Diff: System/Process/Process.cpp

Revision:

26:4c0ce2f05688

Parent:

25:b3a9f34b201d

Child:

27:dd9f27fce7d1

diff -r b3a9f34b201d -r 4c0ce2f05688 System/Process/Process.cpp
--- a/System/Process/Process.cpp	Fri Sep 27 07:51:32 2019 +0000
+++ b/System/Process/Process.cpp	Sat Sep 28 23:02:17 2019 +0000
@@ -137,6 +137,8 @@
 
 // ************* Line ************** //
 
+Timer tow_stop;
+
 float pw = 0;
 int lineFase = 0;
 bool lineCheck = false;
@@ -144,7 +146,7 @@
 bool adjAnable = false;
 int adj = 0;
 
-int count = 0;
+int countW = 0;
 int lineCount = 0;
 int targetCount = 0;
 
@@ -335,15 +337,12 @@
 			lineFase = 0;
 			lineCount = 0;
 			lineCheck = false;
-			count = 0;
-			/*
-			if(LimitSw::IsPressed(ISREDBLUE_SW) {
+			countW = 0;
+			if(LimitSw::IsPressed(REDBLUE_SW)) {
 				current = 4;
 			} else {
 				current = 5;
 			}
-			*/
-			current = 4;
 		}
 		
 		buzzer.period(1.0/800);
@@ -414,14 +413,14 @@
     
     if(controller->Button.UP) {
     	motor[LIFT_LB].dir = FOR;
-    	motor[LIFT_LB].pwm = 190;
+    	motor[LIFT_LB].pwm = 180;
     	motor[LIFT_RB].dir = BACK;
-    	motor[LIFT_RB].pwm = 180;
+    	motor[LIFT_RB].pwm = 200;
     } else if(controller->Button.DOWN) {
     	motor[LIFT_LB].dir = BACK;
     	motor[LIFT_LB].pwm = 180;
     	motor[LIFT_RB].dir = FOR;
-    	motor[LIFT_RB].pwm = 190;
+    	motor[LIFT_RB].pwm = 200;
     } else if(controller->Button.LEFT) {
     	motor[LIFT_LB].dir = FOR;
     	motor[LIFT_LB].pwm = 180;
@@ -431,8 +430,8 @@
     } else {
     	motor[LIFT_LB].dir = BRAKE;
     	motor[LIFT_LB].pwm = 255;
-    	motor[LIFT_RB].dir = BACK;
-    	motor[LIFT_RB].pwm = 20;
+    	motor[LIFT_RB].dir = BRAKE;
+    	motor[LIFT_RB].pwm = 255;
     }
     
     
@@ -471,7 +470,8 @@
 	
 	if(controller->Button.ZR) {
 		solenoid.solenoid4 = SOLENOID_ON;
-	} else {
+	}
+	if(controller->Button.ZL) {
 		solenoid.solenoid4 = SOLENOID_OFF;
 	}
 }
@@ -486,42 +486,42 @@
 
 /*
 	if(moving) {
-		if(LimiSw::IsPressed(LSW_LB)) {
+		if(LimitSw::IsPressed(LSW_LB)) {
 			if(switchFlag_LB) {
 				switchFlag_LB = false;
 				motor[LIFT_LB].dir = BRAKE;  
 	    		motor[LIFT_LB].pwm = 200;
 	    	} else {
-	    		seitchFlag_LB = true;
+	    		switchFlag_LB = true;
 	    	}
 		}
-		if(LimiSw::IsPressed(LSW_RB)) {
+		if(LimitSw::IsPressed(LSW_RB)) {
 			if(switchFlag_RB) {
 				switchFlag_RB = false;
 				motor[LIFT_RB].dir = BRAKE;
 	    		motor[LIFT_RB].pwm = 200;
 	    	} else {
-	    		seitchFlag_RB = true;
+	    		switchFlag_RB = true;
 	    	}
 		}
 		if(motor[LIFT_LB].dir == BRAKE && motor[LIFT_RB].dir == BRAKE) moving = false;
 	} else {
 		if(controller->Button.UP) {
-			if(!(state == UPPER)) {
-				state++;
-				motor[LIFT_LB].dir = BACK;
-				motor[LIFT_RB].dir = FOR;
-    			motor[LIFT_LB].pwm = 200;
-    			motor[LIFT_RB].pwm = 200;
+			if(!liftSstate == UPPER)) {
+				liftState++;
+				motor[LIFT_LB].dir = FOR;
+				motor[LIFT_RB].dir = BACK;
+    			motor[LIFT_LB].pwm = 185;
+    			motor[LIFT_RB].pwm = 180;
 			}
 		} else if(controller->Button.DOWN) {
-			if(!(state == LOWER)) {
-				state--;
+			if(!(liftstate == LOWER)) {
+				liftState--;
 				moving = true;
-				motor[LIFT_LB].dir = FOR;
-				motor[LIFT_RB].dir = BACK;
-    			motor[LIFT_LB].pwm = 200;
-    			motor[LIFT_RB].pwm = 200;
+				motor[LIFT_LB].dir = BACK;
+				motor[LIFT_RB].dir = FOR;
+    			motor[LIFT_LB].pwm = 180;
+    			motor[LIFT_RB].pwm = 185;
 			}
 		} else {
 			motor[LIFT_LB].dir = BRAKE;
@@ -531,6 +531,7 @@
 		}
 	}
 */
+
 }
 #endif
 
@@ -542,7 +543,7 @@
 	lineFase = 0;
 	lineCheck = false;
 	lineCount = 0;
-	count = 0;
+	countW = 0;
 }
 #endif
 
@@ -630,7 +631,7 @@
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
 				tirePWM[TIRE_FL] = 30;
 				tirePWM[TIRE_BL] = 30;
@@ -672,8 +673,8 @@
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 3) {
-			count = 0;
+		if(countW == 3) {
+			countW = 0;
 			lineFase = 2;
 			lineCount = 0;
 			lineCheck = false;
@@ -749,7 +750,7 @@
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
 				tirePWM[TIRE_FL] = 30;
 				tirePWM[TIRE_BL] = -30;
@@ -800,8 +801,8 @@
 			targetCount = 2;
 		}
 		
-		if(count == targetCount) {
-			count = 0;
+		if(countW == targetCount) {
+			countW = 0;
 			lineFase = 4;
 			lineCount = 0;
 			lineCheck = false;
@@ -925,64 +926,64 @@
 	} else if(lineFase == 9) {  // 前
 		switch(linePara[LINE_TOW_1]) {
 			case 2:
-				tirePWM[TIRE_FL] = 0;
-				tirePWM[TIRE_BL] = 30;
-				tirePWM[TIRE_BR] = 0;
-				tirePWM[TIRE_FR] = -30;
+				tirePWM[TIRE_FL] = 5;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = 5;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 3:
 				tirePWM[TIRE_FL] = 10;
-				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BL] = 20;
 				tirePWM[TIRE_BR] = -10;
-				tirePWM[TIRE_FR] = -30;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 1:
-				tirePWM[TIRE_FL] = 20;
-				tirePWM[TIRE_BL] = 30;
-				tirePWM[TIRE_BR] = -20;
-				tirePWM[TIRE_FR] = -30;
+				tirePWM[TIRE_FL] = 15;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -15;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 0:
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = 30;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = -30;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case -1:
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = 20;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = -20;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 15;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -15;
 				adjAnable = true;
 				break;
 			case -3:
-				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_FL] = 20;
 				tirePWM[TIRE_BL] = 10;
-				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_BR] = -20;
 				tirePWM[TIRE_FR] = -10;
 				adjAnable = true;
 				break;
 			case -2:
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = 0;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = 0;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 5;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -5;
 				adjAnable = true;
 				break;
 			case 'A':
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = 30;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = -30;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 'N':
@@ -1019,8 +1020,8 @@
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 1) {
-			count = 0;
+		if(countW == 1) {
+			countW = 0;
 			lineFase = 10;
 			lineCount = 0;
 			lineCheck = false;
@@ -1044,64 +1045,64 @@
 	} else if(lineFase == 11) {
 		switch(linePara[4]) {
 			case -2:
-				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_FL] = -30;
 				tirePWM[TIRE_BL] = 0;
-				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_BR] = 30;
 				tirePWM[TIRE_FR] = 0;
 				adjAnable = true;
 				break;
 			case -3:
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = -10;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = 10;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 10;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -10;
 				adjAnable = true;
 				break;
 			case -1:
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = -20;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = 20;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 0:
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = -30;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = 30;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 1:
-				tirePWM[TIRE_FL] = 20;
-				tirePWM[TIRE_BL] = -30;
-				tirePWM[TIRE_BR] = -20;
-				tirePWM[TIRE_FR] = 30;
+				tirePWM[TIRE_FL] = -20;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 20;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 3:
-				tirePWM[TIRE_FL] = 10;
-				tirePWM[TIRE_BL] = -30;
-				tirePWM[TIRE_BR] = -10;
-				tirePWM[TIRE_FR] = 30;
+				tirePWM[TIRE_FL] = -10;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 10;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 2:
 				tirePWM[TIRE_FL] = 0;
-				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BL] = 30;
 				tirePWM[TIRE_BR] = 0;
-				tirePWM[TIRE_FR] = 30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 'A':
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
-				tirePWM[TIRE_FL] = 30;
-				tirePWM[TIRE_BL] = -30;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = 30;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 'N':
@@ -1129,17 +1130,17 @@
 		motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
 		motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
 		motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
-		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
-		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
+		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
+		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
 		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
-		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_FR]);	
+		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);	
 		
 		if(lineCheck == true)  {
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 1) {
-			count = 0;
+		if(countW == 2) {
+			countW = 0;
 			lineFase = 12;
 			lineCount = 0;
 			lineCheck = false;
@@ -1315,7 +1316,7 @@
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
 				tirePWM[TIRE_FL] = 30;
 				tirePWM[TIRE_BL] = 30;
@@ -1357,8 +1358,8 @@
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 1) {
-			count = 0;
+		if(countW == 1) {
+			countW = 0;
 			lineFase = 18;
 			lineCount = 0;
 			lineCheck = false;
@@ -1398,8 +1399,8 @@
 			case -1:
 				tirePWM[TIRE_FL] = -30;
 				tirePWM[TIRE_BL] = 20;
-				tirePWM[TIRE_BR] = 30
-				tirePWM[TIRE_FR] = -2;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 0:
@@ -1434,7 +1435,7 @@
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
 				tirePWM[TIRE_FL] = -30;
 				tirePWM[TIRE_BL] = 30;
@@ -1489,8 +1490,8 @@
 		
 		targetCount = 3;
 		
-		if(count == targetCount) {
-			count = 0;
+		if(countW == targetCount) {
+			countW = 0;
 			lineFase = 20;
 			lineCount = 0;
 			lineCheck = false;
@@ -1572,7 +1573,7 @@
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
 				tirePWM[TIRE_FL] = -30;
 				tirePWM[TIRE_BL] = -30;
@@ -1614,8 +1615,8 @@
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 3) {
-			count = 0;
+		if(countW == 3) {
+			countW = 0;
 			lineFase = 22;
 			lineCount = 0;
 			lineCheck = false;
@@ -1660,65 +1661,65 @@
 	}
 	
 	if(lineFase == 0) {
- 		motor[TIRE_FL].dir = BACK;
-		motor[TIRE_BL].dir = BACK;
-		motor[TIRE_BR].dir = FOR;
-		motor[TIRE_FR].dir = FOR;
+ 		motor[TIRE_FL].dir = FOR;
+		motor[TIRE_BL].dir = FOR;
+		motor[TIRE_BR].dir = BACK;
+		motor[TIRE_FR].dir = BACK;
 		if(linePara[0] != 'N' && linePara[0] != 'A') {
 			lineFase = 1;
 		}
-		motor[TIRE_FL].pwm = 20;
-		motor[TIRE_BL].pwm = 20;
-		motor[TIRE_BR].pwm = 20;
-		motor[TIRE_FR].pwm = 20;
+		motor[TIRE_FL].pwm = 30;
+		motor[TIRE_BL].pwm = 30;
+		motor[TIRE_BR].pwm = 30;
+		motor[TIRE_FR].pwm = 30;
 	}else if(lineFase == 1) {  // 前 ライントレース
 		switch(linePara[0]) {
 			case -2:
 				tirePWM[TIRE_FL] = 0;
-				tirePWM[TIRE_BL] = 50;
+				tirePWM[TIRE_BL] = 30;
 				tirePWM[TIRE_BR] = 0;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case -3:
-				tirePWM[TIRE_FL] = 20;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = -30;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 10;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = -10;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case -1:
 				tirePWM[TIRE_FL] = 20;
-				tirePWM[TIRE_BL] = 50;
+				tirePWM[TIRE_BL] = 30;
 				tirePWM[TIRE_BR] = -20;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 0:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 1:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 40;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -40;
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 3:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 20;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -20;
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = 10;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = -10;
 				adjAnable = true;
 				break;
 			case 2:
-				tirePWM[TIRE_FL] = 50;
+				tirePWM[TIRE_FL] = 30;
 				tirePWM[TIRE_BL] = 0;
-				tirePWM[TIRE_BR] = -50;
+				tirePWM[TIRE_BR] = -30;
 				tirePWM[TIRE_FR] = 0;
 				adjAnable = true;
 				break;
@@ -1726,12 +1727,12 @@
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 'N':
@@ -1759,98 +1760,98 @@
 		motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
 		motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
 		motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
-		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]) * 0.8;
-		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj) * 0.8;
-		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj) * 0.8;
-		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]) * 0.8;	
+		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
+		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
+		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
+		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);	
 		
 		if(lineCheck == true)  {
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 3) {
-			count = 0;
+		if(countW == 3) {
+			countW = 0;
 			lineFase = 2;
 			lineCount = 0;
 			lineCheck = false;
 		}
 	} else if(lineFase == 2) {  // 前 低速
-		motor[TIRE_FL].dir = BACK;
-		motor[TIRE_BL].dir = BACK;
-		motor[TIRE_BR].dir = FOR;
-		motor[TIRE_FR].dir = FOR;
-		if(linePara[3] != 'N') {
+		motor[TIRE_FL].dir = FOR;
+		motor[TIRE_BL].dir = FOR;
+		motor[TIRE_BR].dir = BACK;
+		motor[TIRE_FR].dir = BACK;
+		if(linePara[3] == 0) {
 			lineFase = 3;
 			motor[TIRE_FL].dir = BRAKE;
 			motor[TIRE_BL].dir = BRAKE;
 			motor[TIRE_BR].dir = BRAKE;
 			motor[TIRE_FR].dir = BRAKE;
 		}
-		motor[TIRE_FL].pwm = 20;
-		motor[TIRE_BL].pwm = 20;
-		motor[TIRE_BR].pwm = 20;
-		motor[TIRE_FR].pwm = 20;
+		motor[TIRE_FL].pwm = 16;
+		motor[TIRE_BL].pwm = 16;
+		motor[TIRE_BR].pwm = 16;
+		motor[TIRE_FR].pwm = 16;
 	} else if(lineFase == 3) {  // 左 ライントレース
-		switch(linePara[4]) {
+		switch(linePara[3]) {
 			case -2:
-				tirePWM[TIRE_FL] = -50;
+				tirePWM[TIRE_FL] = -30;
 				tirePWM[TIRE_BL] = 0;
-				tirePWM[TIRE_BR] = 50;
+				tirePWM[TIRE_BR] = 30;
 				tirePWM[TIRE_FR] = 0;
 				adjAnable = true;
 				break;
 			case -3:
-				tirePWM[TIRE_FL] = -50;
-				tirePWM[TIRE_BL] = 20;
-				tirePWM[TIRE_BR] = 50;
-				tirePWM[TIRE_FR] = -20;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 10;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -10;
 				adjAnable = true;
 				break;
 			case -1:
-				tirePWM[TIRE_FL] = -50;
-				tirePWM[TIRE_BL] = 40;
-				tirePWM[TIRE_BR] = 50;
-				tirePWM[TIRE_FR] = -40;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 0:
-				tirePWM[TIRE_FL] = -50;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = 50;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 1:
-				tirePWM[TIRE_FL] = -40;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = 40;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = -20;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 20;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 3:
-				tirePWM[TIRE_FL] = -20;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = 20;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = -10;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 10;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 2:
 				tirePWM[TIRE_FL] = 0;
-				tirePWM[TIRE_BL] = 50;
+				tirePWM[TIRE_BL] = 30;
 				tirePWM[TIRE_BR] = 0;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 'A':
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
-				tirePWM[TIRE_FL] = -50;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = 50;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 'N':
@@ -1887,17 +1888,17 @@
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 2) {
-			count = 0;
+		if(countW == 1) {
+			countW = 0;
 			lineFase = 4;
 			lineCount = 0;
 			lineCheck = false;
 		}
 	} else if(lineFase == 4) { // 右 低速
-		motor[TIRE_FL].dir = FOR;
-		motor[TIRE_BL].dir = BACK;
-		motor[TIRE_BR].dir = BACK;
-		motor[TIRE_FR].dir = FOR;
+		motor[TIRE_FL].dir = BACK;
+		motor[TIRE_BL].dir = FOR;
+		motor[TIRE_BR].dir = FOR;
+		motor[TIRE_FR].dir = BACK;
 		if(linePara[LINE_TOW_1] == 0) {
 			lineFase = 5;
 			motor[TIRE_FL].dir = BRAKE;
@@ -1905,17 +1906,17 @@
 			motor[TIRE_BR].dir = BRAKE;
 			motor[TIRE_FR].dir = BRAKE;
 		}
-		motor[TIRE_FL].pwm = 20;
-		motor[TIRE_BL].pwm = 20;
-		motor[TIRE_BR].pwm = 20;
-		motor[TIRE_FR].pwm = 20;
+		motor[TIRE_FL].pwm = 16;
+		motor[TIRE_BL].pwm = 16;
+		motor[TIRE_BR].pwm = 16;
+		motor[TIRE_FR].pwm = 16;
 	} else if (lineFase == 5) {
 		lineFase = 6;
 		motor[TIRE_FL].dir = BRAKE;
 		motor[TIRE_BL].dir = BRAKE;
 		motor[TIRE_BR].dir = BRAKE;
 		motor[TIRE_FR].dir = BRAKE;
-	} else if(lineFase == 6) {  // タオル 竿検知
+	} else if(lineFase == 6) {  // タオル1 竿検知
 		if(LimitSw::IsPressed(TOW_1L) && LimitSw::IsPressed(TOW_1R)) {
 			lineFase = 7;
 			motor[TIRE_FL].dir = BRAKE;
@@ -1928,31 +1929,103 @@
 			motor[TIRE_FR].pwm = 50;
 		} else if(LimitSw::IsPressed(TOW_1L)) { 
 			motor[TIRE_FL].dir = FOR;
-			motor[TIRE_FL].pwm = 16;
+			motor[TIRE_FL].pwm = 20;
 			motor[TIRE_BL].dir = BRAKE;
 			motor[TIRE_BL].pwm = 50;
 			motor[TIRE_BR].dir = BRAKE;
 			motor[TIRE_BR].pwm = 50;
 			motor[TIRE_FR].dir = FOR;
-			motor[TIRE_FR].pwm = 16;
+			motor[TIRE_FR].pwm = 20;
 		} else if(LimitSw::IsPressed(TOW_1R)) { 
 			motor[TIRE_FL].dir = BACK;
-			motor[TIRE_FL].pwm = 16;
+			motor[TIRE_FL].pwm = 20;
 			motor[TIRE_BL].dir = BRAKE;
 			motor[TIRE_BL].pwm = 50;
 			motor[TIRE_BR].dir = BRAKE;
 			motor[TIRE_BR].pwm = 50;
 			motor[TIRE_FR].dir = BACK;
-			motor[TIRE_FR].pwm = 16;
+			motor[TIRE_FR].pwm = 20;
 		} else {
-			motor[TIRE_FL].dir = BACK;
-			motor[TIRE_FL].pwm = 20;
-			motor[TIRE_BL].dir = BACK;
-			motor[TIRE_BL].pwm = 20;
-			motor[TIRE_BR].dir = FOR;
-			motor[TIRE_BR].pwm = 20;
-			motor[TIRE_FR].dir = FOR;
-			motor[TIRE_FR].pwm = 20;
+			switch(linePara[LINE_TOW_1]) {
+				case -2:
+					tirePWM[TIRE_FL] = -10;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 10;
+					tirePWM[TIRE_FR] = 20;
+					adjAnable = true;
+					break;
+				case -3:
+					tirePWM[TIRE_FL] = -14;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 14;
+					tirePWM[TIRE_FR] = 20;
+					adjAnable = true;
+					break;
+				case -1:
+					tirePWM[TIRE_FL] = -17;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 17;
+					tirePWM[TIRE_FR] = 20;
+					adjAnable = true;
+					break;
+				case 0:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 20;
+					adjAnable = true;
+					break;
+				case 1:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -17;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 17;
+					adjAnable = true;
+					break;
+				case 3:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -14;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 14;
+					adjAnable = true;
+					break;
+				case 2:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -10;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 10;
+					adjAnable = true;
+					break;
+				case 'A':
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 20;
+					adjAnable = true;
+					break;
+				case 'N':
+					tirePWM[TIRE_FL] = 0;
+					tirePWM[TIRE_BL] = 0;
+					tirePWM[TIRE_BR] = 0;
+					tirePWM[TIRE_FR] = 0;
+					adjAnable = false;
+					break;
+				default:
+					tirePWM[TIRE_FL] = 0;
+					tirePWM[TIRE_BL] = 0;
+					tirePWM[TIRE_BR] = 0;
+					tirePWM[TIRE_FR] = 0;
+					adjAnable = false;
+			}
+			
+			motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
+			motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
+			motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
+			motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
+			motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
+			motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
+			motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
+			motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
 		}
 	} else if(lineFase == 7) {  // ライン 修正
 		if(linePara[LINE_TOW_1] == 'A' || linePara[LINE_TOW_1] == 'N') {
@@ -1983,6 +2056,8 @@
 			motor[TIRE_FR].dir = FOR;
 			motor[TIRE_FR].pwm = 16;
 		} else if(linePara[LINE_TOW_1] == 0) {
+			//tow_stop.reset();
+			//tow_stop.start();
 			lineFase = 8;
 			motor[TIRE_FL].dir = BRAKE;
 			motor[TIRE_FL].pwm = 50;
@@ -1994,13 +2069,13 @@
 			motor[TIRE_FR].pwm = 50;
 		} else {
 			motor[TIRE_FL].dir = BRAKE;
-			motor[TIRE_FL].pwm = 30;
+			motor[TIRE_FL].pwm = 50;
 			motor[TIRE_BL].dir = BRAKE;
-			motor[TIRE_BL].pwm = 30;
+			motor[TIRE_BL].pwm = 50;
 			motor[TIRE_BR].dir = BRAKE;
-			motor[TIRE_BR].pwm = 30;
+			motor[TIRE_BR].pwm = 50;
 			motor[TIRE_FR].dir = BRAKE;
-			motor[TIRE_FR].pwm = 30;
+			motor[TIRE_FR].pwm = 50;
 		}
 	} else if(lineFase == 8) { // タオル1 解放
 		//solenoid.TOWEL1 = SOLENOID_ON;
@@ -2012,64 +2087,64 @@
 	} else if(lineFase == 9) {  // 前
 		switch(linePara[LINE_TOW_1]) {
 			case 2:
-				tirePWM[TIRE_FL] = 0;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = 0;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 10;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -10;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 3:
-				tirePWM[TIRE_FL] = 20;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = -20;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 14;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -14;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 1:
-				tirePWM[TIRE_FL] = 40;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = -40;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 17;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -17;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 0:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case -1:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 40;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -40;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 17;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -17;
 				adjAnable = true;
 				break;
 			case -3:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 20;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -20;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 14;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -14;
 				adjAnable = true;
 				break;
 			case -2:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 0;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = 0;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 10;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -10;
 				adjAnable = true;
 				break;
 			case 'A':
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = 50;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = -50;
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 'N':
@@ -2106,95 +2181,95 @@
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 1) {
-			count = 0;
+		if(countW == 1) {
+			countW = 0;
 			lineFase = 10;
 			lineCount = 0;
 			lineCheck = false;
 		}
-	} else if(lineFase == 10) {
+	} else if(lineFase == 10) {  // 前 低速
 		motor[TIRE_FL].dir = FOR;
 		motor[TIRE_BL].dir = FOR;
 		motor[TIRE_BR].dir = BACK;
 		motor[TIRE_FR].dir = BACK;
-		if(linePara[4] == 0) {
+		if(linePara[3] == 0) {
 			lineFase = 11;
 			motor[TIRE_FL].dir = BRAKE;
 			motor[TIRE_BL].dir = BRAKE;
 			motor[TIRE_BR].dir = BRAKE;
 			motor[TIRE_FR].dir = BRAKE;
 		}
-		motor[TIRE_FL].pwm = 20;
-		motor[TIRE_BL].pwm = 20;
-		motor[TIRE_BR].pwm = 20;
-		motor[TIRE_FR].pwm = 20; 
-	} else if(lineFase == 11) {
-		switch(linePara[4]) {
+		motor[TIRE_FL].pwm = 16;
+		motor[TIRE_BL].pwm = 16;
+		motor[TIRE_BR].pwm = 16;
+		motor[TIRE_FR].pwm = 16; 
+	} else if(lineFase == 11) {  // 左
+		switch(linePara[3]) {
 			case -2:
-				tirePWM[TIRE_FL] = 50;
+				tirePWM[TIRE_FL] = -30;
 				tirePWM[TIRE_BL] = 0;
-				tirePWM[TIRE_BR] = -50;
+				tirePWM[TIRE_BR] = 30;
 				tirePWM[TIRE_FR] = 0;
 				adjAnable = true;
 				break;
 			case -3:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = -30;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = 30;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 10;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -10;
 				adjAnable = true;
 				break;
 			case -1:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = -40;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = 40;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -20;
 				adjAnable = true;
 				break;
 			case 0:
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = -50;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = 50;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 1:
-				tirePWM[TIRE_FL] = 40;
-				tirePWM[TIRE_BL] = -50;
-				tirePWM[TIRE_BR] = -40;
-				tirePWM[TIRE_FR] = 50;
+				tirePWM[TIRE_FL] = -20;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 20;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 3:
-				tirePWM[TIRE_FL] = 20;
-				tirePWM[TIRE_BL] = -50;
-				tirePWM[TIRE_BR] = -20;
-				tirePWM[TIRE_FR] = 50;
+				tirePWM[TIRE_FL] = -10;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 10;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 2:
 				tirePWM[TIRE_FL] = 0;
-				tirePWM[TIRE_BL] = -50;
+				tirePWM[TIRE_BL] = 30;
 				tirePWM[TIRE_BR] = 0;
-				tirePWM[TIRE_FR] = 50;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 'A':
 				if(lineCheck == false) {
 					lineCheck = true;
 					lineCount = 0;
-					count++;
+					countW++;
 				}
-				tirePWM[TIRE_FL] = 50;
-				tirePWM[TIRE_BL] = -50;
-				tirePWM[TIRE_BR] = -50;
-				tirePWM[TIRE_FR] = 50;
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = -30;
 				adjAnable = true;
 				break;
 			case 'N':
 				tirePWM[TIRE_FL] = 0;
 				tirePWM[TIRE_BL] = 0;
-				tirePWM[TIRE_BR] = 0.;
+				tirePWM[TIRE_BR] = 0;
 				tirePWM[TIRE_FR] = 0;
 				adjAnable = false;
 				break;
@@ -2207,35 +2282,34 @@
 		}
 		
 		if(adjAnable){
-			adj = 0;//linePara[3];
+			if(linePara[4] != 'A' && linePara[4] != 'N') adj = linePara[4];
 		} else {
 			adj = 0;
 		}
 		
-		motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
-		motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
-		motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
-		motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
-		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
-		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
-		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
-		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_FR]);	
-		
+		motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
+		motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
+		motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
+		motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR] + adj);
+		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
+		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
+		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
+		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR] + adj);	
 		if(lineCheck == true)  {
 			lineCount++;
 			if(lineCount > 20) lineCheck = false;
 		}
-		if(count == 3) {
-			count = 0;
+		if(countW == 2) {
+			countW = 0;
 			lineFase = 12;
 			lineCount = 0;
 			lineCheck = false;
 		}
-	} else if(lineFase == 12) { // 右 低速
-		motor[TIRE_FL].dir = FOR;
-		motor[TIRE_BL].dir = BACK;
-		motor[TIRE_BR].dir = BACK;
-		motor[TIRE_FR].dir = FOR;
+	} else if(lineFase == 12) { // 左 低速
+		motor[TIRE_FL].dir = BACK;
+		motor[TIRE_BL].dir = FOR;
+		motor[TIRE_BR].dir = FOR;
+		motor[TIRE_FR].dir = BACK;
 		if(linePara[LINE_TOW_2] == 0) {
 			lineFase = 13;
 			motor[TIRE_FL].dir = BRAKE;
@@ -2253,7 +2327,538 @@
 		motor[TIRE_BL].dir = BRAKE;
 		motor[TIRE_BR].dir = BRAKE;
 		motor[TIRE_FR].dir = BRAKE;
-	} else {
+	} else if(lineFase == 14) {  // タオル2 竿検知
+		if(LimitSw::IsPressed(TOW_2L) && LimitSw::IsPressed(TOW_2R)) {
+			lineFase = 15;
+			motor[TIRE_FL].dir = BRAKE;
+			motor[TIRE_FL].pwm = 50;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BL].pwm = 50;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_BR].pwm = 50;
+			motor[TIRE_FR].dir = BRAKE;
+			motor[TIRE_FR].pwm = 50;
+		} else if(LimitSw::IsPressed(TOW_2L)) { 
+			motor[TIRE_FL].dir = FOR;
+			motor[TIRE_FL].pwm = 20;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BL].pwm = 50;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_BR].pwm = 50;
+			motor[TIRE_FR].dir = FOR;
+			motor[TIRE_FR].pwm = 20;
+		} else if(LimitSw::IsPressed(TOW_2R)) { 
+			motor[TIRE_FL].dir = BACK;
+			motor[TIRE_FL].pwm = 20;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BL].pwm = 50;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_BR].pwm = 50;
+			motor[TIRE_FR].dir = BACK;
+			motor[TIRE_FR].pwm = 20;
+		} else {
+			switch(linePara[LINE_TOW_2]) {
+				case -2:
+					tirePWM[TIRE_FL] = -10;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 10;
+					tirePWM[TIRE_FR] = 20;
+					break;
+				case -3:
+					tirePWM[TIRE_FL] = -14;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 14;
+					tirePWM[TIRE_FR] = 20;
+					break;
+				case -1:
+					tirePWM[TIRE_FL] = -17;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 17;
+					tirePWM[TIRE_FR] = 20;
+					break;
+				case 0:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 20;
+					break;
+				case 1:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -17;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 17;
+					break;
+				case 3:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -14;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 14;
+					break;
+				case 2:
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -10;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 10;
+					break;
+				case 'A':
+					tirePWM[TIRE_FL] = -20;
+					tirePWM[TIRE_BL] = -20;
+					tirePWM[TIRE_BR] = 20;
+					tirePWM[TIRE_FR] = 20;
+					break;
+				case 'N':
+					tirePWM[TIRE_FL] = 0;
+					tirePWM[TIRE_BL] = 0;
+					tirePWM[TIRE_BR] = 0;
+					tirePWM[TIRE_FR] = 0;
+					break;
+				default:
+					tirePWM[TIRE_FL] = 0;
+					tirePWM[TIRE_BL] = 0;
+					tirePWM[TIRE_BR] = 0;
+					tirePWM[TIRE_FR] = 0;
+			}
+			
+			motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
+			motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
+			motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
+			motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
+			motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
+			motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
+			motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
+			motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);
+		}
+	} else if(lineFase == 15 ){  // ライン 修正
+		if(linePara[LINE_TOW_2] == 'A' || linePara[LINE_TOW_2] == 'N') {
+			motor[TIRE_FL].dir = BRAKE;
+			motor[TIRE_FL].pwm = 50;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BL].pwm = 50;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_BR].pwm = 50;
+			motor[TIRE_FR].dir = BRAKE;
+			motor[TIRE_FR].pwm = 50;
+		} else if(linePara[LINE_TOW_2] > 0) {
+			motor[TIRE_FL].dir = BACK;
+			motor[TIRE_FL].pwm = 16;
+			motor[TIRE_BL].dir = FOR;
+			motor[TIRE_BL].pwm = 16;
+			motor[TIRE_BR].dir = FOR;
+			motor[TIRE_BR].pwm = 16;
+			motor[TIRE_FR].dir = BACK;
+			motor[TIRE_FR].pwm = 16;
+		} else if(linePara[LINE_TOW_2] < 0) {
+			motor[TIRE_FL].dir = FOR;
+			motor[TIRE_FL].pwm = 16;
+			motor[TIRE_BL].dir = BACK;
+			motor[TIRE_BL].pwm = 16;
+			motor[TIRE_BR].dir = BACK;
+			motor[TIRE_BR].pwm = 16;
+			motor[TIRE_FR].dir = FOR;
+			motor[TIRE_FR].pwm = 16;
+		} else if(linePara[LINE_TOW_2] == 0) {
+			lineFase = 16;
+			motor[TIRE_FL].dir = BRAKE;
+			motor[TIRE_FL].pwm = 50;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BL].pwm = 50;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_BR].pwm = 50;
+			motor[TIRE_FR].dir = BRAKE;
+			motor[TIRE_FR].pwm = 50;
+		} else {
+			motor[TIRE_FL].dir = BRAKE;
+			motor[TIRE_FL].pwm = 50;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BL].pwm = 50;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_BR].pwm = 50;
+			motor[TIRE_FR].dir = BRAKE;
+			motor[TIRE_FR].pwm = 50;
+		}
+	} else if(lineFase == 16) { // タオル2 解放
+		//solenoid.TOWEL2 = SOLENOID_ON;
+		motor[TIRE_FL].dir = BRAKE;
+		motor[TIRE_BL].dir = BRAKE;
+		motor[TIRE_BR].dir = BRAKE;
+		motor[TIRE_FR].dir = BRAKE;
+		lineFase = 17;
+	} else if(lineFase == 17) { // 前
+		switch(linePara[LINE_TOW_2]) {
+			case 2:
+				tirePWM[TIRE_FL] = 10;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -10;
+				tirePWM[TIRE_FR] = -20;
+				adjAnable = true;
+				break;
+			case 3:
+				tirePWM[TIRE_FL] = 14;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -14;
+				tirePWM[TIRE_FR] = -20;
+				adjAnable = true;
+				break;
+			case 1:
+				tirePWM[TIRE_FL] = 17;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -17;
+				tirePWM[TIRE_FR] = -20;
+				adjAnable = true;
+				break;
+			case 0:
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -20;
+				adjAnable = true;
+				break;
+			case -1:
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 17;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -17;
+				adjAnable = true;
+				break;
+			case -3:
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 14;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -14;
+				adjAnable = true;
+				break;
+			case -2:
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 10;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = 10;
+				adjAnable = true;
+				break;
+			case 'A':
+				if(lineCheck == false) {
+					lineCheck = true;
+					lineCount = 0;
+					countW++;
+				}
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = 20;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = -20;
+				adjAnable = true;
+				break;
+			case 'N':
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = false;
+				break;
+			default:
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = false;
+		}
+		
+		if(adjAnable){
+			adj = 0;
+		} else {
+			adj = 0;
+		}
+		
+		motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL]);
+		motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
+		motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR] + adj);
+		motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
+		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL]);
+		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
+		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR] + adj);
+		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);	
+		
+		if(lineCheck == true)  {
+			lineCount++;
+			if(lineCount > 20) lineCheck = false;
+		}
+		if(countW == 1) {
+			countW = 0;
+			lineFase = 18;
+			lineCount = 0;
+			lineCheck = false;
+		}
+	} else if(lineFase == 18) {  // 前 低速
+		motor[TIRE_FL].dir = FOR;
+		motor[TIRE_BL].dir = FOR;
+		motor[TIRE_BR].dir = BACK;
+		motor[TIRE_FR].dir = BACK;
+		if(linePara[4] == 0) {
+			lineFase = 19;
+			motor[TIRE_FL].dir = BRAKE;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_FR].dir = BRAKE;
+		}
+		motor[TIRE_FL].pwm = 16;
+		motor[TIRE_BL].pwm = 16;
+		motor[TIRE_BR].pwm = 16;
+		motor[TIRE_FR].pwm = 16;
+	} else if(lineFase == 19) {  // 右
+		switch(linePara[4]) {
+			case -2:
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = true;
+				break;
+			case -3:
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = -10;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = 10;
+				adjAnable = true;
+				break;
+			case -1:
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = -20;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = 20;
+				adjAnable = true;
+				break;
+			case 0:
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 1:
+				tirePWM[TIRE_FL] = 20;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = -20;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 3:
+				tirePWM[TIRE_FL] = 10;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = -10;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 2:
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 'A':
+				if(lineCheck == false) {
+					lineCheck = true;
+					lineCount = 0;
+					countW++;
+				}
+				tirePWM[TIRE_FL] = 30;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = -30;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 'N':
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = false;
+				break;
+			default:
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = false;
+		}
+		
+		if(adjAnable){
+			if(linePara[3] != 'A' && linePara[3] != 'N') adj = linePara[3];
+		} else {
+			adj = 0;
+		}
+		
+		motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
+		motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL] + adj);
+		motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
+		motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR]);
+		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
+		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL] + adj);
+		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
+		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR]);	
+		
+		if(lineCheck == true)  {
+			lineCount++;
+			if(lineCount > 20) lineCheck = false;
+		}
+		
+		/*
+		if(LimitSw::IsPressed(TOWEL1_SW) && LimitSw::IsPressed(TOWEL2_SW)) {
+			targetCount = 3;
+		} else if(LimitSw::IsPressed(TOWEL1_SW)) {
+			targetCount = 3;
+		} else {
+			targetCount = 2;
+		}
+		*/
+		
+		targetCount = 3;
+		
+		if(countW == targetCount) {
+			countW = 0;
+			lineFase = 20;
+			lineCount = 0;
+			lineCheck = false;
+		}
+	} else if(lineFase == 20) { // 右 低速
+		motor[TIRE_FL].dir = FOR;
+		motor[TIRE_BL].dir = BACK;
+		motor[TIRE_BR].dir = BACK;
+		motor[TIRE_FR].dir = FOR;
+		if (linePara[2] == 0) {
+			//(LimitSw::IsPressed(SHEETS_SW)) {
+			//ineFase = 20; 
+			//else if(LimitSw::IsPressed(TOWEL2_SW) {
+			//ineFase = 14;
+			//else {
+			lineFase = 21;
+			//
+			motor[TIRE_FL].dir = BRAKE;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_FR].dir = BRAKE;
+		}
+		motor[TIRE_FL].pwm = 16;
+		motor[TIRE_BL].pwm = 16;
+		motor[TIRE_BR].pwm = 16;
+		motor[TIRE_FR].pwm = 16;
+	} else if(lineFase == 21) {
+		switch(linePara[2]) {
+			case -2:
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case -3:
+				tirePWM[TIRE_FL] = -10;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = 10;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case -1:
+				tirePWM[TIRE_FL] = -20;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = 20;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 0:
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 1:
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = -20;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = 20;
+				adjAnable = true;
+				break;
+			case 3:
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = -10;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = 10;
+				adjAnable = true;
+				break;
+			case 2:
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = true;
+				break;
+			case 'A':
+				if(lineCheck == false) {
+					lineCheck = true;
+					lineCount = 0;
+					countW++;
+				}
+				tirePWM[TIRE_FL] = -30;
+				tirePWM[TIRE_BL] = -30;
+				tirePWM[TIRE_BR] = 30;
+				tirePWM[TIRE_FR] = 30;
+				adjAnable = true;
+				break;
+			case 'N':
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = false;
+				break;
+			default:
+				tirePWM[TIRE_FL] = 0;
+				tirePWM[TIRE_BL] = 0;
+				tirePWM[TIRE_BR] = 0;
+				tirePWM[TIRE_FR] = 0;
+				adjAnable = false;
+		}
+		
+		if(adjAnable){
+			if(linePara[0] != 'A' && linePara[0] != 'N') adj = linePara[0];
+		} else {
+			adj = 0;
+		}
+		
+		motor[TIRE_FL].dir = SetStatus(tirePWM[TIRE_FL] + adj);
+		motor[TIRE_BL].dir = SetStatus(tirePWM[TIRE_BL]);
+		motor[TIRE_BR].dir = SetStatus(tirePWM[TIRE_BR]);
+		motor[TIRE_FR].dir = SetStatus(tirePWM[TIRE_FR] + adj);
+		motor[TIRE_FL].pwm = SetPWM(tirePWM[TIRE_FL] + adj);
+		motor[TIRE_BL].pwm = SetPWM(tirePWM[TIRE_BL]);
+		motor[TIRE_BR].pwm = SetPWM(tirePWM[TIRE_BR]);
+		motor[TIRE_FR].pwm = SetPWM(tirePWM[TIRE_FR] + adj);	
+		
+		if(lineCheck == true)  {
+			lineCount++;
+			if(lineCount > 20) lineCheck = false;
+		}
+		if(countW == 2) {
+			countW = 0;
+			lineFase = 22;
+			lineCount = 0;
+			lineCheck = false;
+		}
+	} else if(lineFase == 22) {
+		motor[TIRE_FL].dir = BACK;
+		motor[TIRE_BL].dir = BACK;
+		motor[TIRE_BR].dir = FOR;
+		motor[TIRE_FR].dir = FOR;
+		if (linePara[0] == 'N') {
+			motor[TIRE_FL].dir = BRAKE;
+			motor[TIRE_BL].dir = BRAKE;
+			motor[TIRE_BR].dir = BRAKE;
+			motor[TIRE_FR].dir = BRAKE;
+		}
+		motor[TIRE_FL].pwm = 30;
+		motor[TIRE_BL].pwm = 30;
+		motor[TIRE_BR].pwm = 30;
+		motor[TIRE_FR].pwm = 30;
+	} else{
 		motor[TIRE_FL].dir = BRAKE;
 		motor[TIRE_BL].dir = BRAKE;
 		motor[TIRE_BR].dir = BRAKE;