大季 矢花
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MainBoard2019_Master_9_18_last
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Dependencies: mbed TrapezoidControl QEI
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Process.cpp
00001 00002 #include "mbed.h" 00003 #include "Process.h" 00004 #include "QEI.h" 00005 00006 #include "../../CommonLibraries/PID/PID.h" 00007 #include "../../Communication/RS485/ActuatorHub/ActuatorHub.h" 00008 #include "../../Communication/RS485/LineHub/LineHub.h" 00009 #include "../../Communication/Controller/Controller.h" 00010 #include "../../Input/ExternalInt/ExternalInt.h" 00011 #include "../../Input/Switch/Switch.h" 00012 #include "../../Input/Potentiometer/Potentiometer.h" 00013 #include "../../Input/Encoder/Encoder.h" 00014 #include "../../LED/LED.h" 00015 #include "../../Safty/Safty.h" 00016 #include "../Using.h" 00017 00018 using namespace SWITCH; 00019 using namespace PID_SPACE; 00020 using namespace ENCODER; 00021 using namespace LINEHUB; 00022 00023 static CONTROLLER::ControllerData *controller; 00024 ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM]; 00025 ACTUATORHUB::SOLENOID::SolenoidStatus solenoid; 00026 00027 static bool lock; 00028 static bool processChangeComp; 00029 static int current; 00030 00031 static void AllActuatorReset(); 00032 00033 #ifdef USE_SUBPROCESS 00034 static void (*Process[USE_PROCESS_NUM])(void); 00035 #endif 00036 00037 #pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE 00038 00039 /*Replace here with the definition code of your variables.*/ 00040 00041 Serial pc(USBTX, USBRX); 00042 00043 //**************Encoder*************** 00044 const int PerRev = 256; 00045 QEI ECD_0(ECD_A_0,ECD_B_0,NC,PerRev,QEI::X4_ENCODING); 00046 QEI ECD_1(ECD_A_1,ECD_B_1,NC,PerRev,QEI::X4_ENCODING); 00047 QEI ECD_2(ECD_A_2,ECD_B_2,NC,PerRev,QEI::X4_ENCODING); 00048 QEI ECD_3(ECD_A_3,ECD_B_3,NC,PerRev,QEI::X4_ENCODING); 00049 //**************Encoder*************** 00050 00051 //**************Buzzer**************** 00052 //DigitalOut buzzer(BUZZER_PIN); 00053 void BuzzerTimer_func(); 00054 Ticker BuzzerTimer; 00055 bool EMGflag = false; 00056 //PWMOut buzzer(BUZZER_PIN); 00057 //**************Buzzer**************** 00058 00059 //************TapeLed***************** 00060 void TapeLedEms_func(); 00061 TapeLedData tapeLED; 00062 TapeLedData sendLedData; 00063 TapeLED_Mode ledMode = Normal; 00064 Ticker tapeLedTimer; 00065 //************TapaLed***************** 00066 00067 float tireProRPM[4]; 00068 float tireTarRPM[4]; 00069 float tirepwm[4]; 00070 00071 const int omni[15][15] = { 00072 { 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 }, 00073 { -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 }, 00074 { -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 }, 00075 { -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 }, 00076 { -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 }, 00077 { -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 }, 00078 { -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 }, 00079 { -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 }, 00080 { -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 }, 00081 { -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 }, 00082 { -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 }, 00083 { -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 }, 00084 { -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 }, 00085 { -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 }, 00086 { -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 } 00087 }; 00088 00089 const int curve[15] = { -152, -98, -54, -18, 0, 0, 0, 0, 0, 0, 0, 18, 54, 98, 152 }; 00090 //{-200,-146,-102,-66,-36,-16,0,0,0,16,36,66,102,146,200} 00091 00092 uint8_t SetStatus(int); 00093 uint8_t SetStatus(int pwmVal) 00094 { 00095 if (pwmVal < 0) return BACK; 00096 else if (pwmVal > 0) return FOR; 00097 else if (pwmVal == 0) return BRAKE; 00098 else return BRAKE; 00099 } 00100 uint8_t Setpwm(int); 00101 uint8_t Setpwm(int pwmVal) 00102 { 00103 if (pwmVal == 0 || pwmVal > 255 || pwmVal < -255) return 255; 00104 else return abs(pwmVal); 00105 } 00106 00107 #pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE 00108 00109 #ifdef USE_SUBPROCESS 00110 #if USE_PROCESS_NUM>0 00111 static void Process0(void); 00112 #endif 00113 #if USE_PROCESS_NUM>1 00114 static void Process1(void); 00115 #endif 00116 #if USE_PROCESS_NUM>2 00117 static void Process2(void); 00118 #endif 00119 #if USE_PROCESS_NUM>3 00120 static void Process3(void); 00121 #endif 00122 #if USE_PROCESS_NUM>4 00123 static void Process4(void); 00124 #endif 00125 #if USE_PROCESS_NUM>5 00126 static void Process5(void); 00127 #endif 00128 #if USE_PROCESS_NUM>6 00129 static void Process6(void); 00130 #endif 00131 #if USE_PROCESS_NUM>7 00132 static void Process7(void); 00133 #endif 00134 #if USE_PROCESS_NUM>8 00135 static void Process8(void); 00136 #endif 00137 #if USE_PROCESS_NUM>9 00138 static void Process9(void); 00139 #endif 00140 #endif 00141 00142 void SystemProcessInitialize() 00143 { 00144 #pragma region USER-DEFINED_VARIABLE_INIT 00145 /*Replace here with the initialization code of your variables.*/ 00146 #pragma endregion USER-DEFINED_VARIABLE_INIT 00147 00148 lock = true; 00149 processChangeComp = true; 00150 current = DEFAULT_PROCESS; 00151 00152 #ifdef USE_SUBPROCESS 00153 #if USE_PROCESS_NUM>0 00154 Process[0] = Process0; 00155 #endif 00156 #if USE_PROCESS_NUM>1 00157 Process[1] = Process1; 00158 #endif 00159 #if USE_PROCESS_NUM>2 00160 Process[2] = Process2; 00161 #endif 00162 #if USE_PROCESS_NUM>3 00163 Process[3] = Process3; 00164 #endif 00165 #if USE_PROCESS_NUM>4 00166 Process[4] = Process4; 00167 #endif 00168 #if USE_PROCESS_NUM>5 00169 Process[5] = Process5; 00170 #endif 00171 #if USE_PROCESS_NUM>6 00172 Process[6] = Process6; 00173 #endif 00174 #if USE_PROCESS_NUM>7 00175 Process[7] = Process7; 00176 #endif 00177 #if USE_PROCESS_NUM>8 00178 Process[8] = Process8; 00179 #endif 00180 #if USE_PROCESS_NUM>9 00181 Process[9] = Process9; 00182 #endif 00183 #endif 00184 } 00185 00186 static void SystemProcessUpdate() 00187 { 00188 #ifdef USE_SUBPROCESS 00189 if(controller->Button.HOME) lock = false; 00190 00191 if(controller->Button.START && processChangeComp) { 00192 current++; 00193 if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM; 00194 processChangeComp = false; 00195 } else if(controller->Button.SELECT && processChangeComp) { 00196 current--; 00197 if (current < 0) current = 0; 00198 processChangeComp = false; 00199 } else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true; 00200 #endif 00201 00202 #ifdef USE_MOTOR 00203 ACTUATORHUB::MOTOR::Motor::Update(motor); 00204 #endif 00205 00206 #ifdef USE_SOLENOID 00207 ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid); 00208 #endif 00209 00210 #ifdef USE_RS485 00211 ACTUATORHUB::ActuatorHub::Update(); 00212 #endif 00213 00214 } 00215 00216 int g[8]; 00217 00218 void SystemProcess() 00219 { 00220 SystemProcessInitialize(); 00221 00222 while(1) { 00223 for(int i = 0; i < 8; i++) { 00224 g[i] = LineHub::GetPara(i); 00225 } 00226 00227 #ifdef USE_MU 00228 controller = CONTROLLER::Controller::GetData(); 00229 #endif 00230 00231 #ifdef USE_ERRORCHECK 00232 if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) { 00233 CONTROLLER::Controller::DataReset(); 00234 AllActuatorReset(); 00235 lock = true; 00236 } else 00237 #endif 00238 { 00239 00240 #ifdef USE_SUBPROCESS 00241 if(!lock) { 00242 Process[current](); 00243 } else 00244 #endif 00245 { 00246 //ロック時の処理 00247 } 00248 } 00249 /* 00250 //Emergency! 00251 if(!EMG_0 && !EMG_1 && !EMGflag) { 00252 buzzer = 0; 00253 BuzzerTimer.attach(BuzzerTimer_func, 1); 00254 EMGflag = true; 00255 LED_DEBUG0 = 1; 00256 } 00257 if(EMG_0 && EMG_1 && EMGflag) { 00258 buzzer = 1; 00259 BuzzerTimer.detach(); 00260 EMGflag = false; 00261 } 00262 */ 00263 SystemProcessUpdate(); 00264 } 00265 } 00266 00267 00268 int Twsh; 00269 00270 #pragma region PROCESS 00271 #ifdef USE_SUBPROCESS 00272 #if USE_PROCESS_NUM>0 00273 00274 static void Process0() 00275 { 00276 if(StertSW) { 00277 current = 2; 00278 Twsh=3; 00279 } 00280 } 00281 #endif 00282 00283 #if USE_PROCESS_NUM>1 00284 00285 bool dz1=true; 00286 bool dz1i=false; 00287 bool dz2=true; 00288 bool dz2i=false; 00289 bool dz3=true; 00290 bool dz3i=false; 00291 bool dz4=true; 00292 bool dz4i=false; 00293 00294 int mode =1; 00295 int cross=0;//十字数える用 00296 int count=100000;//wait代替え 00297 00298 00299 static void Process1() 00300 { 00301 count=100000; 00302 mode=0; 00303 cross=0; 00304 motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]); 00305 motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]); 00306 motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); 00307 motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]); 00308 00309 motor[TIRE_FR].pwm = Setpwm(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2; 00310 motor[TIRE_FL].pwm = Setpwm(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2; 00311 motor[TIRE_BR].pwm = Setpwm(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2; 00312 motor[TIRE_BL].pwm = Setpwm(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2; 00313 00314 if(controller->Button.UP||controller->Button.DOWN) { 00315 00316 if(controller->Button.UP) { 00317 motor[MOTOR_0].pwm = 110; 00318 motor[MOTOR_0].dir = FOR; 00319 } 00320 if(controller->Button.DOWN) { 00321 motor[MOTOR_0].pwm = 50; 00322 motor[MOTOR_0].dir = BACK; 00323 } 00324 } else { 00325 motor[MOTOR_0].pwm = 0; 00326 motor[MOTOR_0].dir = BRAKE; 00327 } 00328 if(controller->Button.X) { 00329 if(dz1==true) { 00330 if(dz1i==false) { 00331 solenoid.solenoid1 = SOLENOID_ON; 00332 dz1i=true; 00333 } else { 00334 solenoid.solenoid1 = SOLENOID_OFF; 00335 dz1i=false; 00336 } 00337 dz1=false; 00338 } 00339 } else { 00340 dz1=true; 00341 } 00342 00343 if(controller->Button.Y) { 00344 if(dz2==true) { 00345 if(dz2i==false) { 00346 solenoid.solenoid2 = SOLENOID_ON; 00347 dz2i=true; 00348 } else { 00349 solenoid.solenoid2 = SOLENOID_OFF; 00350 dz2i=false; 00351 } 00352 dz2=false; 00353 } 00354 } else { 00355 dz2=true; 00356 } 00357 00358 if(controller->Button.A) { 00359 if(dz3==true) { 00360 if(dz3i==false) { 00361 solenoid.solenoid3 = SOLENOID_ON; 00362 dz3i=true; 00363 } else { 00364 solenoid.solenoid3 = SOLENOID_OFF; 00365 dz3i=false; 00366 } 00367 dz3=false; 00368 } 00369 } else { 00370 dz3=true; 00371 } 00372 00373 if(controller->Button.B) { 00374 if(dz4==true) { 00375 if(dz4i==false) { 00376 solenoid.solenoid4 = SOLENOID_ON; 00377 dz4i=true; 00378 } else { 00379 solenoid.solenoid4 = SOLENOID_OFF; 00380 dz4i=false; 00381 } 00382 dz4=false; 00383 } 00384 } else { 00385 dz4=true; 00386 } 00387 /* 00388 if(controller->Button.RIGHT){ 00389 motor[MOTOR_1].dir = FOR; 00390 motor[MOTOR_1].pwm = 60; 00391 if (ARM_1){ 00392 motor[MOTOR_1].dir = BRAKE; 00393 } 00394 } 00395 else if(controller->Button.LEFT){ 00396 motor[MOTOR_1].dir = BACK; 00397 motor[MOTOR_1].pwm = 60; 00398 if (ARM_0){ 00399 motor[MOTOR_1].dir = BRAKE; 00400 } 00401 } 00402 */ 00403 } 00404 #endif 00405 00406 #if USE_PROCESS_NUM>2 00407 bool mtc=false; 00408 //追加 00409 bool mtc2 = false; 00410 00411 static void Process2() 00412 { 00413 // printf("1:%d 2:%d 3:%d 4:%d 5:%d 6:%d 7:%d 8:%d\n\r",g[0],g[1],g[2],g[3],g[4],g[5],g[6],g[7]); 00414 count++; 00415 if(mode==0&&StertSW) { 00416 if(ThSW) { 00417 Twsh=1; 00418 mode=1; 00419 } else { 00420 Twsh=2; 00421 mode=1; 00422 } 00423 } 00424 if(mode==1) {//スタートゾーンから白線検知 00425 motor[TIRE_FR].pwm = 30; 00426 motor[TIRE_FR].dir = BACK; 00427 motor[TIRE_FL].pwm = 30; 00428 motor[TIRE_FL].dir = FOR; 00429 motor[TIRE_BR].pwm = 30; 00430 motor[TIRE_BR].dir = BACK; 00431 motor[TIRE_BL].pwm = 30; 00432 motor[TIRE_BL].dir = FOR; 00433 if(g[2]==0) { 00434 count=100000; 00435 cross=0; 00436 mode=2; 00437 } 00438 } else if(mode==2) {//横移動 00439 if(g[2]==0) { 00440 count=100000; 00441 cross=0; 00442 mode=3; 00443 mtc2=true; 00444 } else { 00445 motor[TIRE_FR].pwm = 30; 00446 motor[TIRE_FR].dir = FOR; 00447 motor[TIRE_FL].pwm = 30; 00448 motor[TIRE_FL].dir = FOR; 00449 motor[TIRE_BR].pwm = 30; 00450 motor[TIRE_BR].dir = BACK; 00451 motor[TIRE_BL].pwm = 30; 00452 motor[TIRE_BL].dir = BACK; 00453 } 00454 } else if(mode==3) { //横ライントレースから縦ライントレースへ 00455 motor[TIRE_FR].pwm = 0; 00456 motor[TIRE_FR].dir = FREE; 00457 motor[TIRE_FL].pwm = 20; 00458 motor[TIRE_FL].dir = FOR; 00459 motor[TIRE_BR].pwm = 20; 00460 motor[TIRE_BR].dir = BACK; 00461 motor[TIRE_BL].pwm = 0; 00462 motor[TIRE_BL].dir = FREE; 00463 if(count>100000&&g[0]==0) { 00464 count=0; 00465 mode=10; 00466 } 00467 } else if(mode==4) { //横ライントレースから縦ライントレースへ 00468 motor[TIRE_FR].pwm = 15; 00469 motor[TIRE_FR].dir = BACK; 00470 motor[TIRE_FL].pwm = 15; 00471 motor[TIRE_FL].dir = BACK; 00472 motor[TIRE_BR].pwm = 15; 00473 motor[TIRE_BR].dir = FOR; 00474 motor[TIRE_BL].pwm = 15; 00475 motor[TIRE_BL].dir = FOR; 00476 if(count>30000&&g[0]==0) { 00477 count=0; 00478 cross=0; 00479 mode=10; 00480 } 00481 } else if(g[0]!=99&&mode==10) { //縦ライントレース 00482 switch(g[0]) { 00483 case 98: 00484 motor[TIRE_FR].pwm = 30; 00485 motor[TIRE_FR].dir = BACK; 00486 motor[TIRE_FL].pwm = 30; 00487 motor[TIRE_FL].dir = FOR; 00488 motor[TIRE_BR].pwm = 30; 00489 motor[TIRE_BR].dir = BACK; 00490 motor[TIRE_BL].pwm = 30; 00491 motor[TIRE_BL].dir = FOR; 00492 if(count>100000) { 00493 cross++; 00494 count=0; 00495 } 00496 mtc=true; 00497 if(cross==Twsh) { 00498 mode=11; 00499 count=0; 00500 } 00501 break; 00502 case 0: 00503 motor[TIRE_FR].pwm = 60; 00504 motor[TIRE_FR].dir = BACK; 00505 motor[TIRE_FL].pwm = 60; 00506 motor[TIRE_FL].dir = FOR; 00507 motor[TIRE_BR].pwm = 60; 00508 motor[TIRE_BR].dir = BACK; 00509 motor[TIRE_BL].pwm = 60; 00510 motor[TIRE_BL].dir = FOR; 00511 mtc=true; 00512 break; 00513 case 255: 00514 motor[TIRE_FR].pwm = 60; 00515 motor[TIRE_FR].dir = BACK; 00516 motor[TIRE_FL].pwm = 40; 00517 motor[TIRE_FL].dir = FOR; 00518 motor[TIRE_BR].pwm = 40; 00519 motor[TIRE_BR].dir = BACK; 00520 motor[TIRE_BL].pwm = 60; 00521 motor[TIRE_BL].dir = FOR; 00522 mtc=true; 00523 break; 00524 case 253: 00525 motor[TIRE_FR].pwm = 20; 00526 motor[TIRE_FR].dir = BACK; 00527 motor[TIRE_FL].pwm = 0; 00528 motor[TIRE_FL].dir = FREE; 00529 motor[TIRE_BR].pwm = 0; 00530 motor[TIRE_BR].dir = FREE; 00531 motor[TIRE_BL].pwm = 20; 00532 motor[TIRE_BL].dir = FOR; 00533 mtc=true; 00534 break; 00535 case 254: 00536 motor[TIRE_FR].pwm = 30; 00537 motor[TIRE_FR].dir = BACK; 00538 motor[TIRE_FL].pwm = 0; 00539 motor[TIRE_FL].dir = FREE; 00540 motor[TIRE_BR].pwm = 0; 00541 motor[TIRE_BR].dir = FREE; 00542 motor[TIRE_BL].pwm = 30; 00543 motor[TIRE_BL].dir = FOR; 00544 mtc=true; 00545 break; 00546 case 1: 00547 motor[TIRE_FR].pwm = 40; 00548 motor[TIRE_FR].dir = BACK; 00549 motor[TIRE_FL].pwm = 60; 00550 motor[TIRE_FL].dir = FOR; 00551 motor[TIRE_BR].pwm = 60; 00552 motor[TIRE_BR].dir = BACK; 00553 motor[TIRE_BL].pwm = 40; 00554 motor[TIRE_BL].dir = FOR; 00555 mtc=true; 00556 break; 00557 case 3: 00558 motor[TIRE_FR].pwm = 0; 00559 motor[TIRE_FR].dir = FREE; 00560 motor[TIRE_FL].pwm = 20; 00561 motor[TIRE_FL].dir = FOR; 00562 motor[TIRE_BR].pwm = 20; 00563 motor[TIRE_BR].dir = BACK; 00564 motor[TIRE_BL].pwm = 0; 00565 motor[TIRE_BL].dir = FREE; 00566 mtc=true; 00567 break; 00568 case 2: 00569 motor[TIRE_FR].pwm = 0; 00570 motor[TIRE_FR].dir = FREE; 00571 motor[TIRE_FL].pwm = 30; 00572 motor[TIRE_FL].dir = FOR; 00573 motor[TIRE_BR].pwm = 30; 00574 motor[TIRE_BR].dir = BACK; 00575 motor[TIRE_BL].pwm = 0; 00576 motor[TIRE_BL].dir = FREE; 00577 mtc=true; 00578 break; 00579 } 00580 if(g[0]!=98&&mtc==true) { 00581 switch(g[1]) { 00582 case 0: 00583 mtc=false; 00584 break; 00585 case 255: 00586 motor[TIRE_BR].pwm += 5; 00587 mtc=false; 00588 break; 00589 case 253: 00590 motor[TIRE_BR].pwm += 10; 00591 mtc=false; 00592 break; 00593 case 254: 00594 motor[TIRE_BR].pwm += 20; 00595 motor[TIRE_BL].pwm = 0; 00596 mtc=false; 00597 break; 00598 case 1: 00599 motor[TIRE_BL].pwm += 5; 00600 mtc=false; 00601 break; 00602 case 3: 00603 motor[TIRE_BL].pwm += 10; 00604 mtc=false; 00605 break; 00606 case 2: 00607 motor[TIRE_BL].pwm += 20; 00608 motor[TIRE_BR].pwm = 0; 00609 mtc=false; 00610 break; 00611 } 00612 } 00613 } else if(mode==11) { 00614 motor[TIRE_FR].pwm = 0; 00615 motor[TIRE_FR].dir = FREE; 00616 motor[TIRE_FL].pwm = 15; 00617 motor[TIRE_FL].dir = FOR; 00618 motor[TIRE_BR].pwm = 15; 00619 motor[TIRE_BR].dir = BACK; 00620 motor[TIRE_BL].pwm = 0; 00621 motor[TIRE_BL].dir = FREE; 00622 if(count>5000&&g[2]==0) { 00623 count=0; 00624 mode=12; 00625 } 00626 } else if(mode==12) { 00627 motor[TIRE_FR].pwm = 15; 00628 motor[TIRE_FR].dir = FOR; 00629 motor[TIRE_FL].pwm = 15; 00630 motor[TIRE_FL].dir = BACK; 00631 motor[TIRE_BR].pwm = 15; 00632 motor[TIRE_BR].dir = FOR; 00633 motor[TIRE_BL].pwm = 15; 00634 motor[TIRE_BL].dir = BACK; 00635 if(count>10000&&g[2]==0) { 00636 count=0; 00637 cross=0; 00638 mode=20; 00639 } 00640 } else if(mode==20) { 00641 switch(g[2]) { 00642 case 98: 00643 motor[TIRE_FR].pwm = 30; 00644 motor[TIRE_FR].dir = FOR; 00645 motor[TIRE_FL].pwm = 30; 00646 motor[TIRE_FL].dir = FOR; 00647 motor[TIRE_BR].pwm = 30; 00648 motor[TIRE_BR].dir = BACK; 00649 motor[TIRE_BL].pwm = 30; 00650 motor[TIRE_BL].dir = BACK; 00651 if(count>70000) { 00652 cross++; 00653 count=0; 00654 } 00655 mtc2=true; 00656 if(cross==3) { 00657 mode=21; 00658 count=0; 00659 cross=0; 00660 } 00661 break; 00662 case 0: 00663 motor[TIRE_FR].pwm = 60; 00664 motor[TIRE_FR].dir = FOR; 00665 motor[TIRE_FL].pwm = 60; 00666 motor[TIRE_FL].dir = FOR; 00667 motor[TIRE_BR].pwm = 60; 00668 motor[TIRE_BR].dir = BACK; 00669 motor[TIRE_BL].pwm = 60; 00670 motor[TIRE_BL].dir = BACK; 00671 mtc2=true; 00672 break; 00673 case 255: 00674 motor[TIRE_FR].pwm = 40; 00675 motor[TIRE_FR].dir = FOR; 00676 motor[TIRE_FL].pwm = 60; 00677 motor[TIRE_FL].dir = FOR; 00678 motor[TIRE_BR].pwm = 60; 00679 motor[TIRE_BR].dir = BACK; 00680 motor[TIRE_BL].pwm = 40; 00681 motor[TIRE_BL].dir = BACK; 00682 mtc2=true; 00683 break; 00684 case 253: 00685 motor[TIRE_FR].pwm = 0; 00686 motor[TIRE_FR].dir = FREE; 00687 motor[TIRE_FL].pwm = 20; 00688 motor[TIRE_FL].dir = FOR; 00689 motor[TIRE_BR].pwm = 20; 00690 motor[TIRE_BR].dir = BACK; 00691 motor[TIRE_BL].pwm = 0; 00692 motor[TIRE_BL].dir = FREE; 00693 mtc2=true; 00694 break; 00695 case 254: 00696 motor[TIRE_FR].pwm = 0; 00697 motor[TIRE_FR].dir = FREE; 00698 motor[TIRE_FL].pwm = 30; 00699 motor[TIRE_FL].dir = FOR; 00700 motor[TIRE_BR].pwm = 30; 00701 motor[TIRE_BR].dir = BACK; 00702 motor[TIRE_BL].pwm = 0; 00703 motor[TIRE_BL].dir = FREE; 00704 mtc2=true; 00705 break; 00706 case 1: 00707 motor[TIRE_FR].pwm = 60; 00708 motor[TIRE_FR].dir = FOR; 00709 motor[TIRE_FL].pwm = 40; 00710 motor[TIRE_FL].dir = FOR; 00711 motor[TIRE_BR].pwm = 40; 00712 motor[TIRE_BR].dir = BACK; 00713 motor[TIRE_BL].pwm = 60; 00714 motor[TIRE_BL].dir = BACK; 00715 mtc2=true; 00716 break; 00717 case 3: 00718 motor[TIRE_FR].pwm = 20; 00719 motor[TIRE_FR].dir = FOR; 00720 motor[TIRE_FL].pwm = 0; 00721 motor[TIRE_FL].dir = FREE; 00722 motor[TIRE_BR].pwm = 0; 00723 motor[TIRE_BR].dir = FREE; 00724 motor[TIRE_BL].pwm = 20; 00725 motor[TIRE_BL].dir = BACK; 00726 mtc2=true; 00727 break; 00728 case 2: 00729 motor[TIRE_FR].pwm = 30; 00730 motor[TIRE_FR].dir = FOR; 00731 motor[TIRE_FL].pwm = 0; 00732 motor[TIRE_FL].dir = FREE; 00733 motor[TIRE_BR].pwm = 0; 00734 motor[TIRE_BR].dir = FREE; 00735 motor[TIRE_BL].pwm = 30; 00736 motor[TIRE_BL].dir = BACK; 00737 mtc2=true; 00738 break; 00739 } 00740 if(g[2]!=98&&mtc2==true) { 00741 switch(g[3]) { 00742 case 0: 00743 mtc2=false; 00744 break; 00745 case 255: 00746 motor[TIRE_BL].pwm += 5; 00747 mtc2=false; 00748 break; 00749 case 253: 00750 motor[TIRE_BL].pwm += 10; 00751 mtc2=false; 00752 break; 00753 case 254: 00754 motor[TIRE_BL].pwm += 20; 00755 motor[TIRE_FL].pwm = 0; 00756 mtc2=false; 00757 break; 00758 case 1: 00759 motor[TIRE_FL].pwm += 5; 00760 mtc2=false; 00761 break; 00762 case 3: 00763 motor[TIRE_FL].pwm += 10; 00764 mtc2=false; 00765 break; 00766 case 2: 00767 motor[TIRE_FL].pwm += 20; 00768 motor[TIRE_BL].pwm = 0; 00769 mtc2=false; 00770 break; 00771 } 00772 } 00773 } else if(mode==21) { 00774 motor[TIRE_FR].pwm = 0; 00775 motor[TIRE_FR].dir = FREE; 00776 motor[TIRE_FL].pwm = 15; 00777 motor[TIRE_FL].dir = FOR; 00778 motor[TIRE_BR].pwm = 15; 00779 motor[TIRE_BR].dir = BACK; 00780 motor[TIRE_BL].pwm = 0; 00781 motor[TIRE_BL].dir = FREE; 00782 if(count>2000&&g[0]==0) { 00783 count=0; 00784 mode=22; 00785 } 00786 } else if(mode==22) { 00787 motor[TIRE_FR].pwm = 15; 00788 motor[TIRE_FR].dir = BACK; 00789 motor[TIRE_FL].pwm = 15; 00790 motor[TIRE_FL].dir = BACK; 00791 motor[TIRE_BR].pwm = 15; 00792 motor[TIRE_BR].dir = FOR; 00793 motor[TIRE_BL].pwm = 15; 00794 motor[TIRE_BL].dir = FOR; 00795 if(count>5000&&g[0]==0) { 00796 count=0; 00797 cross=0; 00798 mode=30; 00799 } 00800 } else if(mode==30) { 00801 switch(g[0]) { 00802 case 98: 00803 motor[TIRE_FR].pwm = 30; 00804 motor[TIRE_FR].dir = BACK; 00805 motor[TIRE_FL].pwm = 30; 00806 motor[TIRE_FL].dir = FOR; 00807 motor[TIRE_BR].pwm = 30; 00808 motor[TIRE_BR].dir = BACK; 00809 motor[TIRE_BL].pwm = 30; 00810 motor[TIRE_BL].dir = FOR; 00811 if(count>100000) { 00812 cross++; 00813 count=0; 00814 } 00815 mtc=true; 00816 if(cross==1) { 00817 mode=31; 00818 count=0; 00819 } 00820 break; 00821 case 0: 00822 motor[TIRE_FR].pwm = 60; 00823 motor[TIRE_FR].dir = BACK; 00824 motor[TIRE_FL].pwm = 60; 00825 motor[TIRE_FL].dir = FOR; 00826 motor[TIRE_BR].pwm = 60; 00827 motor[TIRE_BR].dir = BACK; 00828 motor[TIRE_BL].pwm = 60; 00829 motor[TIRE_BL].dir = FOR; 00830 mtc=true; 00831 break; 00832 case 255: 00833 motor[TIRE_FR].pwm = 60; 00834 motor[TIRE_FR].dir = BACK; 00835 motor[TIRE_FL].pwm = 40; 00836 motor[TIRE_FL].dir = FOR; 00837 motor[TIRE_BR].pwm = 40; 00838 motor[TIRE_BR].dir = BACK; 00839 motor[TIRE_BL].pwm = 60; 00840 motor[TIRE_BL].dir = FOR; 00841 mtc=true; 00842 break; 00843 case 253: 00844 motor[TIRE_FR].pwm = 20; 00845 motor[TIRE_FR].dir = BACK; 00846 motor[TIRE_FL].pwm = 0; 00847 motor[TIRE_FL].dir = FREE; 00848 motor[TIRE_BR].pwm = 0; 00849 motor[TIRE_BR].dir = FREE; 00850 motor[TIRE_BL].pwm = 20; 00851 motor[TIRE_BL].dir = FOR; 00852 mtc=true; 00853 break; 00854 case 254: 00855 motor[TIRE_FR].pwm = 30; 00856 motor[TIRE_FR].dir = BACK; 00857 motor[TIRE_FL].pwm = 0; 00858 motor[TIRE_FL].dir = FREE; 00859 motor[TIRE_BR].pwm = 0; 00860 motor[TIRE_BR].dir = FREE; 00861 motor[TIRE_BL].pwm = 30; 00862 motor[TIRE_BL].dir = FOR; 00863 mtc=true; 00864 break; 00865 case 1: 00866 motor[TIRE_FR].pwm = 40; 00867 motor[TIRE_FR].dir = BACK; 00868 motor[TIRE_FL].pwm = 60; 00869 motor[TIRE_FL].dir = FOR; 00870 motor[TIRE_BR].pwm = 60; 00871 motor[TIRE_BR].dir = BACK; 00872 motor[TIRE_BL].pwm = 40; 00873 motor[TIRE_BL].dir = FOR; 00874 mtc=true; 00875 break; 00876 case 3: 00877 motor[TIRE_FR].pwm = 0; 00878 motor[TIRE_FR].dir = FREE; 00879 motor[TIRE_FL].pwm = 20; 00880 motor[TIRE_FL].dir = FOR; 00881 motor[TIRE_BR].pwm = 20; 00882 motor[TIRE_BR].dir = BACK; 00883 motor[TIRE_BL].pwm = 0; 00884 motor[TIRE_BL].dir = FREE; 00885 mtc=true; 00886 break; 00887 case 2: 00888 motor[TIRE_FR].pwm = 0; 00889 motor[TIRE_FR].dir = FREE; 00890 motor[TIRE_FL].pwm = 30; 00891 motor[TIRE_FL].dir = FOR; 00892 motor[TIRE_BR].pwm = 30; 00893 motor[TIRE_BR].dir = BACK; 00894 motor[TIRE_BL].pwm = 0; 00895 motor[TIRE_BL].dir = FREE; 00896 mtc=true; 00897 break; 00898 } 00899 if(g[0]!=98&&mtc==true) { 00900 switch(g[1]) { 00901 case 0: 00902 mtc=false; 00903 break; 00904 case 255: 00905 motor[TIRE_BR].pwm += 5; 00906 mtc=false; 00907 break; 00908 case 253: 00909 motor[TIRE_BR].pwm += 10; 00910 mtc=false; 00911 break; 00912 case 254: 00913 motor[TIRE_BR].pwm += 20; 00914 motor[TIRE_BL].pwm = 0; 00915 mtc=false; 00916 break; 00917 case 1: 00918 motor[TIRE_BL].pwm += 5; 00919 mtc=false; 00920 break; 00921 case 3: 00922 motor[TIRE_BL].pwm += 10; 00923 mtc=false; 00924 break; 00925 case 2: 00926 motor[TIRE_BL].pwm += 20; 00927 motor[TIRE_BR].pwm = 0; 00928 mtc=false; 00929 break; 00930 } 00931 } 00932 } else if(mode==31) { 00933 motor[TIRE_FR].pwm = 15; 00934 motor[TIRE_FR].dir = BACK; 00935 motor[TIRE_FL].pwm = 0; 00936 motor[TIRE_FL].dir = FREE; 00937 motor[TIRE_BR].pwm = 0; 00938 motor[TIRE_BR].dir = FREE; 00939 motor[TIRE_BL].pwm = 15; 00940 motor[TIRE_BL].dir = FOR; 00941 if(count>5000&&g[3]==0) { 00942 count=0; 00943 mode=32; 00944 } 00945 } else if(mode==32) { 00946 motor[TIRE_FR].pwm = 15; 00947 motor[TIRE_FR].dir = FOR; 00948 motor[TIRE_FL].pwm = 15; 00949 motor[TIRE_FL].dir = BACK; 00950 motor[TIRE_BR].pwm = 15; 00951 motor[TIRE_BR].dir = FOR; 00952 motor[TIRE_BL].pwm = 15; 00953 motor[TIRE_BL].dir = BACK; 00954 if(count>5000&&g[3]==0) { 00955 count=0; 00956 cross=0; 00957 mode=40; 00958 } 00959 } else if(mode==40) { 00960 switch(g[3]) { 00961 case 98: 00962 motor[TIRE_FR].pwm = 30; 00963 motor[TIRE_FR].dir = BACK; 00964 motor[TIRE_FL].pwm = 30; 00965 motor[TIRE_FL].dir = BACK; 00966 motor[TIRE_BR].pwm = 30; 00967 motor[TIRE_BR].dir = FOR; 00968 motor[TIRE_BL].pwm = 30; 00969 motor[TIRE_BL].dir = FOR; 00970 if(count>30000) { 00971 cross++; 00972 count=0; 00973 } 00974 mtc2=true; 00975 if(cross==1) { 00976 mode=41; 00977 count=0; 00978 cross=0; 00979 } 00980 break; 00981 case 0: 00982 motor[TIRE_FR].pwm = 60; 00983 motor[TIRE_FR].dir = BACK; 00984 motor[TIRE_FL].pwm = 60; 00985 motor[TIRE_FL].dir = BACK; 00986 motor[TIRE_BR].pwm = 60; 00987 motor[TIRE_BR].dir = FOR; 00988 motor[TIRE_BL].pwm = 60; 00989 motor[TIRE_BL].dir = FOR; 00990 mtc2=true; 00991 break; 00992 case 255: 00993 motor[TIRE_FR].pwm = 40; 00994 motor[TIRE_FR].dir = BACK; 00995 motor[TIRE_FL].pwm = 60; 00996 motor[TIRE_FL].dir = BACK; 00997 motor[TIRE_BR].pwm = 60; 00998 motor[TIRE_BR].dir = FOR; 00999 motor[TIRE_BL].pwm = 40; 01000 motor[TIRE_BL].dir = FOR; 01001 mtc2=true; 01002 break; 01003 case 253: 01004 motor[TIRE_FR].pwm = 0; 01005 motor[TIRE_FR].dir = FREE; 01006 motor[TIRE_FL].pwm = 20; 01007 motor[TIRE_FL].dir = BACK; 01008 motor[TIRE_BR].pwm = 20; 01009 motor[TIRE_BR].dir = FOR; 01010 motor[TIRE_BL].pwm = 0; 01011 motor[TIRE_BL].dir = FREE; 01012 mtc2=true; 01013 break; 01014 case 254: 01015 motor[TIRE_FR].pwm = 0; 01016 motor[TIRE_FR].dir = FREE; 01017 motor[TIRE_FL].pwm = 30; 01018 motor[TIRE_FL].dir = BACK; 01019 motor[TIRE_BR].pwm = 30; 01020 motor[TIRE_BR].dir = FOR; 01021 motor[TIRE_BL].pwm = 0; 01022 motor[TIRE_BL].dir = FREE; 01023 mtc2=true; 01024 break; 01025 case 1: 01026 motor[TIRE_FR].pwm = 60; 01027 motor[TIRE_FR].dir = BACK; 01028 motor[TIRE_FL].pwm = 40; 01029 motor[TIRE_FL].dir = BACK; 01030 motor[TIRE_BR].pwm = 40; 01031 motor[TIRE_BR].dir = FOR; 01032 motor[TIRE_BL].pwm = 60; 01033 motor[TIRE_BL].dir = FOR; 01034 mtc2=true; 01035 break; 01036 case 3: 01037 motor[TIRE_FR].pwm = 20; 01038 motor[TIRE_FR].dir = BACK; 01039 motor[TIRE_FL].pwm = 0; 01040 motor[TIRE_FL].dir = FREE; 01041 motor[TIRE_BR].pwm = 0; 01042 motor[TIRE_BR].dir = FREE; 01043 motor[TIRE_BL].pwm = 20; 01044 motor[TIRE_BL].dir = FOR; 01045 mtc2=true; 01046 break; 01047 case 2: 01048 motor[TIRE_FR].pwm = 30; 01049 motor[TIRE_FR].dir = BACK; 01050 motor[TIRE_FL].pwm = 0; 01051 motor[TIRE_FL].dir = FREE; 01052 motor[TIRE_BR].pwm = 0; 01053 motor[TIRE_BR].dir = FREE; 01054 motor[TIRE_BL].pwm = 30; 01055 motor[TIRE_BL].dir = FOR; 01056 mtc2=true; 01057 break; 01058 } 01059 if(g[2]!=98&&mtc2==true) { 01060 switch(g[2]) { 01061 case 0: 01062 mtc2=false; 01063 break; 01064 case 255: 01065 motor[TIRE_FL].pwm += 5; 01066 mtc2=false; 01067 break; 01068 case 253: 01069 motor[TIRE_FL].pwm += 10; 01070 mtc2=false; 01071 break; 01072 case 254: 01073 motor[TIRE_FL].pwm += 20; 01074 motor[TIRE_BL].pwm = 0; 01075 mtc2=false; 01076 break; 01077 case 1: 01078 motor[TIRE_BL].pwm += 5; 01079 mtc2=false; 01080 break; 01081 case 3: 01082 motor[TIRE_BL].pwm += 10; 01083 mtc2=false; 01084 break; 01085 case 2: 01086 motor[TIRE_BL].pwm += 20; 01087 motor[TIRE_FL].pwm = 0; 01088 mtc2=false; 01089 break; 01090 } 01091 } 01092 } else if(mode==41) { 01093 motor[TIRE_FR].pwm = 0; 01094 motor[TIRE_FR].dir = FREE; 01095 motor[TIRE_FL].pwm = 15; 01096 motor[TIRE_FL].dir = BACK; 01097 motor[TIRE_BR].pwm = 15; 01098 motor[TIRE_BR].dir = FOR; 01099 motor[TIRE_BL].pwm = 0; 01100 motor[TIRE_BL].dir = FREE; 01101 if(count>5000&&g[1]==0) { 01102 count=0; 01103 mode=42; 01104 } 01105 } else if(mode==42) { 01106 motor[TIRE_FR].pwm = 15; 01107 motor[TIRE_FR].dir = FOR; 01108 motor[TIRE_FL].pwm = 15; 01109 motor[TIRE_FL].dir = FOR; 01110 motor[TIRE_BR].pwm = 15; 01111 motor[TIRE_BR].dir = BACK; 01112 motor[TIRE_BL].pwm = 15; 01113 motor[TIRE_BL].dir = BACK; 01114 if(count>5000&&g[1]==0) { 01115 count=0; 01116 mode=50; 01117 } 01118 } else if(mode==50) { 01119 switch(g[1]) { 01120 case 98: 01121 motor[TIRE_FR].pwm = 30; 01122 motor[TIRE_FR].dir = FOR; 01123 motor[TIRE_FL].pwm = 30; 01124 motor[TIRE_FL].dir = BACK; 01125 motor[TIRE_BR].pwm = 30; 01126 motor[TIRE_BR].dir = FOR; 01127 motor[TIRE_BL].pwm = 30; 01128 motor[TIRE_BL].dir = BACK; 01129 if(count>100000) { 01130 cross++; 01131 count=0; 01132 } 01133 mtc=true; 01134 if(cross==1) { 01135 mode=51; 01136 count=0; 01137 } 01138 break; 01139 case 0: 01140 motor[TIRE_FR].pwm = 60; 01141 motor[TIRE_FR].dir = FOR; 01142 motor[TIRE_FL].pwm = 60; 01143 motor[TIRE_FL].dir = BACK; 01144 motor[TIRE_BR].pwm = 60; 01145 motor[TIRE_BR].dir = FOR; 01146 motor[TIRE_BL].pwm = 60; 01147 motor[TIRE_BL].dir = BACK; 01148 mtc=true; 01149 break; 01150 case 255: 01151 motor[TIRE_FR].pwm = 60; 01152 motor[TIRE_FR].dir = FOR; 01153 motor[TIRE_FL].pwm = 40; 01154 motor[TIRE_FL].dir = BACK; 01155 motor[TIRE_BR].pwm = 40; 01156 motor[TIRE_BR].dir = FOR; 01157 motor[TIRE_BL].pwm = 60; 01158 motor[TIRE_BL].dir = BACK; 01159 mtc=true; 01160 break; 01161 case 253: 01162 motor[TIRE_FR].pwm = 20; 01163 motor[TIRE_FR].dir = FOR; 01164 motor[TIRE_FL].pwm = 0; 01165 motor[TIRE_FL].dir = FREE; 01166 motor[TIRE_BR].pwm = 0; 01167 motor[TIRE_BR].dir = FREE; 01168 motor[TIRE_BL].pwm = 20; 01169 motor[TIRE_BL].dir = BACK; 01170 mtc=true; 01171 break; 01172 case 254: 01173 motor[TIRE_FR].pwm = 30; 01174 motor[TIRE_FR].dir = FOR; 01175 motor[TIRE_FL].pwm = 0; 01176 motor[TIRE_FL].dir = FREE; 01177 motor[TIRE_BR].pwm = 0; 01178 motor[TIRE_BR].dir = FREE; 01179 motor[TIRE_BL].pwm = 30; 01180 motor[TIRE_BL].dir = BACK; 01181 mtc=true; 01182 break; 01183 case 1: 01184 motor[TIRE_FR].pwm = 40; 01185 motor[TIRE_FR].dir = FOR; 01186 motor[TIRE_FL].pwm = 60; 01187 motor[TIRE_FL].dir = BACK; 01188 motor[TIRE_BR].pwm = 60; 01189 motor[TIRE_BR].dir = FOR; 01190 motor[TIRE_BL].pwm = 40; 01191 motor[TIRE_BL].dir = BACK; 01192 mtc=true; 01193 break; 01194 case 3: 01195 motor[TIRE_FR].pwm = 0; 01196 motor[TIRE_FR].dir = FREE; 01197 motor[TIRE_FL].pwm = 20; 01198 motor[TIRE_FL].dir = BACK; 01199 motor[TIRE_BR].pwm = 20; 01200 motor[TIRE_BR].dir = FOR; 01201 motor[TIRE_BL].pwm = 0; 01202 motor[TIRE_BL].dir = FREE; 01203 mtc=true; 01204 break; 01205 case 2: 01206 motor[TIRE_FR].pwm = 0; 01207 motor[TIRE_FR].dir = FREE; 01208 motor[TIRE_FL].pwm = 30; 01209 motor[TIRE_FL].dir = BACK; 01210 motor[TIRE_BR].pwm = 30; 01211 motor[TIRE_BR].dir = FOR; 01212 motor[TIRE_BL].pwm = 0; 01213 motor[TIRE_BL].dir = FREE; 01214 mtc=true; 01215 break; 01216 } 01217 if(g[1]!=98&&mtc==true) { 01218 switch(g[0]) { 01219 case 0: 01220 mtc=false; 01221 break; 01222 case 255: 01223 motor[TIRE_FL].pwm += 5; 01224 mtc=false; 01225 break; 01226 case 253: 01227 motor[TIRE_FL].pwm += 10; 01228 mtc=false; 01229 break; 01230 case 254: 01231 motor[TIRE_FL].pwm += 20; 01232 motor[TIRE_FR].pwm = 0; 01233 mtc=false; 01234 break; 01235 case 1: 01236 motor[TIRE_FR].pwm += 5; 01237 mtc=false; 01238 break; 01239 case 3: 01240 motor[TIRE_FR].pwm += 10; 01241 mtc=false; 01242 break; 01243 case 2: 01244 motor[TIRE_FR].pwm += 20; 01245 motor[TIRE_FL].pwm = 0; 01246 mtc=false; 01247 break; 01248 } 01249 } 01250 } else if(mode==51) { 01251 motor[TIRE_FR].pwm = 0; 01252 motor[TIRE_FR].dir = FREE; 01253 motor[TIRE_FL].pwm = 15; 01254 motor[TIRE_FL].dir = BACK; 01255 motor[TIRE_BR].pwm = 15; 01256 motor[TIRE_BR].dir = FOR; 01257 motor[TIRE_BL].pwm = 0; 01258 motor[TIRE_BL].dir = FREE; 01259 if(count>5000&&g[3]==0) { 01260 count=0; 01261 mode=52; 01262 } 01263 } else if(mode==52) { 01264 motor[TIRE_FR].pwm = 15; 01265 motor[TIRE_FR].dir = BACK; 01266 motor[TIRE_FL].pwm = 15; 01267 motor[TIRE_FL].dir = FOR; 01268 motor[TIRE_BR].pwm = 15; 01269 motor[TIRE_BR].dir = BACK; 01270 motor[TIRE_BL].pwm = 15; 01271 motor[TIRE_BL].dir = FOR; 01272 if(count>5000&&g[3]==0) { 01273 count=0; 01274 cross=0; 01275 mode=60; 01276 } 01277 } else if(mode==60) { 01278 switch(g[3]) { 01279 case 98: 01280 motor[TIRE_FR].pwm = 30; 01281 motor[TIRE_FR].dir = BACK; 01282 motor[TIRE_FL].pwm = 30; 01283 motor[TIRE_FL].dir = BACK; 01284 motor[TIRE_BR].pwm = 30; 01285 motor[TIRE_BR].dir = FOR; 01286 motor[TIRE_BL].pwm = 30; 01287 motor[TIRE_BL].dir = FOR; 01288 if(count>50000) { 01289 cross++; 01290 count=0; 01291 } 01292 mtc2=true; 01293 if(cross==2) { 01294 mode=61; 01295 count=0; 01296 cross=0; 01297 } 01298 break; 01299 case 0: 01300 motor[TIRE_FR].pwm = 60; 01301 motor[TIRE_FR].dir = BACK; 01302 motor[TIRE_FL].pwm = 60; 01303 motor[TIRE_FL].dir = BACK; 01304 motor[TIRE_BR].pwm = 60; 01305 motor[TIRE_BR].dir = FOR; 01306 motor[TIRE_BL].pwm = 60; 01307 motor[TIRE_BL].dir = FOR; 01308 mtc2=true; 01309 break; 01310 case 255: 01311 motor[TIRE_FR].pwm = 40; 01312 motor[TIRE_FR].dir = BACK; 01313 motor[TIRE_FL].pwm = 60; 01314 motor[TIRE_FL].dir = BACK; 01315 motor[TIRE_BR].pwm = 60; 01316 motor[TIRE_BR].dir = FOR; 01317 motor[TIRE_BL].pwm = 40; 01318 motor[TIRE_BL].dir = FOR; 01319 mtc2=true; 01320 break; 01321 case 253: 01322 motor[TIRE_FR].pwm = 0; 01323 motor[TIRE_FR].dir = FREE; 01324 motor[TIRE_FL].pwm = 20; 01325 motor[TIRE_FL].dir = BACK; 01326 motor[TIRE_BR].pwm = 20; 01327 motor[TIRE_BR].dir = FOR; 01328 motor[TIRE_BL].pwm = 0; 01329 motor[TIRE_BL].dir = FREE; 01330 mtc2=true; 01331 break; 01332 case 254: 01333 motor[TIRE_FR].pwm = 0; 01334 motor[TIRE_FR].dir = FREE; 01335 motor[TIRE_FL].pwm = 30; 01336 motor[TIRE_FL].dir = BACK; 01337 motor[TIRE_BR].pwm = 30; 01338 motor[TIRE_BR].dir = FOR; 01339 motor[TIRE_BL].pwm = 0; 01340 motor[TIRE_BL].dir = FREE; 01341 mtc2=true; 01342 break; 01343 case 1: 01344 motor[TIRE_FR].pwm = 60; 01345 motor[TIRE_FR].dir = BACK; 01346 motor[TIRE_FL].pwm = 40; 01347 motor[TIRE_FL].dir = BACK; 01348 motor[TIRE_BR].pwm = 40; 01349 motor[TIRE_BR].dir = FOR; 01350 motor[TIRE_BL].pwm = 60; 01351 motor[TIRE_BL].dir = FOR; 01352 mtc2=true; 01353 break; 01354 case 3: 01355 motor[TIRE_FR].pwm = 20; 01356 motor[TIRE_FR].dir = BACK; 01357 motor[TIRE_FL].pwm = 0; 01358 motor[TIRE_FL].dir = FREE; 01359 motor[TIRE_BR].pwm = 0; 01360 motor[TIRE_BR].dir = FREE; 01361 motor[TIRE_BL].pwm = 20; 01362 motor[TIRE_BL].dir = FOR; 01363 mtc2=true; 01364 break; 01365 case 2: 01366 motor[TIRE_FR].pwm = 30; 01367 motor[TIRE_FR].dir = BACK; 01368 motor[TIRE_FL].pwm = 0; 01369 motor[TIRE_FL].dir = FREE; 01370 motor[TIRE_BR].pwm = 0; 01371 motor[TIRE_BR].dir = FREE; 01372 motor[TIRE_BL].pwm = 30; 01373 motor[TIRE_BL].dir = FOR; 01374 mtc2=true; 01375 break; 01376 } 01377 if(g[2]!=98&&mtc2==true) { 01378 switch(g[2]) { 01379 case 0: 01380 mtc2=false; 01381 break; 01382 case 255: 01383 motor[TIRE_FL].pwm += 5; 01384 mtc2=false; 01385 break; 01386 case 253: 01387 motor[TIRE_FL].pwm += 10; 01388 mtc2=false; 01389 break; 01390 case 254: 01391 motor[TIRE_FL].pwm += 20; 01392 motor[TIRE_BL].pwm = 0; 01393 mtc2=false; 01394 break; 01395 case 1: 01396 motor[TIRE_BL].pwm += 5; 01397 mtc2=false; 01398 break; 01399 case 3: 01400 motor[TIRE_BL].pwm += 10; 01401 mtc2=false; 01402 break; 01403 case 2: 01404 motor[TIRE_BL].pwm += 20; 01405 motor[TIRE_FL].pwm = 0; 01406 mtc2=false; 01407 break; 01408 } 01409 } 01410 } else if(mode==61) { 01411 motor[TIRE_FR].pwm = 0; 01412 motor[TIRE_FR].dir = FREE; 01413 motor[TIRE_FL].pwm = 15; 01414 motor[TIRE_FL].dir = BACK; 01415 motor[TIRE_BR].pwm = 15; 01416 motor[TIRE_BR].dir = FOR; 01417 motor[TIRE_BL].pwm = 0; 01418 motor[TIRE_BL].dir = FREE; 01419 if(count>5000&&g[1]==0) { 01420 count=0; 01421 mode=62; 01422 } 01423 } else if(mode==62) { 01424 motor[TIRE_FR].pwm = 15; 01425 motor[TIRE_FR].dir = FOR; 01426 motor[TIRE_FL].pwm = 15; 01427 motor[TIRE_FL].dir = FOR; 01428 motor[TIRE_BR].pwm = 15; 01429 motor[TIRE_BR].dir = BACK; 01430 motor[TIRE_BL].pwm = 15; 01431 motor[TIRE_BL].dir = BACK; 01432 if(count>5000&&g[1]==0) { 01433 count=0; 01434 mode=70; 01435 } 01436 } else if(mode==70) { 01437 switch(g[1]) { 01438 case 99: 01439 if(count>=100000) { 01440 mode=100; 01441 } 01442 break; 01443 case 98: 01444 motor[TIRE_FR].pwm = 30; 01445 motor[TIRE_FR].dir = FOR; 01446 motor[TIRE_FL].pwm = 30; 01447 motor[TIRE_FL].dir = BACK; 01448 motor[TIRE_BR].pwm = 30; 01449 motor[TIRE_BR].dir = FOR; 01450 motor[TIRE_BL].pwm = 30; 01451 motor[TIRE_BL].dir = BACK; 01452 break; 01453 case 0: 01454 motor[TIRE_FR].pwm = 60; 01455 motor[TIRE_FR].dir = FOR; 01456 motor[TIRE_FL].pwm = 60; 01457 motor[TIRE_FL].dir = BACK; 01458 motor[TIRE_BR].pwm = 60; 01459 motor[TIRE_BR].dir = FOR; 01460 motor[TIRE_BL].pwm = 60; 01461 motor[TIRE_BL].dir = BACK; 01462 mtc=true; 01463 break; 01464 case 255: 01465 motor[TIRE_FR].pwm = 60; 01466 motor[TIRE_FR].dir = FOR; 01467 motor[TIRE_FL].pwm = 40; 01468 motor[TIRE_FL].dir = BACK; 01469 motor[TIRE_BR].pwm = 40; 01470 motor[TIRE_BR].dir = FOR; 01471 motor[TIRE_BL].pwm = 60; 01472 motor[TIRE_BL].dir = BACK; 01473 mtc=true; 01474 break; 01475 case 253: 01476 motor[TIRE_FR].pwm = 20; 01477 motor[TIRE_FR].dir = FOR; 01478 motor[TIRE_FL].pwm = 0; 01479 motor[TIRE_FL].dir = FREE; 01480 motor[TIRE_BR].pwm = 0; 01481 motor[TIRE_BR].dir = FREE; 01482 motor[TIRE_BL].pwm = 20; 01483 motor[TIRE_BL].dir = BACK; 01484 mtc=true; 01485 break; 01486 case 254: 01487 motor[TIRE_FR].pwm = 30; 01488 motor[TIRE_FR].dir = FOR; 01489 motor[TIRE_FL].pwm = 0; 01490 motor[TIRE_FL].dir = FREE; 01491 motor[TIRE_BR].pwm = 0; 01492 motor[TIRE_BR].dir = FREE; 01493 motor[TIRE_BL].pwm = 30; 01494 motor[TIRE_BL].dir = BACK; 01495 mtc=true; 01496 break; 01497 case 1: 01498 motor[TIRE_FR].pwm = 40; 01499 motor[TIRE_FR].dir = FOR; 01500 motor[TIRE_FL].pwm = 60; 01501 motor[TIRE_FL].dir = BACK; 01502 motor[TIRE_BR].pwm = 60; 01503 motor[TIRE_BR].dir = FOR; 01504 motor[TIRE_BL].pwm = 40; 01505 motor[TIRE_BL].dir = BACK; 01506 mtc=true; 01507 break; 01508 case 3: 01509 motor[TIRE_FR].pwm = 0; 01510 motor[TIRE_FR].dir = FREE; 01511 motor[TIRE_FL].pwm = 20; 01512 motor[TIRE_FL].dir = BACK; 01513 motor[TIRE_BR].pwm = 20; 01514 motor[TIRE_BR].dir = FOR; 01515 motor[TIRE_BL].pwm = 0; 01516 motor[TIRE_BL].dir = FREE; 01517 mtc=true; 01518 break; 01519 case 2: 01520 motor[TIRE_FR].pwm = 0; 01521 motor[TIRE_FR].dir = FREE; 01522 motor[TIRE_FL].pwm = 30; 01523 motor[TIRE_FL].dir = BACK; 01524 motor[TIRE_BR].pwm = 30; 01525 motor[TIRE_BR].dir = FOR; 01526 motor[TIRE_BL].pwm = 0; 01527 motor[TIRE_BL].dir = FREE; 01528 mtc=true; 01529 break; 01530 } 01531 if(g[1]!=98&&mtc==true) { 01532 switch(g[0]) { 01533 case 0: 01534 mtc=false; 01535 break; 01536 case 255: 01537 motor[TIRE_FL].pwm += 5; 01538 mtc=false; 01539 break; 01540 case 253: 01541 motor[TIRE_FL].pwm += 10; 01542 mtc=false; 01543 break; 01544 case 254: 01545 motor[TIRE_FL].pwm += 20; 01546 motor[TIRE_FR].pwm = 0; 01547 mtc=false; 01548 break; 01549 case 1: 01550 motor[TIRE_FR].pwm += 5; 01551 mtc=false; 01552 break; 01553 case 3: 01554 motor[TIRE_FR].pwm += 10; 01555 mtc=false; 01556 break; 01557 case 2: 01558 motor[TIRE_FR].pwm += 20; 01559 motor[TIRE_FL].pwm = 0; 01560 mtc=false; 01561 break; 01562 } 01563 } 01564 } else if(mode==100) { 01565 motor[TIRE_FR].pwm = 20; 01566 motor[TIRE_FR].dir = FOR; 01567 motor[TIRE_FL].pwm = 20; 01568 motor[TIRE_FL].dir = BACK; 01569 motor[TIRE_BR].pwm = 23; 01570 motor[TIRE_BR].dir = FOR; 01571 motor[TIRE_BL].pwm = 20; 01572 motor[TIRE_BL].dir = BACK; 01573 } else { 01574 motor[TIRE_FR].pwm = 0; 01575 motor[TIRE_FR].dir = BRAKE; 01576 motor[TIRE_FL].pwm = 0; 01577 motor[TIRE_FL].dir = BRAKE; 01578 motor[TIRE_BR].pwm = 0; 01579 motor[TIRE_BR].dir = BRAKE; 01580 motor[TIRE_BL].pwm = 0; 01581 motor[TIRE_BL].dir = BRAKE; 01582 } 01583 01584 } 01585 01586 #endif 01587 01588 #if USE_PROCESS_NUM>3 01589 static void Process3() 01590 { 01591 01592 } 01593 #endif 01594 01595 #if USE_PROCESS_NUM>4 01596 static void Process4() 01597 { 01598 01599 } 01600 #endif 01601 01602 #if USE_PROCESS_NUM>5 01603 static void Process5() 01604 { 01605 01606 } 01607 #endif 01608 01609 #if USE_PROCESS_NUM>6 01610 static void Process6() 01611 { 01612 01613 } 01614 #endif 01615 01616 #if USE_PROCESS_NUM>7 01617 static void Process7() 01618 { 01619 01620 } 01621 #endif 01622 01623 #if USE_PROCESS_NUM>8 01624 static void Process8() 01625 { 01626 01627 } 01628 #endif 01629 01630 #if USE_PROCESS_NUM>9 01631 static void Process9() 01632 { 01633 01634 } 01635 #endif 01636 #endif 01637 #pragma endregion PROCESS 01638 01639 static void AllActuatorReset() 01640 { 01641 01642 #ifdef USE_SOLENOID 01643 solenoid.all = ALL_SOLENOID_OFF; 01644 #endif 01645 01646 #ifdef USE_MOTOR 01647 for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) { 01648 motor[i].dir = FREE; 01649 motor[i].pwm = 0; 01650 } 01651 #endif 01652 } 01653 01654 /* 01655 void BuzzerTimer_func() 01656 { 01657 buzzer = !buzzer; 01658 //LED_DEBUG0 = !LED_DEBUG0; 01659 } 01660 */ 01661 void TapeLedEms_func() 01662 { 01663 sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red; 01664 } 01665 01666 #pragma region USER-DEFINED-FUNCTIONS 01667 01668 01669 #pragma endregion
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