大季 矢花
aa
Dependencies: mbed TrapezoidControl QEI
Diff: System/Process/Process.cpp
- Revision:
- 29:c78a46f51209
- Parent:
- 28:9cd36721cf83
diff -r 9cd36721cf83 -r c78a46f51209 System/Process/Process.cpp
--- a/System/Process/Process.cpp Wed Sep 18 11:36:53 2019 +0000
+++ b/System/Process/Process.cpp Thu Sep 19 05:42:23 2019 +0000
@@ -291,6 +291,8 @@
bool dz4=true;
bool dz4i=false;
+bool zone;
+
int mode =1;
int cross=0;//十字数える用
int count=100000;//wait代替え
@@ -414,232 +416,37 @@
count++;
if(mode==0&&StertSW) {
if(ThSW) {
+ zone=ZoneSW;
Twsh=1;
mode=1;
} else {
+ zone=ZoneSW;
Twsh=2;
mode=1;
}
}
- if(mode==1) {//スタートゾーンから白線検知
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- if(g[2]==0) {
- count=100000;
- cross=0;
- mode=2;
- }
- } else if(mode==2) {//横移動
- if(g[2]==0) {
- count=100000;
- cross=0;
- mode=3;
- mtc2=true;
- } else {
+ if(ZoneSW==false) {
+ if(mode==1) {//スタートゾーンから白線検知
motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- }
- } 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 = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- if(count>100000&&g[0]==0) {
- count=0;
- mode=10;
- }
- } else if(mode==4) { //横ライントレースから縦ライントレースへ
- motor[TIRE_FR].pwm = 15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 15;
- motor[TIRE_BL].dir = FOR;
- if(count>30000&&g[0]==0) {
- count=0;
- cross=0;
- mode=10;
- }
- } else if(g[0]!=99&&mode==10) { //縦ライントレース
- switch(g[0]) {
- case 98:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- if(count>100000) {
- cross++;
- count=0;
- }
- mtc=true;
- if(cross==Twsh) {
- mode=11;
- count=0;
- }
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 20;
- 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 = 20;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 30;
- 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 = 30;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- }
- if(g[0]!=98&&mtc==true) {
- switch(g[1]) {
- case 0:
- mtc=false;
- break;
- case 255:
- motor[TIRE_BR].pwm += 5;
- mtc=false;
- break;
- case 253:
- motor[TIRE_BR].pwm += 10;
- mtc=false;
- break;
- case 254:
- motor[TIRE_BR].pwm += 20;
- motor[TIRE_BL].pwm = 0;
- mtc=false;
- break;
- case 1:
- motor[TIRE_BL].pwm += 5;
- mtc=false;
- break;
- case 3:
- motor[TIRE_BL].pwm += 10;
- mtc=false;
- break;
- case 2:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_BR].pwm = 0;
- mtc=false;
- break;
+ motor[TIRE_BL].dir = FOR;
+ if(g[2]==0) {
+ count=100000;
+ cross=0;
+ mode=2;
}
- }
- } else if(mode==11) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- if(count>5000&&g[2]==0) {
- count=0;
- mode=12;
- }
- } else if(mode==12) {
- motor[TIRE_FR].pwm = 15;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 15;
- motor[TIRE_BL].dir = BACK;
- if(count>10000&&g[2]==0) {
- count=0;
- cross=0;
- mode=20;
- }
- } else if(mode==20) {
- switch(g[2]) {
- case 98:
+ } else if(mode==2) {//横移動
+ if(g[2]==0) {
+ count=100000;
+ cross=0;
+ mode=3;
+ mtc2=true;
+ } else {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 30;
@@ -648,937 +455,2296 @@
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 30;
motor[TIRE_BL].dir = BACK;
- if(count>70000) {
- cross++;
- count=0;
+ }
+ } 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 = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>100000&&g[0]==0) {
+ count=0;
+ mode=10;
+ }
+ } else if(mode==4) { //横ライントレースから縦ライントレースへ
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>30000&&g[0]==0) {
+ count=0;
+ cross=0;
+ mode=10;
+ }
+ } else if(g[0]!=99&&mode==10) { //縦ライントレース
+ switch(g[0]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ if(count>100000) {
+ cross++;
+ count=0;
+ }
+ mtc=true;
+ if(cross==Twsh) {
+ mode=11;
+ count=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ 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 = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ }
+ if(g[0]!=98&&mtc==true) {
+ switch(g[1]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_BR].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_BR].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_BR].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BR].pwm = 0;
+ mtc=false;
+ break;
}
- mtc2=true;
- if(cross==3) {
- mode=21;
- count=0;
- cross=0;
+ }
+ } else if(mode==11) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[2]==0) {
+ count=0;
+ mode=12;
+ }
+ } else if(mode==12) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>10000&&g[2]==0) {
+ count=0;
+ cross=0;
+ mode=20;
+ }
+ } else if(mode==20) {
+ switch(g[2]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(count>70000) {
+ cross++;
+ count=0;
+ }
+ mtc2=true;
+ if(cross==3) {
+ mode=21;
+ count=0;
+ cross=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ }
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[3]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ } else if(mode==21) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>2000&&g[0]==0) {
+ count=0;
+ mode=22;
+ }
+ } else if(mode==22) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>5000&&g[0]==0) {
+ count=0;
+ cross=0;
+ mode=30;
+ }
+ } else if(mode==30) {
+ switch(g[0]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ if(count>100000) {
+ cross++;
+ count=0;
+ }
+ mtc=true;
+ if(cross==1) {
+ mode=31;
+ count=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ 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 = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ }
+ if(g[0]!=98&&mtc==true) {
+ switch(g[1]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_BR].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_BR].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_BR].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BR].pwm = 0;
+ mtc=false;
+ break;
}
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = BACK;
+ }
+ } else if(mode==31) {
+ motor[TIRE_FR].pwm = 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 = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ mode=32;
+ }
+ } else if(mode==32) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ cross=0;
+ mode=40;
+ }
+ } else if(mode==40) {
+ switch(g[3]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ if(count>30000) {
+ cross++;
+ count=0;
+ }
+ mtc2=true;
+ if(cross==1) {
+ mode=41;
+ count=0;
+ cross=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 30;
+ 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 = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ }
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[2]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ } else if(mode==41) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=42;
+ }
+ } else if(mode==42) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=50;
+ }
+ } else if(mode==50) {
+ switch(g[1]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(count>100000) {
+ cross++;
+ count=0;
+ }
+ mtc=true;
+ if(cross==1) {
+ mode=51;
+ count=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ 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 = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 40;
+ 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 = 40;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ }
+ if(g[1]!=98&&mtc==true) {
+ switch(g[0]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FR].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc=false;
+ break;
+ }
+ }
+ } else if(mode==51) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ mode=52;
+ }
+ } else if(mode==52) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ cross=0;
+ mode=60;
+ }
+ } else if(mode==60) {
+ switch(g[3]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ if(count>50000) {
+ cross++;
+ count=0;
+ }
+ mtc2=true;
+ if(cross==2) {
+ mode=61;
+ count=0;
+ cross=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 30;
+ 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 = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ }
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[2]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ } else if(mode==61) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=62;
+ }
+ } else if(mode==62) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=70;
+ }
+ } else if(mode==70) {
+ switch(g[1]) {
+ case 99:
+ if(count>=100000) {
+ mode=100;
+ }
+ break;
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ 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 = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 40;
+ 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 = 40;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ }
+ if(g[1]!=98&&mtc==true) {
+ switch(g[0]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FR].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc=false;
+ break;
+ }
+ }
+ } else if(mode==100) {
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 23;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ } else {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = BRAKE;
+ }
+ } else {//////////////////////////////////////////////////これより別ゾーン用/////////////////////////////////////////////////////////////////////////////////
+ if(mode==1) {//スタートゾーンから白線検知
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(g[2]==0) {
+ count=100000;
+ cross=0;
+ mode=2;
+ }
+ } else if(mode==2) {//横移動
+ if(g[2]==0) {
+ count=100000;
+ cross=0;
+ mode=3;
mtc2=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- case 2:
+ } else {
motor[TIRE_FR].pwm = 30;
motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- mtc2=true;
- break;
- }
- if(g[2]!=98&&mtc2==true) {
- switch(g[3]) {
- case 0:
- mtc2=false;
- break;
- case 255:
- motor[TIRE_BL].pwm += 5;
- mtc2=false;
- break;
- case 253:
- motor[TIRE_BL].pwm += 10;
- mtc2=false;
- break;
- case 254:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_FL].pwm = 0;
- mtc2=false;
- break;
- case 1:
- motor[TIRE_FL].pwm += 5;
- mtc2=false;
- break;
- case 3:
- motor[TIRE_FL].pwm += 10;
- mtc2=false;
- break;
- case 2:
- motor[TIRE_FL].pwm += 20;
- motor[TIRE_BL].pwm = 0;
- mtc2=false;
- break;
- }
- }
- } else if(mode==21) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- if(count>2000&&g[0]==0) {
- count=0;
- mode=22;
- }
- } else if(mode==22) {
- motor[TIRE_FR].pwm = 15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 15;
- motor[TIRE_BL].dir = FOR;
- if(count>5000&&g[0]==0) {
- count=0;
- cross=0;
- mode=30;
- }
- } else if(mode==30) {
- switch(g[0]) {
- case 98:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 30;
motor[TIRE_FL].dir = FOR;
motor[TIRE_BR].pwm = 30;
motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- if(count>100000) {
- cross++;
- count=0;
- }
- mtc=true;
- if(cross==1) {
- mode=31;
- count=0;
- }
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 20;
- 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 = 20;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 30;
- 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 = 30;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = FOR;
- mtc=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- }
- if(g[0]!=98&&mtc==true) {
- switch(g[1]) {
+ motor[TIRE_BL].dir = BACK;
+ }
+ } 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 = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>100000&&g[0]==0) {
+ count=0;
+ mode=10;
+ }
+ } else if(mode==4) { //横ライントレースから縦ライントレースへ
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>30000&&g[0]==0) {
+ count=0;
+ cross=0;
+ mode=10;
+ }
+ } else if(g[0]!=99&&mode==10) { //縦ライントレース
+ switch(g[0]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(count>100000) {
+ cross++;
+ count=0;
+ }
+ mtc=true;
+ if(cross==Twsh) {
+ mode=11;
+ count=0;
+ }
+ break;
case 0:
- mtc=false;
+ motor[TIRE_FR].pwm = 60;
+ 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 = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
break;
case 255:
- motor[TIRE_BR].pwm += 5;
- mtc=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
break;
case 253:
- motor[TIRE_BR].pwm += 10;
- mtc=false;
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
break;
case 254:
- motor[TIRE_BR].pwm += 20;
- motor[TIRE_BL].pwm = 0;
- mtc=false;
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
break;
case 1:
- motor[TIRE_BL].pwm += 5;
- mtc=false;
+ motor[TIRE_FR].pwm = 40;
+ 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 = 40;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
break;
case 3:
- motor[TIRE_BL].pwm += 10;
- mtc=false;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
break;
case 2:
- motor[TIRE_BL].pwm += 20;
- motor[TIRE_BR].pwm = 0;
- mtc=false;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
break;
}
- }
- } else if(mode==31) {
- motor[TIRE_FR].pwm = 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 = 15;
- motor[TIRE_BL].dir = FOR;
- if(count>5000&&g[3]==0) {
- count=0;
- mode=32;
- }
- } else if(mode==32) {
- motor[TIRE_FR].pwm = 15;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 15;
- motor[TIRE_BL].dir = BACK;
- if(count>5000&&g[3]==0) {
- count=0;
- cross=0;
- mode=40;
- }
- } else if(mode==40) {
- switch(g[3]) {
- case 98:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- if(count>30000) {
- cross++;
- count=0;
- }
- mtc2=true;
- if(cross==1) {
- mode=41;
- count=0;
- cross=0;
+ if(g[0]!=98&&mtc==true) {
+ switch(g[1]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_BL].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_BL].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BR].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_BR].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_BR].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_BR].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc=false;
+ break;
}
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 20;
- 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 = 20;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 30;
- 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 = 30;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- }
- if(g[2]!=98&&mtc2==true) {
+ }
+ } else if(mode==11) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[2]==0) {
+ count=0;
+ mode=12;
+ }
+ } else if(mode==12) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>10000&&g[2]==0) {
+ count=0;
+ cross=0;
+ mode=20;
+ }
+ } else if(mode==20) {
switch(g[2]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(count>70000) {
+ cross++;
+ count=0;
+ }
+ mtc2=true;
+ if(cross==3) {
+ mode=21;
+ count=0;
+ cross=0;
+ }
+ break;
case 0:
- mtc2=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
- mtc2=false;
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
- mtc2=false;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
motor[TIRE_BL].pwm = 0;
- mtc2=false;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 1:
- motor[TIRE_BL].pwm += 5;
- mtc2=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
break;
case 3:
- motor[TIRE_BL].pwm += 10;
- mtc2=false;
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
break;
case 2:
- motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
motor[TIRE_FL].pwm = 0;
- mtc2=false;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ mtc2=true;
+ break;
+ }
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[3]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ } else if(mode==21) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>2000&&g[0]==0) {
+ count=0;
+ mode=22;
+ }
+ } else if(mode==22) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>5000&&g[0]==0) {
+ count=0;
+ cross=0;
+ mode=30;
+ }
+ } else if(mode==30) {
+ switch(g[0]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ if(count>100000) {
+ cross++;
+ count=0;
+ }
+ mtc=true;
+ if(cross==1) {
+ mode=31;
+ count=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ 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 = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 40;
+ 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 = 40;
+ motor[TIRE_BL].dir = BACK;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
break;
}
- }
- } else if(mode==41) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- if(count>5000&&g[1]==0) {
- count=0;
- mode=42;
- }
- } else if(mode==42) {
- motor[TIRE_FR].pwm = 15;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 15;
- motor[TIRE_BL].dir = BACK;
- if(count>5000&&g[1]==0) {
- count=0;
- mode=50;
- }
- } else if(mode==50) {
- switch(g[1]) {
- case 98:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- if(count>100000) {
- cross++;
- count=0;
- }
- mtc=true;
- if(cross==1) {
- mode=51;
- count=0;
+ if(g[0]!=98&&mtc==true) {
+ switch(g[1]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_BL].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_BL].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_BR].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_BR].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_BR].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_BR].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc=false;
+ break;
}
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- 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 = 60;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = 40;
- 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 = 40;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- }
- if(g[1]!=98&&mtc==true) {
- switch(g[0]) {
+ }
+ } else if(mode==31) {
+ motor[TIRE_FR].pwm = 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 = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ mode=32;
+ }
+ } else if(mode==32) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ cross=0;
+ mode=40;
+ }
+ } else if(mode==40) {
+ switch(g[3]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ if(count>30000) {
+ cross++;
+ count=0;
+ }
+ mtc2=true;
+ if(cross==1) {
+ mode=41;
+ count=0;
+ cross=0;
+ }
+ break;
case 0:
- mtc=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
- mtc=false;
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
- mtc=false;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
motor[TIRE_FR].pwm = 0;
- mtc=false;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 1:
- motor[TIRE_FR].pwm += 5;
- mtc=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 3:
- motor[TIRE_FR].pwm += 10;
- mtc=false;
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 2:
- motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
- mtc=false;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
+ break;
+ }
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[2]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
+ }
+ }
+ } else if(mode==41) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=42;
+ }
+ } else if(mode==42) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=50;
+ }
+ } else if(mode==50) {
+ switch(g[1]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ if(count>100000) {
+ cross++;
+ count=0;
+ }
+ mtc=true;
+ if(cross==1) {
+ mode=51;
+ count=0;
+ }
+ break;
+ case 0:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm = 30;
+ 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 = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 1:
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
+ break;
+ case 3:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
+ break;
+ case 2:
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
break;
}
- }
- } else if(mode==51) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- if(count>5000&&g[3]==0) {
- count=0;
- mode=52;
- }
- } else if(mode==52) {
- motor[TIRE_FR].pwm = 15;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 15;
- motor[TIRE_BL].dir = FOR;
- if(count>5000&&g[3]==0) {
- count=0;
- cross=0;
- mode=60;
- }
- } else if(mode==60) {
- switch(g[3]) {
- case 98:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = FOR;
- if(count>50000) {
- cross++;
- count=0;
- }
- mtc2=true;
- if(cross==2) {
- mode=61;
- count=0;
- cross=0;
+ if(g[1]!=98&&mtc==true) {
+ switch(g[0]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FR].pwm = 0;
+ mtc=false;
+ break;
}
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = 40;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 60;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 60;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 40;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc2=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = BACK;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 20;
- 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 = 20;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 30;
- 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 = 30;
- motor[TIRE_BL].dir = FOR;
- mtc2=true;
- break;
- }
- if(g[2]!=98&&mtc2==true) {
- switch(g[2]) {
+ }
+ } else if(mode==51) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ mode=52;
+ }
+ } else if(mode==52) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = FOR;
+ if(count>5000&&g[3]==0) {
+ count=0;
+ cross=0;
+ mode=60;
+ }
+ } else if(mode==60) {
+ switch(g[3]) {
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ if(count>50000) {
+ cross++;
+ count=0;
+ }
+ mtc2=true;
+ if(cross==2) {
+ mode=61;
+ count=0;
+ cross=0;
+ }
+ break;
case 0:
- mtc2=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
- mtc2=false;
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
- mtc2=false;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = FOR;
motor[TIRE_BL].pwm = 0;
- mtc2=false;
+ motor[TIRE_BL].dir = FREE;
+ mtc2=true;
break;
case 1:
- motor[TIRE_BL].pwm += 5;
- mtc2=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 3:
- motor[TIRE_BL].pwm += 10;
- mtc2=false;
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
case 2:
- motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
motor[TIRE_FL].pwm = 0;
- mtc2=false;
+ motor[TIRE_FL].dir = FREE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = FREE;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc2=true;
break;
}
- }
- } else if(mode==61) {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- if(count>5000&&g[1]==0) {
- count=0;
- mode=62;
- }
- } else if(mode==62) {
- motor[TIRE_FR].pwm = 15;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 15;
- motor[TIRE_FL].dir = FOR;
- motor[TIRE_BR].pwm = 15;
- motor[TIRE_BR].dir = BACK;
- motor[TIRE_BL].pwm = 15;
- motor[TIRE_BL].dir = BACK;
- if(count>5000&&g[1]==0) {
- count=0;
- mode=70;
- }
- } else if(mode==70) {
- switch(g[1]) {
- case 99:
- if(count>=100000) {
- mode=100;
+ if(g[2]!=98&&mtc2==true) {
+ switch(g[2]) {
+ case 0:
+ mtc2=false;
+ break;
+ case 255:
+ motor[TIRE_FL].pwm += 5;
+ mtc2=false;
+ break;
+ case 253:
+ motor[TIRE_FL].pwm += 10;
+ mtc2=false;
+ break;
+ case 254:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_BL].pwm = 0;
+ mtc2=false;
+ break;
+ case 1:
+ motor[TIRE_BL].pwm += 5;
+ mtc2=false;
+ break;
+ case 3:
+ motor[TIRE_BL].pwm += 10;
+ mtc2=false;
+ break;
+ case 2:
+ motor[TIRE_BL].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc2=false;
+ break;
}
- break;
- case 98:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- break;
- case 0:
- motor[TIRE_FR].pwm = 60;
- 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 = 60;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 255:
- motor[TIRE_FR].pwm = 60;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 40;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 40;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 60;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 253:
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 254:
- motor[TIRE_FR].pwm = 30;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = FREE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = FREE;
- motor[TIRE_BL].pwm = 30;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 1:
- motor[TIRE_FR].pwm = 40;
- 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 = 40;
- motor[TIRE_BL].dir = BACK;
- mtc=true;
- break;
- case 3:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 20;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- case 2:
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = FREE;
- motor[TIRE_FL].pwm = 30;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 30;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = FREE;
- mtc=true;
- break;
- }
- if(g[1]!=98&&mtc==true) {
- switch(g[0]) {
+ }
+ } else if(mode==61) {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=62;
+ }
+ } else if(mode==62) {
+ motor[TIRE_FR].pwm = 15;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 15;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 15;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 15;
+ motor[TIRE_BL].dir = BACK;
+ if(count>5000&&g[1]==0) {
+ count=0;
+ mode=70;
+ }
+ } else if(mode==70) {
+ switch(g[1]) {
+ case 99:
+ if(count>=100000) {
+ mode=100;
+ }
+ break;
+ case 98:
+ motor[TIRE_FR].pwm = 30;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 30;
+ motor[TIRE_BL].dir = FOR;
+ break;
case 0:
- mtc=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
break;
case 255:
- motor[TIRE_FL].pwm += 5;
- mtc=false;
+ motor[TIRE_FR].pwm = 60;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 40;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 40;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 60;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
break;
case 253:
- motor[TIRE_FL].pwm += 10;
- mtc=false;
+ motor[TIRE_FR].pwm = 20;
+ 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 = 20;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
break;
case 254:
- motor[TIRE_FL].pwm += 20;
- motor[TIRE_FR].pwm = 0;
- mtc=false;
+ motor[TIRE_FR].pwm = 30;
+ 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 = 30;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
break;
case 1:
- motor[TIRE_FR].pwm += 5;
- mtc=false;
+ motor[TIRE_FR].pwm = 40;
+ motor[TIRE_FR].dir = BACK;
+ motor[TIRE_FL].pwm = 60;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 60;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 40;
+ motor[TIRE_BL].dir = FOR;
+ mtc=true;
break;
case 3:
- motor[TIRE_FR].pwm += 10;
- mtc=false;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 20;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
break;
case 2:
- motor[TIRE_FR].pwm += 20;
- motor[TIRE_FL].pwm = 0;
- mtc=false;
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = FREE;
+ motor[TIRE_FL].pwm = 30;
+ motor[TIRE_FL].dir = FOR;
+ motor[TIRE_BR].pwm = 30;
+ motor[TIRE_BR].dir = BACK;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = FREE;
+ mtc=true;
break;
}
+ if(g[1]!=98&&mtc==true) {
+ switch(g[0]) {
+ case 0:
+ mtc=false;
+ break;
+ case 255:
+ motor[TIRE_FR].pwm += 5;
+ mtc=false;
+ break;
+ case 253:
+ motor[TIRE_FR].pwm += 10;
+ mtc=false;
+ break;
+ case 254:
+ motor[TIRE_FR].pwm += 20;
+ motor[TIRE_FL].pwm = 0;
+ mtc=false;
+ break;
+ case 1:
+ motor[TIRE_FL].pwm += 5;
+ mtc=false;
+ break;
+ case 3:
+ motor[TIRE_FL].pwm += 10;
+ mtc=false;
+ break;
+ case 2:
+ motor[TIRE_FL].pwm += 20;
+ motor[TIRE_FR].pwm = 0;
+ mtc=false;
+ break;
+ }
+ }
+ } else if(mode==100) {
+ motor[TIRE_FR].pwm = 20;
+ motor[TIRE_FR].dir = FOR;
+ motor[TIRE_FL].pwm = 20;
+ motor[TIRE_FL].dir = BACK;
+ motor[TIRE_BR].pwm = 23;
+ motor[TIRE_BR].dir = FOR;
+ motor[TIRE_BL].pwm = 20;
+ motor[TIRE_BL].dir = BACK;
+ } else {
+ motor[TIRE_FR].pwm = 0;
+ motor[TIRE_FR].dir = BRAKE;
+ motor[TIRE_FL].pwm = 0;
+ motor[TIRE_FL].dir = BRAKE;
+ motor[TIRE_BR].pwm = 0;
+ motor[TIRE_BR].dir = BRAKE;
+ motor[TIRE_BL].pwm = 0;
+ motor[TIRE_BL].dir = BRAKE;
}
- } else if(mode==100) {
- motor[TIRE_FR].pwm = 20;
- motor[TIRE_FR].dir = FOR;
- motor[TIRE_FL].pwm = 20;
- motor[TIRE_FL].dir = BACK;
- motor[TIRE_BR].pwm = 23;
- motor[TIRE_BR].dir = FOR;
- motor[TIRE_BL].pwm = 20;
- motor[TIRE_BL].dir = BACK;
- } else {
- motor[TIRE_FR].pwm = 0;
- motor[TIRE_FR].dir = BRAKE;
- motor[TIRE_FL].pwm = 0;
- motor[TIRE_FL].dir = BRAKE;
- motor[TIRE_BR].pwm = 0;
- motor[TIRE_BR].dir = BRAKE;
- motor[TIRE_BL].pwm = 0;
- motor[TIRE_BL].dir = BRAKE;
}
}