = 0;
- break;
- case 1: adj_F = -2;
- break;
- case 3: adj_F = -5;
- break;
- case 2: adj_F = -10;
- break;
- case 'A':
- break;
- case 'N':
- break;
- default:
- }
- switch(linePara[2]) {
- case -2: adj_F = -10;
- break;
- case -3: adj_F = -5;
- break;
- case -1: adj_F = -2;
- break;
- case 0: adj_F = 0;
- break;
- case 1: adj_F = 2;
- break;
- case 3: adj_F = 5;
- break;
- case 2: adj_F = 10;
- break;
- case 'A': adj_F = 0;
- break;
- case 'N':
- break;
- default:
- }
-
- if(mode == 0) linePWM = 40;
- else if (mode == 1) linePWM = 20;
- else if (mode == 2) linePWM = 0;
- else linePWM = 0;
-
- motor[TIRE_FL].dir = SetStatus(linePWM - adj_F);
- motor[TIRE_BL].dir = SetStatus(linePWM - adj_B);
- motor[TIRE_BR].dir = SetStatus(-linePWM - adj_B);
- motor[TIRE_FR].dir = SetStatus(-linePWM - adj_F);
- motor[TIRE_FR].pwm = SetPWM(linePWM - adj_F);
- motor[TIRE_FL].pwm = SetPWM(linePWM - adj_B);
- motor[TIRE_BR].pwm = SetPWM(-linePWM - adj_B);
- motor[TIRE_BL].pwm = SetPWM(-linePWM - adj_F);
- }
+
}
#endif