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大季矢花 / Mbed 2 deprecated MainBoard2019_Master_9_23

Dependencies: mbed TrapezoidControl QEI

System/Process/Process.cpp@32:90f018b10ad6, 2019-09-21 (annotated)

Committer:: kishibekairohan
Date:: Sat Sep 21 11:28:06 2019 +0000
Revision:: 32:90f018b10ad6
Parent:: 31:45f97698857b
Child:: 33:656aa14904a5

help me;

Who changed what in which revision?

User	Revision	Line number	New contents of line
kishibekairohan	13:b6e02d6261d7	1
t_yamamoto	0:669ef71cba68	2	#include "mbed.h"
t_yamamoto	0:669ef71cba68	3	#include "Process.h"
7ka884	4:ba9df71868df	4	#include "QEI.h"
t_yamamoto	0:669ef71cba68	5
7ka884	4:ba9df71868df	6	#include "../../CommonLibraries/PID/PID.h"
t_yamamoto	0:669ef71cba68	7	#include "../../Communication/RS485/ActuatorHub/ActuatorHub.h"
yabahiro	21:1f1e9c585da8	8	#include "../../Communication/RS485/LineHub/LineHub.h"
t_yamamoto	0:669ef71cba68	9	#include "../../Communication/Controller/Controller.h"
t_yamamoto	0:669ef71cba68	10	#include "../../Input/ExternalInt/ExternalInt.h"
t_yamamoto	0:669ef71cba68	11	#include "../../Input/Switch/Switch.h"
t_yamamoto	0:669ef71cba68	12	#include "../../Input/Potentiometer/Potentiometer.h"
kishibekairohan	16:3f2c2d89372b	13	#include "../../Input/Encoder/Encoder.h"
t_yamamoto	0:669ef71cba68	14	#include "../../LED/LED.h"
t_yamamoto	0:669ef71cba68	15	#include "../../Safty/Safty.h"
t_yamamoto	0:669ef71cba68	16	#include "../Using.h"
t_yamamoto	0:669ef71cba68	17
t_yamamoto	0:669ef71cba68	18	using namespace SWITCH;
7ka884	4:ba9df71868df	19	using namespace PID_SPACE;
kishibekairohan	16:3f2c2d89372b	20	using namespace ENCODER;
yabahiro	21:1f1e9c585da8	21	using namespace LINEHUB;
t_yamamoto	0:669ef71cba68	22
t_yamamoto	0:669ef71cba68	23	static CONTROLLER::ControllerData *controller;
t_yamamoto	0:669ef71cba68	24	ACTUATORHUB::MOTOR::MotorStatus motor[MOUNTING_MOTOR_NUM];
t_yamamoto	0:669ef71cba68	25	ACTUATORHUB::SOLENOID::SolenoidStatus solenoid;
t_yamamoto	0:669ef71cba68	26
t_yamamoto	0:669ef71cba68	27	static bool lock;
t_yamamoto	0:669ef71cba68	28	static bool processChangeComp;
t_yamamoto	0:669ef71cba68	29	static int current;
t_yamamoto	0:669ef71cba68	30
t_yamamoto	0:669ef71cba68	31	static void AllActuatorReset();
t_yamamoto	0:669ef71cba68	32
t_yamamoto	0:669ef71cba68	33	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	34	static void (*Process[USE_PROCESS_NUM])(void);
t_yamamoto	0:669ef71cba68	35	#endif
t_yamamoto	0:669ef71cba68	36
t_yamamoto	0:669ef71cba68	37	#pragma region USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	38
t_yamamoto	0:669ef71cba68	39	/Replace here with the definition code of your variables./
t_yamamoto	0:669ef71cba68	40
kishibekairohan	2:c015739085d3	41	Serial pc(USBTX, USBRX);
kishibekairohan	2:c015739085d3	42
kishibekairohan	16:3f2c2d89372b	43	//************Encoder*************
kishibekairohan	16:3f2c2d89372b	44	const int PerRev = 256;
kishibekairohan	16:3f2c2d89372b	45	QEI ECD_0(ECD_A_0,ECD_B_0,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	46	QEI ECD_1(ECD_A_1,ECD_B_1,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	47	QEI ECD_2(ECD_A_2,ECD_B_2,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	48	QEI ECD_3(ECD_A_3,ECD_B_3,NC,PerRev,QEI::X4_ENCODING);
kishibekairohan	16:3f2c2d89372b	49	//************Encoder*************
kishibekairohan	7:e88c5d47a3be	50
kishibekairohan	16:3f2c2d89372b	51	//************Buzzer**************
kishibekairohan	11:028a150943b5	52	//DigitalOut buzzer(BUZZER_PIN);
kishibekairohan	9:f93fc79a49ea	53	void BuzzerTimer_func();
kishibekairohan	9:f93fc79a49ea	54	Ticker BuzzerTimer;
kishibekairohan	16:3f2c2d89372b	55	bool EMGflag = false;
yabahiro	21:1f1e9c585da8	56	//PWMOut buzzer(BUZZER_PIN);
kishibekairohan	16:3f2c2d89372b	57	//************Buzzer**************
kishibekairohan	11:028a150943b5	58
kishibekairohan	11:028a150943b5	59	//**********TapeLed***************
kishibekairohan	11:028a150943b5	60	void TapeLedEms_func();
kishibekairohan	11:028a150943b5	61	TapeLedData tapeLED;
kishibekairohan	11:028a150943b5	62	TapeLedData sendLedData;
kishibekairohan	11:028a150943b5	63	TapeLED_Mode ledMode = Normal;
kishibekairohan	11:028a150943b5	64	Ticker tapeLedTimer;
kishibekairohan	11:028a150943b5	65	//**********TapaLed***************
kishibekairohan	16:3f2c2d89372b	66
M_souta	18:c694bae76e51	67	float tireProRPM[4];
M_souta	18:c694bae76e51	68	float tireTarRPM[4];
yabahiro	21:1f1e9c585da8	69	float tirepwm[4];
yabahiro	21:1f1e9c585da8	70
yabahiro	21:1f1e9c585da8	71	const int omni[15][15] = {
yabahiro	21:1f1e9c585da8	72	{ 0, 5, 21, 47, 83, 130, 187, 255, 255, 255, 255, 255, 255, 255, 255 },
yabahiro	21:1f1e9c585da8	73	{ -5, 0, 5, 21, 47, 83, 130, 187, 193, 208, 234, 255, 255, 255, 255 },
yabahiro	21:1f1e9c585da8	74	{ -21, -5, 0, 5, 21, 47, 83, 130, 135, 151, 177, 213, 255, 255, 255 },
yabahiro	21:1f1e9c585da8	75	{ -47, -21, 5, 0, 5, 21, 47, 83, 88, 104, 130, 167, 213, 255, 255 },
yabahiro	21:1f1e9c585da8	76	{ -83, -47, -21, 5, 0, 5, 21, 47, 52, 68, 94, 130, 177, 234, 255 },
yabahiro	21:1f1e9c585da8	77	{ -130, -83, -47, -21, 5, 0, 5, 21, 26, 42, 68, 104, 151, 208, 255 },
yabahiro	21:1f1e9c585da8	78	{ -187, -130, -83, -47, -21, -5, 0, 5, 10, 26, 52, 88, 135, 193, 255 },
yabahiro	21:1f1e9c585da8	79	{ -255, -187, -130, -83, -47, -21, -5, 0, 5, 21, 47, 83, 130, 187, 255 },
yabahiro	21:1f1e9c585da8	80	{ -255, -193, -135, -88, -52, -26, -10, -5, 0, 5, 21, 47, 83, 130, 187 },
yabahiro	21:1f1e9c585da8	81	{ -255, -208, -151, -104, -68, -42, -26, -21, -5, 0, 5, 21, 47, 83, 130 },
yabahiro	21:1f1e9c585da8	82	{ -255, -234, -177, -130, -94, -68, -52, -47, -21, -7, 0, 7, 21, 47, 83 },
yabahiro	21:1f1e9c585da8	83	{ -255, -255, -213, -167, -130, -104, -88, -83, -47, -21, -5, 0, 5, 21, 47 },
yabahiro	21:1f1e9c585da8	84	{ -255, -255, -255, -213, -177, -151, -135, -130, -83, -47, -21, -5, 0, 5, 21 },
yabahiro	21:1f1e9c585da8	85	{ -255, -255, -255, -255, -234, -208, -193, -187, -130, -83, -47, -21, -5, 0, 5 },
yabahiro	21:1f1e9c585da8	86	{ -255, -255, -255, -255, -255, -255, -255, -255, -187, -130, -83, -47, -21, -5, 0 }
yabahiro	21:1f1e9c585da8	87	};
yabahiro	21:1f1e9c585da8	88
yabahiro	21:1f1e9c585da8	89	const int curve[15] = { -152, -98, -54, -18, 0, 0, 0, 0, 0, 0, 0, 18, 54, 98, 152 };
yabahiro	21:1f1e9c585da8	90	//{-200,-146,-102,-66,-36,-16,0,0,0,16,36,66,102,146,200}
yabahiro	21:1f1e9c585da8	91
yabahiro	21:1f1e9c585da8	92	uint8_t SetStatus(int);
yabahiro	21:1f1e9c585da8	93	uint8_t SetStatus(int pwmVal)
yabahiro	21:1f1e9c585da8	94	{
yabahiro	21:1f1e9c585da8	95	if (pwmVal < 0) return BACK;
yabahiro	21:1f1e9c585da8	96	else if (pwmVal > 0) return FOR;
yabahiro	21:1f1e9c585da8	97	else if (pwmVal == 0) return BRAKE;
yabahiro	21:1f1e9c585da8	98	else return BRAKE;
yabahiro	21:1f1e9c585da8	99	}
yabahiro	21:1f1e9c585da8	100	uint8_t Setpwm(int);
yabahiro	21:1f1e9c585da8	101	uint8_t Setpwm(int pwmVal)
yabahiro	21:1f1e9c585da8	102	{
yabahiro	21:1f1e9c585da8	103	if (pwmVal == 0 \|\| pwmVal > 255 \|\| pwmVal < -255) return 255;
yabahiro	21:1f1e9c585da8	104	else return abs(pwmVal);
yabahiro	21:1f1e9c585da8	105	}
M_souta	18:c694bae76e51	106
yabahiro	31:45f97698857b	107	int Twsh;
yabahiro	31:45f97698857b	108	bool UP_flag = false;
yabahiro	31:45f97698857b	109	bool Air_flag = false;
yabahiro	31:45f97698857b	110	bool dz1=true;
yabahiro	31:45f97698857b	111	bool dz1i=false;
yabahiro	31:45f97698857b	112	bool dz2=true;
yabahiro	31:45f97698857b	113	bool dz2i=false;
yabahiro	31:45f97698857b	114	bool dz3=true;
yabahiro	31:45f97698857b	115	bool dz3i=false;
yabahiro	31:45f97698857b	116	bool dz4=true;
yabahiro	31:45f97698857b	117	bool dz4i=false;
yabahiro	31:45f97698857b	118	bool zone;
yabahiro	31:45f97698857b	119	bool through=false;
yabahiro	31:45f97698857b	120
yabahiro	31:45f97698857b	121	int mode =1;
yabahiro	31:45f97698857b	122	int cross=0;//十字数える用
yabahiro	31:45f97698857b	123	int count=100000;//wait代替え
yabahiro	31:45f97698857b	124	int slow=30;
yabahiro	31:45f97698857b	125
t_yamamoto	0:669ef71cba68	126	#pragma endregion USER-DEFINED_VARIABLES_AND_PROTOTYPE
t_yamamoto	0:669ef71cba68	127
t_yamamoto	0:669ef71cba68	128	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	129	#if USE_PROCESS_NUM>0
t_yamamoto	0:669ef71cba68	130	static void Process0(void);
t_yamamoto	0:669ef71cba68	131	#endif
t_yamamoto	0:669ef71cba68	132	#if USE_PROCESS_NUM>1
t_yamamoto	0:669ef71cba68	133	static void Process1(void);
t_yamamoto	0:669ef71cba68	134	#endif
t_yamamoto	0:669ef71cba68	135	#if USE_PROCESS_NUM>2
t_yamamoto	0:669ef71cba68	136	static void Process2(void);
t_yamamoto	0:669ef71cba68	137	#endif
t_yamamoto	0:669ef71cba68	138	#if USE_PROCESS_NUM>3
t_yamamoto	0:669ef71cba68	139	static void Process3(void);
t_yamamoto	0:669ef71cba68	140	#endif
t_yamamoto	0:669ef71cba68	141	#if USE_PROCESS_NUM>4
t_yamamoto	0:669ef71cba68	142	static void Process4(void);
t_yamamoto	0:669ef71cba68	143	#endif
t_yamamoto	0:669ef71cba68	144	#if USE_PROCESS_NUM>5
t_yamamoto	0:669ef71cba68	145	static void Process5(void);
t_yamamoto	0:669ef71cba68	146	#endif
t_yamamoto	0:669ef71cba68	147	#if USE_PROCESS_NUM>6
t_yamamoto	0:669ef71cba68	148	static void Process6(void);
t_yamamoto	0:669ef71cba68	149	#endif
t_yamamoto	0:669ef71cba68	150	#if USE_PROCESS_NUM>7
t_yamamoto	0:669ef71cba68	151	static void Process7(void);
t_yamamoto	0:669ef71cba68	152	#endif
t_yamamoto	0:669ef71cba68	153	#if USE_PROCESS_NUM>8
t_yamamoto	0:669ef71cba68	154	static void Process8(void);
t_yamamoto	0:669ef71cba68	155	#endif
t_yamamoto	0:669ef71cba68	156	#if USE_PROCESS_NUM>9
t_yamamoto	0:669ef71cba68	157	static void Process9(void);
t_yamamoto	0:669ef71cba68	158	#endif
t_yamamoto	0:669ef71cba68	159	#endif
t_yamamoto	0:669ef71cba68	160
t_yamamoto	0:669ef71cba68	161	void SystemProcessInitialize()
t_yamamoto	0:669ef71cba68	162	{
yabahiro	21:1f1e9c585da8	163	#pragma region USER-DEFINED_VARIABLE_INIT
yabahiro	21:1f1e9c585da8	164	/Replace here with the initialization code of your variables./
yabahiro	21:1f1e9c585da8	165	#pragma endregion USER-DEFINED_VARIABLE_INIT
t_yamamoto	0:669ef71cba68	166
yabahiro	21:1f1e9c585da8	167	lock = true;
yabahiro	21:1f1e9c585da8	168	processChangeComp = true;
yabahiro	21:1f1e9c585da8	169	current = DEFAULT_PROCESS;
t_yamamoto	0:669ef71cba68	170
yabahiro	21:1f1e9c585da8	171	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	172	#if USE_PROCESS_NUM>0
yabahiro	21:1f1e9c585da8	173	Process[0] = Process0;
yabahiro	21:1f1e9c585da8	174	#endif
yabahiro	21:1f1e9c585da8	175	#if USE_PROCESS_NUM>1
yabahiro	21:1f1e9c585da8	176	Process[1] = Process1;
yabahiro	21:1f1e9c585da8	177	#endif
yabahiro	21:1f1e9c585da8	178	#if USE_PROCESS_NUM>2
yabahiro	21:1f1e9c585da8	179	Process[2] = Process2;
yabahiro	21:1f1e9c585da8	180	#endif
yabahiro	21:1f1e9c585da8	181	#if USE_PROCESS_NUM>3
yabahiro	21:1f1e9c585da8	182	Process[3] = Process3;
yabahiro	21:1f1e9c585da8	183	#endif
yabahiro	21:1f1e9c585da8	184	#if USE_PROCESS_NUM>4
yabahiro	21:1f1e9c585da8	185	Process[4] = Process4;
yabahiro	21:1f1e9c585da8	186	#endif
yabahiro	21:1f1e9c585da8	187	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	188	Process[5] = Process5;
yabahiro	21:1f1e9c585da8	189	#endif
yabahiro	21:1f1e9c585da8	190	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	191	Process[6] = Process6;
yabahiro	21:1f1e9c585da8	192	#endif
yabahiro	21:1f1e9c585da8	193	#if USE_PROCESS_NUM>7
yabahiro	21:1f1e9c585da8	194	Process[7] = Process7;
yabahiro	21:1f1e9c585da8	195	#endif
yabahiro	21:1f1e9c585da8	196	#if USE_PROCESS_NUM>8
yabahiro	21:1f1e9c585da8	197	Process[8] = Process8;
yabahiro	21:1f1e9c585da8	198	#endif
yabahiro	21:1f1e9c585da8	199	#if USE_PROCESS_NUM>9
yabahiro	21:1f1e9c585da8	200	Process[9] = Process9;
yabahiro	21:1f1e9c585da8	201	#endif
yabahiro	21:1f1e9c585da8	202	#endif
t_yamamoto	0:669ef71cba68	203	}
t_yamamoto	0:669ef71cba68	204
t_yamamoto	0:669ef71cba68	205	static void SystemProcessUpdate()
t_yamamoto	0:669ef71cba68	206	{
yabahiro	21:1f1e9c585da8	207	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	208	if(controller->Button.HOME) lock = false;
yabahiro	21:1f1e9c585da8	209
yabahiro	21:1f1e9c585da8	210	if(controller->Button.START && processChangeComp) {
yabahiro	21:1f1e9c585da8	211	current++;
yabahiro	21:1f1e9c585da8	212	if (USE_PROCESS_NUM < current) current = USE_PROCESS_NUM;
yabahiro	21:1f1e9c585da8	213	processChangeComp = false;
yabahiro	21:1f1e9c585da8	214	} else if(controller->Button.SELECT && processChangeComp) {
yabahiro	21:1f1e9c585da8	215	current--;
yabahiro	21:1f1e9c585da8	216	if (current < 0) current = 0;
yabahiro	21:1f1e9c585da8	217	processChangeComp = false;
yabahiro	21:1f1e9c585da8	218	} else if(!controller->Button.SELECT && !controller->Button.START) processChangeComp = true;
yabahiro	21:1f1e9c585da8	219	#endif
yabahiro	21:1f1e9c585da8	220
yabahiro	21:1f1e9c585da8	221	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	222	ACTUATORHUB::MOTOR::Motor::Update(motor);
yabahiro	21:1f1e9c585da8	223	#endif
yabahiro	21:1f1e9c585da8	224
yabahiro	21:1f1e9c585da8	225	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	226	ACTUATORHUB::SOLENOID::Solenoid::Update(solenoid);
yabahiro	21:1f1e9c585da8	227	#endif
yabahiro	21:1f1e9c585da8	228
yabahiro	21:1f1e9c585da8	229	#ifdef USE_RS485
yabahiro	21:1f1e9c585da8	230	ACTUATORHUB::ActuatorHub::Update();
yabahiro	21:1f1e9c585da8	231	#endif
yabahiro	21:1f1e9c585da8	232
yabahiro	21:1f1e9c585da8	233	}
yabahiro	21:1f1e9c585da8	234
yabahiro	21:1f1e9c585da8	235	int g[8];
yabahiro	21:1f1e9c585da8	236
yabahiro	21:1f1e9c585da8	237	void SystemProcess()
yabahiro	21:1f1e9c585da8	238	{
yabahiro	21:1f1e9c585da8	239	SystemProcessInitialize();
yabahiro	21:1f1e9c585da8	240
yabahiro	21:1f1e9c585da8	241	while(1) {
yabahiro	21:1f1e9c585da8	242	for(int i = 0; i < 8; i++) {
yabahiro	21:1f1e9c585da8	243	g[i] = LineHub::GetPara(i);
yabahiro	21:1f1e9c585da8	244	}
kishibekairohan	32:90f018b10ad6	245
kishibekairohan	32:90f018b10ad6	246	//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]);
kishibekairohan	32:90f018b10ad6	247
yabahiro	21:1f1e9c585da8	248	#ifdef USE_MU
yabahiro	21:1f1e9c585da8	249	controller = CONTROLLER::Controller::GetData();
yabahiro	21:1f1e9c585da8	250	#endif
yabahiro	21:1f1e9c585da8	251
yabahiro	21:1f1e9c585da8	252	#ifdef USE_ERRORCHECK
yabahiro	21:1f1e9c585da8	253	if(SAFTY::ErrorCheck::Check() & SAFTY::Error::ControllerLost) {
yabahiro	21:1f1e9c585da8	254	CONTROLLER::Controller::DataReset();
yabahiro	21:1f1e9c585da8	255	AllActuatorReset();
yabahiro	21:1f1e9c585da8	256	lock = true;
yabahiro	21:1f1e9c585da8	257	} else
yabahiro	21:1f1e9c585da8	258	#endif
yabahiro	21:1f1e9c585da8	259	{
yabahiro	21:1f1e9c585da8	260
yabahiro	21:1f1e9c585da8	261	#ifdef USE_SUBPROCESS
yabahiro	21:1f1e9c585da8	262	if(!lock) {
yabahiro	21:1f1e9c585da8	263	Process[current]();
yabahiro	21:1f1e9c585da8	264	} else
yabahiro	21:1f1e9c585da8	265	#endif
yabahiro	21:1f1e9c585da8	266	{
yabahiro	21:1f1e9c585da8	267	//ロック時の処理
yabahiro	21:1f1e9c585da8	268	}
yabahiro	21:1f1e9c585da8	269	}
yabahiro	21:1f1e9c585da8	270	/*
yabahiro	21:1f1e9c585da8	271	//Emergency!
yabahiro	21:1f1e9c585da8	272	if(!EMG_0 && !EMG_1 && !EMGflag) {
yabahiro	21:1f1e9c585da8	273	buzzer = 0;
yabahiro	21:1f1e9c585da8	274	BuzzerTimer.attach(BuzzerTimer_func, 1);
yabahiro	21:1f1e9c585da8	275	EMGflag = true;
yabahiro	21:1f1e9c585da8	276	LED_DEBUG0 = 1;
yabahiro	21:1f1e9c585da8	277	}
yabahiro	21:1f1e9c585da8	278	if(EMG_0 && EMG_1 && EMGflag) {
yabahiro	21:1f1e9c585da8	279	buzzer = 1;
yabahiro	21:1f1e9c585da8	280	BuzzerTimer.detach();
yabahiro	21:1f1e9c585da8	281	EMGflag = false;
yabahiro	21:1f1e9c585da8	282	}
yabahiro	21:1f1e9c585da8	283	*/
yabahiro	21:1f1e9c585da8	284	SystemProcessUpdate();
yabahiro	21:1f1e9c585da8	285	}
t_yamamoto	0:669ef71cba68	286	}
t_yamamoto	0:669ef71cba68	287
t_yamamoto	0:669ef71cba68	288	#pragma region PROCESS
t_yamamoto	0:669ef71cba68	289	#ifdef USE_SUBPROCESS
t_yamamoto	0:669ef71cba68	290	#if USE_PROCESS_NUM>0
yabahiro	27:545148741493	291
yabahiro	21:1f1e9c585da8	292	static void Process0()
yabahiro	21:1f1e9c585da8	293	{
yabahiro	31:45f97698857b	294	for(int i=0; i<=3; i++) {
yabahiro	31:45f97698857b	295	if(i==0) {
yabahiro	31:45f97698857b	296	POTENTIOMETER::dio[0]= 1;
yabahiro	31:45f97698857b	297	} else {
yabahiro	31:45f97698857b	298	POTENTIOMETER::dio[i]=0;
yabahiro	31:45f97698857b	299	}
yabahiro	31:45f97698857b	300	}
yabahiro	25:38d4964e8aad	301	if(StertSW) {
yabahiro	31:45f97698857b	302	if(ZoneSW) {
yabahiro	31:45f97698857b	303	if(ThSW) {
yabahiro	31:45f97698857b	304	Twsh=1;
yabahiro	31:45f97698857b	305	} else {
yabahiro	31:45f97698857b	306	Twsh=2;
yabahiro	31:45f97698857b	307	}
yabahiro	31:45f97698857b	308	mode=1;
yabahiro	31:45f97698857b	309	current = 2;
yabahiro	31:45f97698857b	310	} else {
yabahiro	31:45f97698857b	311	if(ThSW) {
yabahiro	31:45f97698857b	312	Twsh=1;
yabahiro	31:45f97698857b	313	} else {
yabahiro	31:45f97698857b	314	Twsh=2;
yabahiro	31:45f97698857b	315	}
yabahiro	31:45f97698857b	316	mode=1;
yabahiro	31:45f97698857b	317	current = 3;
yabahiro	31:45f97698857b	318	}
yabahiro	25:38d4964e8aad	319	}
yabahiro	31:45f97698857b	320
yabahiro	31:45f97698857b	321	if(UPSW) {
yabahiro	31:45f97698857b	322	UP_flag = true;
yabahiro	31:45f97698857b	323	}
yabahiro	31:45f97698857b	324
yabahiro	31:45f97698857b	325	if(UP_flag) {
yabahiro	31:45f97698857b	326	motor[MOTOR_0].dir = FOR;
yabahiro	31:45f97698857b	327	motor[MOTOR_0].pwm = 100;
yabahiro	31:45f97698857b	328
yabahiro	31:45f97698857b	329	if (UPLS) {
yabahiro	31:45f97698857b	330	motor[MOTOR_0].dir = BRAKE;
yabahiro	31:45f97698857b	331	UP_flag = false;
yabahiro	31:45f97698857b	332	Air_flag = true;
yabahiro	31:45f97698857b	333	}
yabahiro	31:45f97698857b	334	}
yabahiro	31:45f97698857b	335	if(Air_flag) {
yabahiro	31:45f97698857b	336	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	31:45f97698857b	337	}
yabahiro	31:45f97698857b	338
t_yamamoto	0:669ef71cba68	339	}
t_yamamoto	0:669ef71cba68	340	#endif
t_yamamoto	0:669ef71cba68	341
t_yamamoto	0:669ef71cba68	342	#if USE_PROCESS_NUM>1
kishibekairohan	16:3f2c2d89372b	343	static void Process1()
t_yamamoto	0:669ef71cba68	344	{
yabahiro	31:45f97698857b	345	for(int i=0; i<=3; i++) {
yabahiro	31:45f97698857b	346	if(i==1) {
yabahiro	31:45f97698857b	347	POTENTIOMETER::dio[1]=1;
yabahiro	31:45f97698857b	348	} else {
yabahiro	31:45f97698857b	349	POTENTIOMETER::dio[i]=0;
yabahiro	31:45f97698857b	350	}
yabahiro	31:45f97698857b	351	}
yabahiro	27:545148741493	352	count=100000;
yabahiro	31:45f97698857b	353	mode=1;
yabahiro	27:545148741493	354	cross=0;
yabahiro	21:1f1e9c585da8	355	motor[TIRE_FR].dir = SetStatus(-omni[controller->AnalogL.Y][14-controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	356	motor[TIRE_FL].dir = SetStatus(omni[controller->AnalogL.Y][controller->AnalogL.X] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	357	motor[TIRE_BR].dir = SetStatus(-omni[14-controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	358	motor[TIRE_BL].dir = SetStatus(omni[controller->AnalogL.X][14-controller->AnalogL.Y] + curve[controller->AnalogR.X]);
yabahiro	21:1f1e9c585da8	359
yabahiro	21:1f1e9c585da8	360	motor[TIRE_FR].pwm = Setpwm(omni[controller->AnalogL.Y][14-controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	361	motor[TIRE_FL].pwm = Setpwm(omni[controller->AnalogL.Y][controller->AnalogL.X]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	362	motor[TIRE_BR].pwm = Setpwm(omni[14-controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	363	motor[TIRE_BL].pwm = Setpwm(omni[controller->AnalogL.X][14-controller->AnalogL.Y]+ curve[controller->AnalogR.X])*0.2;
yabahiro	21:1f1e9c585da8	364
yabahiro	21:1f1e9c585da8	365	if(controller->Button.UP\|\|controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	366
yabahiro	21:1f1e9c585da8	367	if(controller->Button.UP) {
yabahiro	21:1f1e9c585da8	368	motor[MOTOR_0].pwm = 110;
yabahiro	21:1f1e9c585da8	369	motor[MOTOR_0].dir = FOR;
yabahiro	21:1f1e9c585da8	370	}
yabahiro	21:1f1e9c585da8	371	if(controller->Button.DOWN) {
yabahiro	21:1f1e9c585da8	372	motor[MOTOR_0].pwm = 50;
yabahiro	21:1f1e9c585da8	373	motor[MOTOR_0].dir = BACK;
yabahiro	21:1f1e9c585da8	374	}
yabahiro	21:1f1e9c585da8	375	} else {
yabahiro	21:1f1e9c585da8	376	motor[MOTOR_0].pwm = 0;
yabahiro	21:1f1e9c585da8	377	motor[MOTOR_0].dir = BRAKE;
yabahiro	21:1f1e9c585da8	378	}
yabahiro	21:1f1e9c585da8	379	if(controller->Button.X) {
yabahiro	21:1f1e9c585da8	380	if(dz1==true) {
yabahiro	21:1f1e9c585da8	381	if(dz1i==false) {
yabahiro	21:1f1e9c585da8	382	solenoid.solenoid1 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	383	dz1i=true;
yabahiro	21:1f1e9c585da8	384	} else {
yabahiro	21:1f1e9c585da8	385	solenoid.solenoid1 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	386	dz1i=false;
yabahiro	21:1f1e9c585da8	387	}
yabahiro	21:1f1e9c585da8	388	dz1=false;
yabahiro	21:1f1e9c585da8	389	}
yabahiro	21:1f1e9c585da8	390	} else {
yabahiro	21:1f1e9c585da8	391	dz1=true;
yabahiro	21:1f1e9c585da8	392	}
yabahiro	21:1f1e9c585da8	393
yabahiro	21:1f1e9c585da8	394	if(controller->Button.Y) {
yabahiro	21:1f1e9c585da8	395	if(dz2==true) {
yabahiro	21:1f1e9c585da8	396	if(dz2i==false) {
yabahiro	21:1f1e9c585da8	397	solenoid.solenoid2 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	398	dz2i=true;
yabahiro	21:1f1e9c585da8	399	} else {
yabahiro	21:1f1e9c585da8	400	solenoid.solenoid2 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	401	dz2i=false;
yabahiro	21:1f1e9c585da8	402	}
yabahiro	21:1f1e9c585da8	403	dz2=false;
yabahiro	21:1f1e9c585da8	404	}
yabahiro	21:1f1e9c585da8	405	} else {
yabahiro	21:1f1e9c585da8	406	dz2=true;
yabahiro	21:1f1e9c585da8	407	}
yabahiro	21:1f1e9c585da8	408
yabahiro	21:1f1e9c585da8	409	if(controller->Button.A) {
yabahiro	21:1f1e9c585da8	410	if(dz3==true) {
yabahiro	21:1f1e9c585da8	411	if(dz3i==false) {
yabahiro	30:9450dc1d53cc	412
yabahiro	21:1f1e9c585da8	413	dz3i=true;
yabahiro	21:1f1e9c585da8	414	} else {
yabahiro	21:1f1e9c585da8	415	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	416	dz3i=false;
yabahiro	21:1f1e9c585da8	417	}
yabahiro	21:1f1e9c585da8	418	dz3=false;
yabahiro	21:1f1e9c585da8	419	}
yabahiro	21:1f1e9c585da8	420	} else {
yabahiro	21:1f1e9c585da8	421	dz3=true;
yabahiro	21:1f1e9c585da8	422	}
yabahiro	21:1f1e9c585da8	423
yabahiro	21:1f1e9c585da8	424	if(controller->Button.B) {
yabahiro	21:1f1e9c585da8	425	if(dz4==true) {
yabahiro	21:1f1e9c585da8	426	if(dz4i==false) {
yabahiro	21:1f1e9c585da8	427	solenoid.solenoid4 = SOLENOID_ON;
yabahiro	21:1f1e9c585da8	428	dz4i=true;
yabahiro	21:1f1e9c585da8	429	} else {
yabahiro	21:1f1e9c585da8	430	solenoid.solenoid4 = SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	431	dz4i=false;
yabahiro	21:1f1e9c585da8	432	}
yabahiro	21:1f1e9c585da8	433	dz4=false;
yabahiro	21:1f1e9c585da8	434	}
yabahiro	21:1f1e9c585da8	435	} else {
yabahiro	21:1f1e9c585da8	436	dz4=true;
yabahiro	21:1f1e9c585da8	437	}
yabahiro	21:1f1e9c585da8	438	/*
yabahiro	21:1f1e9c585da8	439	if(controller->Button.RIGHT){
yabahiro	21:1f1e9c585da8	440	motor[MOTOR_1].dir = FOR;
yabahiro	21:1f1e9c585da8	441	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	442	if (ARM_1){
yabahiro	21:1f1e9c585da8	443	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	444	}
yabahiro	21:1f1e9c585da8	445	}
yabahiro	21:1f1e9c585da8	446	else if(controller->Button.LEFT){
yabahiro	21:1f1e9c585da8	447	motor[MOTOR_1].dir = BACK;
yabahiro	21:1f1e9c585da8	448	motor[MOTOR_1].pwm = 60;
yabahiro	21:1f1e9c585da8	449	if (ARM_0){
yabahiro	21:1f1e9c585da8	450	motor[MOTOR_1].dir = BRAKE;
yabahiro	21:1f1e9c585da8	451	}
yabahiro	21:1f1e9c585da8	452	}
yabahiro	21:1f1e9c585da8	453	*/
t_yamamoto	0:669ef71cba68	454	}
t_yamamoto	0:669ef71cba68	455	#endif
t_yamamoto	0:669ef71cba68	456
t_yamamoto	0:669ef71cba68	457	#if USE_PROCESS_NUM>2
yabahiro	21:1f1e9c585da8	458	bool mtc=false;
kishibekairohan	22:c47f29caded6	459	//追加
kishibekairohan	22:c47f29caded6	460	bool mtc2 = false;
yabahiro	21:1f1e9c585da8	461
kishibekairohan	16:3f2c2d89372b	462	static void Process2()
yabahiro	21:1f1e9c585da8	463	{
yabahiro	31:45f97698857b	464	for(int i=0; i<=3; i++) {
yabahiro	31:45f97698857b	465	if(i==2) {
yabahiro	31:45f97698857b	466	POTENTIOMETER::dio[2]=1;
yabahiro	28:9cd36721cf83	467	} else {
yabahiro	31:45f97698857b	468	POTENTIOMETER::dio[i]=0;
yabahiro	28:9cd36721cf83	469	}
yabahiro	28:9cd36721cf83	470	}
yabahiro	31:45f97698857b	471	// 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]);
yabahiro	31:45f97698857b	472	count++;
yabahiro	31:45f97698857b	473	if(mode==1) {//スタートゾーンから白線検知
yabahiro	31:45f97698857b	474	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	475	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	476	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	477	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	478	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	479	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	480	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	481	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	482	if(g[2]==0) {
yabahiro	31:45f97698857b	483	count=100000;
yabahiro	31:45f97698857b	484	cross=0;
yabahiro	31:45f97698857b	485	mode=2;
yabahiro	31:45f97698857b	486	}
yabahiro	31:45f97698857b	487	} else if(mode==2) {//横移動
yabahiro	31:45f97698857b	488	if(g[2]==0) {
yabahiro	31:45f97698857b	489	count=100000;
yabahiro	31:45f97698857b	490	cross=0;
yabahiro	31:45f97698857b	491	mode=3;
yabahiro	31:45f97698857b	492	mtc2=true;
yabahiro	31:45f97698857b	493	} else {
yabahiro	27:545148741493	494	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	495	motor[TIRE_FR].dir = FOR;
yabahiro	27:545148741493	496	motor[TIRE_FL].pwm = 30;
yabahiro	27:545148741493	497	motor[TIRE_FL].dir = FOR;
yabahiro	27:545148741493	498	motor[TIRE_BR].pwm = 30;
yabahiro	27:545148741493	499	motor[TIRE_BR].dir = BACK;
yabahiro	27:545148741493	500	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	501	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	502	}
yabahiro	31:45f97698857b	503	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	31:45f97698857b	504	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	505	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	506	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	507	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	508	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	509	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	510	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	511	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	512	if(g[0]==0) {
yabahiro	31:45f97698857b	513	through=true;
yabahiro	31:45f97698857b	514	}
yabahiro	31:45f97698857b	515	if(through==true&&g[0]==255) {
yabahiro	31:45f97698857b	516	through=false;
yabahiro	31:45f97698857b	517	count=0;
yabahiro	31:45f97698857b	518	mode=4;
yabahiro	31:45f97698857b	519	}
yabahiro	31:45f97698857b	520	} else if(mode==4) { //横ライントレースから縦ライントレースへ
yabahiro	31:45f97698857b	521	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	522	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	523	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	524	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	525	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	526	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	527	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	528	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	529	if(g[0]==0) {
yabahiro	31:45f97698857b	530	count=0;
yabahiro	31:45f97698857b	531	cross=0;
yabahiro	31:45f97698857b	532	mode=10;
yabahiro	31:45f97698857b	533	}
yabahiro	31:45f97698857b	534	} else if(g[0]!=99&&mode==10) { //縦ライントレース
yabahiro	31:45f97698857b	535	switch(g[0]) {
yabahiro	31:45f97698857b	536	case 98:
yabahiro	31:45f97698857b	537	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	538	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	539	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	540	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	541	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	542	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	543	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	544	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	545	if(count>100000) {
yabahiro	31:45f97698857b	546	cross++;
yabahiro	31:45f97698857b	547	count=0;
yabahiro	31:45f97698857b	548	}
yabahiro	31:45f97698857b	549	mtc=true;
yabahiro	31:45f97698857b	550	if(cross==Twsh) {
yabahiro	31:45f97698857b	551	mode=11;
yabahiro	31:45f97698857b	552	count=0;
yabahiro	31:45f97698857b	553	}
yabahiro	31:45f97698857b	554	break;
yabahiro	31:45f97698857b	555	case 0:
yabahiro	31:45f97698857b	556	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	557	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	558	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	559	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	560	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	561	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	562	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	563	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	564	mtc=true;
yabahiro	31:45f97698857b	565	break;
yabahiro	31:45f97698857b	566	case 255:
yabahiro	31:45f97698857b	567	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	568	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	569	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	570	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	571	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	572	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	573	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	574	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	575	mtc=true;
yabahiro	31:45f97698857b	576	break;
yabahiro	31:45f97698857b	577	case 253:
yabahiro	31:45f97698857b	578	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	579	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	580	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	581	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	582	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	583	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	584	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	585	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	586	mtc=true;
yabahiro	31:45f97698857b	587	break;
yabahiro	31:45f97698857b	588	case 254:
yabahiro	31:45f97698857b	589	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	590	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	591	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	592	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	593	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	594	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	595	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	596	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	597	mtc=true;
yabahiro	31:45f97698857b	598	break;
yabahiro	31:45f97698857b	599	case 1:
yabahiro	31:45f97698857b	600	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	601	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	602	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	603	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	604	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	605	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	606	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	607	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	608	mtc=true;
yabahiro	31:45f97698857b	609	break;
yabahiro	31:45f97698857b	610	case 3:
yabahiro	31:45f97698857b	611	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	612	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	613	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	614	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	615	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	616	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	617	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	618	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	619	mtc=true;
yabahiro	31:45f97698857b	620	break;
yabahiro	31:45f97698857b	621	case 2:
yabahiro	31:45f97698857b	622	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	623	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	624	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	625	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	626	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	627	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	628	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	629	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	630	mtc=true;
yabahiro	31:45f97698857b	631	break;
yabahiro	31:45f97698857b	632	}
yabahiro	31:45f97698857b	633	if(g[0]!=98&&mtc==true) {
yabahiro	31:45f97698857b	634	switch(g[1]) {
yabahiro	31:45f97698857b	635	case 0:
yabahiro	31:45f97698857b	636	mtc=false;
yabahiro	31:45f97698857b	637	break;
yabahiro	31:45f97698857b	638	case 255:
yabahiro	31:45f97698857b	639	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	640	mtc=false;
yabahiro	31:45f97698857b	641	break;
yabahiro	31:45f97698857b	642	case 253:
yabahiro	31:45f97698857b	643	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	644	mtc=false;
yabahiro	31:45f97698857b	645	break;
yabahiro	31:45f97698857b	646	case 254:
yabahiro	31:45f97698857b	647	motor[TIRE_BR].pwm += 20;
yabahiro	31:45f97698857b	648	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	649	mtc=false;
yabahiro	31:45f97698857b	650	break;
yabahiro	31:45f97698857b	651	case 1:
yabahiro	31:45f97698857b	652	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	653	mtc=false;
yabahiro	31:45f97698857b	654	break;
yabahiro	31:45f97698857b	655	case 3:
yabahiro	31:45f97698857b	656	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	657	mtc=false;
yabahiro	31:45f97698857b	658	break;
yabahiro	31:45f97698857b	659	case 2:
yabahiro	31:45f97698857b	660	motor[TIRE_BL].pwm += 20;
yabahiro	31:45f97698857b	661	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	662	mtc=false;
yabahiro	31:45f97698857b	663	break;
yabahiro	21:1f1e9c585da8	664	}
yabahiro	31:45f97698857b	665	}
yabahiro	31:45f97698857b	666	} else if(mode==11) {
yabahiro	31:45f97698857b	667	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	668	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	669	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	670	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	671	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	672	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	673	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	674	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	675	if(g[2]==0) {
yabahiro	31:45f97698857b	676	through=true;
yabahiro	31:45f97698857b	677	}
yabahiro	31:45f97698857b	678	if(through==true&&g[2]==255) {
yabahiro	31:45f97698857b	679	through=false;
yabahiro	31:45f97698857b	680	mode=12;
yabahiro	31:45f97698857b	681	}
yabahiro	31:45f97698857b	682	} else if(mode==12) {
yabahiro	31:45f97698857b	683	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	684	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	685	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	686	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	687	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	688	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	689	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	690	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	691	if(g[2]==0) {
yabahiro	31:45f97698857b	692	count=0;
yabahiro	31:45f97698857b	693	cross=0;
yabahiro	31:45f97698857b	694	mode=20;
yabahiro	31:45f97698857b	695	}
yabahiro	31:45f97698857b	696	} else if(mode==20) {
yabahiro	31:45f97698857b	697	switch(g[2]) {
yabahiro	31:45f97698857b	698	case 98:
kishibekairohan	22:c47f29caded6	699	motor[TIRE_FR].pwm = 30;
kishibekairohan	22:c47f29caded6	700	motor[TIRE_FR].dir = FOR;
kishibekairohan	22:c47f29caded6	701	motor[TIRE_FL].pwm = 30;
kishibekairohan	22:c47f29caded6	702	motor[TIRE_FL].dir = FOR;
kishibekairohan	22:c47f29caded6	703	motor[TIRE_BR].pwm = 30;
kishibekairohan	22:c47f29caded6	704	motor[TIRE_BR].dir = BACK;
kishibekairohan	22:c47f29caded6	705	motor[TIRE_BL].pwm = 30;
kishibekairohan	22:c47f29caded6	706	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	707	if(count>70000) {
yabahiro	31:45f97698857b	708	cross++;
yabahiro	31:45f97698857b	709	count=0;
yabahiro	31:45f97698857b	710	}
yabahiro	31:45f97698857b	711	mtc2=true;
yabahiro	31:45f97698857b	712	if(cross==3) {
yabahiro	31:45f97698857b	713	mode=21;
yabahiro	31:45f97698857b	714	count=0;
yabahiro	31:45f97698857b	715	cross=0;
yabahiro	31:45f97698857b	716	}
yabahiro	31:45f97698857b	717	break;
yabahiro	31:45f97698857b	718	case 0:
yabahiro	31:45f97698857b	719	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	720	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	721	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	722	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	723	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	724	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	725	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	726	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	727	mtc2=true;
yabahiro	31:45f97698857b	728	break;
yabahiro	31:45f97698857b	729	case 255:
yabahiro	31:45f97698857b	730	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	731	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	732	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	733	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	734	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	735	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	736	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	737	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	738	mtc2=true;
yabahiro	31:45f97698857b	739	break;
yabahiro	31:45f97698857b	740	case 253:
yabahiro	31:45f97698857b	741	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	742	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	743	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	744	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	745	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	746	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	747	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	748	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	749	mtc2=true;
yabahiro	31:45f97698857b	750	break;
yabahiro	31:45f97698857b	751	case 254:
yabahiro	31:45f97698857b	752	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	753	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	754	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	755	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	756	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	757	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	758	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	759	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	760	mtc2=true;
yabahiro	31:45f97698857b	761	break;
yabahiro	31:45f97698857b	762	case 1:
yabahiro	31:45f97698857b	763	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	764	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	765	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	766	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	767	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	768	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	769	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	770	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	771	mtc2=true;
yabahiro	31:45f97698857b	772	break;
yabahiro	31:45f97698857b	773	case 3:
yabahiro	31:45f97698857b	774	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	775	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	776	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	777	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	778	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	779	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	780	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	781	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	782	mtc2=true;
yabahiro	31:45f97698857b	783	break;
yabahiro	31:45f97698857b	784	case 2:
yabahiro	31:45f97698857b	785	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	786	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	787	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	788	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	789	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	790	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	791	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	792	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	793	mtc2=true;
yabahiro	31:45f97698857b	794	break;
yabahiro	31:45f97698857b	795	}
yabahiro	31:45f97698857b	796	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	797	switch(g[3]) {
yabahiro	29:c78a46f51209	798	case 0:
yabahiro	31:45f97698857b	799	mtc2=false;
yabahiro	29:c78a46f51209	800	break;
yabahiro	29:c78a46f51209	801	case 255:
yabahiro	31:45f97698857b	802	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	803	mtc2=false;
yabahiro	29:c78a46f51209	804	break;
yabahiro	29:c78a46f51209	805	case 253:
yabahiro	31:45f97698857b	806	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	807	mtc2=false;
yabahiro	29:c78a46f51209	808	break;
yabahiro	29:c78a46f51209	809	case 254:
yabahiro	31:45f97698857b	810	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	811	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	812	mtc2=false;
yabahiro	29:c78a46f51209	813	break;
yabahiro	29:c78a46f51209	814	case 1:
yabahiro	31:45f97698857b	815	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	816	mtc2=false;
yabahiro	29:c78a46f51209	817	break;
yabahiro	29:c78a46f51209	818	case 3:
yabahiro	31:45f97698857b	819	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	820	mtc2=false;
yabahiro	29:c78a46f51209	821	break;
yabahiro	29:c78a46f51209	822	case 2:
yabahiro	31:45f97698857b	823	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	824	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	825	mtc2=false;
yabahiro	29:c78a46f51209	826	break;
yabahiro	29:c78a46f51209	827	}
yabahiro	31:45f97698857b	828	}
yabahiro	31:45f97698857b	829	} else if(mode==21) {
yabahiro	31:45f97698857b	830	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	831	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	832	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	833	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	834	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	835	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	836	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	837	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	838	if(g[0]==0) {
yabahiro	31:45f97698857b	839	through=true;
yabahiro	31:45f97698857b	840	}
yabahiro	31:45f97698857b	841	if(through==true&&g[0]==255) {
yabahiro	31:45f97698857b	842	through=false;
yabahiro	31:45f97698857b	843	mode=22;
yabahiro	31:45f97698857b	844	}
yabahiro	31:45f97698857b	845	} else if(mode==22) {
yabahiro	31:45f97698857b	846	motor[TIRE_FR].pwm = slow;
yabahiro	31:45f97698857b	847	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	848	motor[TIRE_FL].pwm = slow;
yabahiro	31:45f97698857b	849	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	850	motor[TIRE_BR].pwm = slow;
yabahiro	31:45f97698857b	851	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	852	motor[TIRE_BL].pwm = slow;
yabahiro	31:45f97698857b	853	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	854	if(g[0]==0) {
yabahiro	31:45f97698857b	855	solenoid.solenoid3 = SOLENOID_ON;
yabahiro	31:45f97698857b	856	count=0;
yabahiro	31:45f97698857b	857	cross=0;
yabahiro	31:45f97698857b	858	mode=30;
yabahiro	31:45f97698857b	859	}
yabahiro	31:45f97698857b	860	} else if(mode==30) {
yabahiro	31:45f97698857b	861	switch(g[0]) {
yabahiro	31:45f97698857b	862	case 98:
yabahiro	31:45f97698857b	863	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	864	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	865	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	866	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	867	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	868	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	869	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	870	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	871	if(count>100000) {
yabahiro	31:45f97698857b	872	cross++;
yabahiro	31:45f97698857b	873	count=0;
yabahiro	31:45f97698857b	874	}
yabahiro	31:45f97698857b	875	mtc=true;
yabahiro	31:45f97698857b	876	if(cross==1) {
yabahiro	31:45f97698857b	877	solenoid.solenoid3 = SOLENOID_OFF;
yabahiro	31:45f97698857b	878	mode=31;
yabahiro	31:45f97698857b	879	count=0;
yabahiro	29:c78a46f51209	880	}
yabahiro	31:45f97698857b	881	break;
yabahiro	31:45f97698857b	882	case 0:
yabahiro	31:45f97698857b	883	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	884	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	885	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	886	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	887	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	888	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	889	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	890	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	891	mtc=true;
yabahiro	31:45f97698857b	892	break;
yabahiro	31:45f97698857b	893	case 255:
yabahiro	31:45f97698857b	894	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	895	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	896	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	897	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	898	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	899	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	900	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	901	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	902	mtc=true;
yabahiro	31:45f97698857b	903	break;
yabahiro	31:45f97698857b	904	case 253:
yabahiro	31:45f97698857b	905	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	906	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	907	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	908	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	909	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	910	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	911	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	912	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	913	mtc=true;
yabahiro	31:45f97698857b	914	break;
yabahiro	31:45f97698857b	915	case 254:
yabahiro	31:45f97698857b	916	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	917	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	918	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	919	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	920	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	921	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	922	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	923	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	924	mtc=true;
yabahiro	31:45f97698857b	925	break;
yabahiro	31:45f97698857b	926	case 1:
yabahiro	31:45f97698857b	927	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	928	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	929	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	930	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	931	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	932	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	933	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	934	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	935	mtc=true;
yabahiro	31:45f97698857b	936	break;
yabahiro	31:45f97698857b	937	case 3:
yabahiro	31:45f97698857b	938	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	939	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	940	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	941	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	942	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	943	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	944	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	945	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	946	mtc=true;
yabahiro	31:45f97698857b	947	break;
yabahiro	31:45f97698857b	948	case 2:
yabahiro	31:45f97698857b	949	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	950	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	951	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	952	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	953	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	954	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	955	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	956	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	957	mtc=true;
yabahiro	31:45f97698857b	958	break;
yabahiro	31:45f97698857b	959	}
yabahiro	31:45f97698857b	960	if(g[0]!=98&&mtc==true) {
yabahiro	31:45f97698857b	961	switch(g[1]) {
yabahiro	29:c78a46f51209	962	case 0:
yabahiro	31:45f97698857b	963	mtc=false;
yabahiro	29:c78a46f51209	964	break;
yabahiro	29:c78a46f51209	965	case 255:
yabahiro	31:45f97698857b	966	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	967	mtc=false;
yabahiro	29:c78a46f51209	968	break;
yabahiro	29:c78a46f51209	969	case 253:
yabahiro	31:45f97698857b	970	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	971	mtc=false;
yabahiro	29:c78a46f51209	972	break;
yabahiro	29:c78a46f51209	973	case 254:
yabahiro	31:45f97698857b	974	motor[TIRE_BR].pwm += 20;
yabahiro	31:45f97698857b	975	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	976	mtc=false;
yabahiro	29:c78a46f51209	977	break;
yabahiro	29:c78a46f51209	978	case 1:
yabahiro	31:45f97698857b	979	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	980	mtc=false;
yabahiro	29:c78a46f51209	981	break;
yabahiro	29:c78a46f51209	982	case 3:
yabahiro	31:45f97698857b	983	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	984	mtc=false;
yabahiro	29:c78a46f51209	985	break;
yabahiro	29:c78a46f51209	986	case 2:
yabahiro	31:45f97698857b	987	motor[TIRE_BL].pwm += 20;
yabahiro	31:45f97698857b	988	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	989	mtc=false;
yabahiro	29:c78a46f51209	990	break;
yabahiro	29:c78a46f51209	991	}
yabahiro	31:45f97698857b	992	}
yabahiro	31:45f97698857b	993	} else if(mode==31) {
yabahiro	31:45f97698857b	994	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	995	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	996	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	997	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	998	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	999	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1000	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1001	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1002	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	1003	count=0;
yabahiro	31:45f97698857b	1004	mode=32;
yabahiro	31:45f97698857b	1005	}
yabahiro	31:45f97698857b	1006	} else if(mode==32) {
yabahiro	31:45f97698857b	1007	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	1008	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1009	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1010	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1011	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1012	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1013	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1014	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1015	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	1016	count=0;
yabahiro	31:45f97698857b	1017	cross=0;
yabahiro	31:45f97698857b	1018	mode=40;
yabahiro	31:45f97698857b	1019	}
yabahiro	31:45f97698857b	1020	} else if(mode==40) {
yabahiro	31:45f97698857b	1021	switch(g[3]) {
yabahiro	31:45f97698857b	1022	case 98:
yabahiro	31:45f97698857b	1023	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1024	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1025	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1026	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1027	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1028	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1029	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1030	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1031	if(count>30000) {
yabahiro	31:45f97698857b	1032	cross++;
yabahiro	31:45f97698857b	1033	count=0;
yabahiro	31:45f97698857b	1034	}
yabahiro	31:45f97698857b	1035	mtc2=true;
yabahiro	31:45f97698857b	1036	if(cross==1) {
yabahiro	31:45f97698857b	1037	mode=41;
yabahiro	31:45f97698857b	1038	count=0;
yabahiro	31:45f97698857b	1039	cross=0;
kishibekairohan	22:c47f29caded6	1040	}
yabahiro	31:45f97698857b	1041	break;
yabahiro	31:45f97698857b	1042	case 0:
yabahiro	31:45f97698857b	1043	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1044	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1045	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1046	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1047	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1048	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1049	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1050	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1051	mtc2=true;
yabahiro	31:45f97698857b	1052	break;
yabahiro	31:45f97698857b	1053	case 255:
yabahiro	31:45f97698857b	1054	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1055	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1056	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1057	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1058	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1059	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1060	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1061	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1062	mtc2=true;
yabahiro	31:45f97698857b	1063	break;
yabahiro	31:45f97698857b	1064	case 253:
yabahiro	31:45f97698857b	1065	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1066	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1067	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1068	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1069	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1070	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1071	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1072	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1073	mtc2=true;
yabahiro	31:45f97698857b	1074	break;
yabahiro	31:45f97698857b	1075	case 254:
yabahiro	31:45f97698857b	1076	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1077	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1078	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1079	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1080	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1081	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1082	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1083	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1084	mtc2=true;
yabahiro	31:45f97698857b	1085	break;
yabahiro	31:45f97698857b	1086	case 1:
yabahiro	31:45f97698857b	1087	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1088	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1089	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1090	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1091	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1092	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1093	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1094	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1095	mtc2=true;
yabahiro	31:45f97698857b	1096	break;
yabahiro	31:45f97698857b	1097	case 3:
yabahiro	31:45f97698857b	1098	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1099	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1100	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1101	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1102	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1103	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1104	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1105	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1106	mtc2=true;
yabahiro	31:45f97698857b	1107	break;
yabahiro	31:45f97698857b	1108	case 2:
yabahiro	31:45f97698857b	1109	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1110	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1111	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1112	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1113	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1114	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1115	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1116	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1117	mtc2=true;
yabahiro	31:45f97698857b	1118	break;
yabahiro	31:45f97698857b	1119	}
yabahiro	31:45f97698857b	1120	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1121	switch(g[2]) {
yabahiro	29:c78a46f51209	1122	case 0:
yabahiro	31:45f97698857b	1123	mtc2=false;
yabahiro	29:c78a46f51209	1124	break;
yabahiro	29:c78a46f51209	1125	case 255:
yabahiro	31:45f97698857b	1126	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1127	mtc2=false;
yabahiro	29:c78a46f51209	1128	break;
yabahiro	29:c78a46f51209	1129	case 253:
yabahiro	31:45f97698857b	1130	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1131	mtc2=false;
yabahiro	29:c78a46f51209	1132	break;
yabahiro	29:c78a46f51209	1133	case 254:
yabahiro	31:45f97698857b	1134	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	1135	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1136	mtc2=false;
yabahiro	29:c78a46f51209	1137	break;
yabahiro	29:c78a46f51209	1138	case 1:
yabahiro	31:45f97698857b	1139	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1140	mtc2=false;
yabahiro	29:c78a46f51209	1141	break;
yabahiro	29:c78a46f51209	1142	case 3:
yabahiro	31:45f97698857b	1143	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1144	mtc2=false;
yabahiro	29:c78a46f51209	1145	break;
yabahiro	29:c78a46f51209	1146	case 2:
yabahiro	31:45f97698857b	1147	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1148	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1149	mtc2=false;
yabahiro	29:c78a46f51209	1150	break;
yabahiro	29:c78a46f51209	1151	}
yabahiro	31:45f97698857b	1152	}
yabahiro	31:45f97698857b	1153	} else if(mode==41) {
yabahiro	31:45f97698857b	1154	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1155	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1156	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1157	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1158	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1159	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1160	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1161	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1162	if(count>5000&&g[1]==0) {
yabahiro	31:45f97698857b	1163	count=0;
yabahiro	31:45f97698857b	1164	mode=42;
yabahiro	31:45f97698857b	1165	}
yabahiro	31:45f97698857b	1166	} else if(mode==42) {
yabahiro	31:45f97698857b	1167	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	1168	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1169	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1170	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1171	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1172	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1173	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1174	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1175	if(count>5000&&g[1]==0) {
yabahiro	31:45f97698857b	1176	count=0;
yabahiro	31:45f97698857b	1177	mode=50;
yabahiro	31:45f97698857b	1178	}
yabahiro	31:45f97698857b	1179	} else if(mode==50) {
yabahiro	31:45f97698857b	1180	switch(g[1]) {
yabahiro	31:45f97698857b	1181	case 98:
yabahiro	31:45f97698857b	1182	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1183	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1184	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1185	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1186	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1187	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1188	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1189	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1190	if(count>100000) {
yabahiro	31:45f97698857b	1191	cross++;
yabahiro	31:45f97698857b	1192	count=0;
yabahiro	31:45f97698857b	1193	}
yabahiro	31:45f97698857b	1194	mtc=true;
yabahiro	31:45f97698857b	1195	if(cross==1) {
yabahiro	31:45f97698857b	1196	mode=51;
yabahiro	31:45f97698857b	1197	count=0;
yabahiro	29:c78a46f51209	1198	}
yabahiro	31:45f97698857b	1199	break;
yabahiro	31:45f97698857b	1200	case 0:
yabahiro	31:45f97698857b	1201	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1202	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1203	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1204	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1205	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1206	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1207	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1208	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1209	mtc=true;
yabahiro	31:45f97698857b	1210	break;
yabahiro	31:45f97698857b	1211	case 255:
yabahiro	31:45f97698857b	1212	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1213	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1214	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1215	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1216	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1217	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1218	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1219	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1220	mtc=true;
yabahiro	31:45f97698857b	1221	break;
yabahiro	31:45f97698857b	1222	case 253:
yabahiro	31:45f97698857b	1223	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1224	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1225	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1226	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1227	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1228	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1229	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1230	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1231	mtc=true;
yabahiro	31:45f97698857b	1232	break;
yabahiro	31:45f97698857b	1233	case 254:
yabahiro	31:45f97698857b	1234	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1235	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1236	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1237	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1238	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1239	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1240	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1241	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1242	mtc=true;
yabahiro	31:45f97698857b	1243	break;
yabahiro	31:45f97698857b	1244	case 1:
yabahiro	31:45f97698857b	1245	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1246	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1247	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1248	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1249	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1250	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1251	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1252	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1253	mtc=true;
yabahiro	31:45f97698857b	1254	break;
yabahiro	31:45f97698857b	1255	case 3:
yabahiro	31:45f97698857b	1256	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1257	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1258	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1259	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1260	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1261	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1262	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1263	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1264	mtc=true;
yabahiro	31:45f97698857b	1265	break;
yabahiro	31:45f97698857b	1266	case 2:
yabahiro	31:45f97698857b	1267	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1268	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1269	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1270	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1271	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1272	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1273	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1274	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1275	mtc=true;
yabahiro	31:45f97698857b	1276	break;
yabahiro	31:45f97698857b	1277	}
yabahiro	31:45f97698857b	1278	if(g[1]!=98&&mtc==true) {
yabahiro	31:45f97698857b	1279	switch(g[0]) {
yabahiro	29:c78a46f51209	1280	case 0:
yabahiro	31:45f97698857b	1281	mtc=false;
yabahiro	29:c78a46f51209	1282	break;
yabahiro	29:c78a46f51209	1283	case 255:
yabahiro	31:45f97698857b	1284	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1285	mtc=false;
yabahiro	29:c78a46f51209	1286	break;
yabahiro	29:c78a46f51209	1287	case 253:
yabahiro	31:45f97698857b	1288	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1289	mtc=false;
yabahiro	29:c78a46f51209	1290	break;
yabahiro	29:c78a46f51209	1291	case 254:
yabahiro	31:45f97698857b	1292	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1293	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1294	mtc=false;
yabahiro	29:c78a46f51209	1295	break;
yabahiro	29:c78a46f51209	1296	case 1:
yabahiro	31:45f97698857b	1297	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1298	mtc=false;
yabahiro	29:c78a46f51209	1299	break;
yabahiro	29:c78a46f51209	1300	case 3:
yabahiro	31:45f97698857b	1301	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1302	mtc=false;
yabahiro	29:c78a46f51209	1303	break;
yabahiro	29:c78a46f51209	1304	case 2:
yabahiro	31:45f97698857b	1305	motor[TIRE_FR].pwm += 20;
yabahiro	31:45f97698857b	1306	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1307	mtc=false;
yabahiro	29:c78a46f51209	1308	break;
yabahiro	29:c78a46f51209	1309	}
yabahiro	31:45f97698857b	1310	}
yabahiro	31:45f97698857b	1311	} else if(mode==51) {
yabahiro	31:45f97698857b	1312	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1313	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1314	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1315	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1316	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1317	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1318	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1319	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1320	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	1321	count=0;
yabahiro	31:45f97698857b	1322	mode=52;
yabahiro	31:45f97698857b	1323	}
yabahiro	31:45f97698857b	1324	} else if(mode==52) {
yabahiro	31:45f97698857b	1325	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	1326	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1327	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1328	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1329	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1330	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1331	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1332	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1333	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	1334	count=0;
yabahiro	31:45f97698857b	1335	cross=0;
yabahiro	31:45f97698857b	1336	mode=60;
yabahiro	31:45f97698857b	1337	}
yabahiro	31:45f97698857b	1338	} else if(mode==60) {
yabahiro	31:45f97698857b	1339	switch(g[3]) {
yabahiro	31:45f97698857b	1340	case 98:
yabahiro	31:45f97698857b	1341	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1342	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1343	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1344	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1345	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1346	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1347	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1348	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1349	if(count>50000) {
yabahiro	31:45f97698857b	1350	cross++;
yabahiro	31:45f97698857b	1351	count=0;
yabahiro	31:45f97698857b	1352	}
yabahiro	31:45f97698857b	1353	mtc2=true;
yabahiro	31:45f97698857b	1354	if(cross==2) {
yabahiro	31:45f97698857b	1355	mode=61;
yabahiro	31:45f97698857b	1356	count=0;
yabahiro	31:45f97698857b	1357	cross=0;
yabahiro	29:c78a46f51209	1358	}
yabahiro	31:45f97698857b	1359	break;
yabahiro	31:45f97698857b	1360	case 0:
yabahiro	31:45f97698857b	1361	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1362	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1363	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1364	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1365	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1366	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1367	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1368	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1369	mtc2=true;
yabahiro	31:45f97698857b	1370	break;
yabahiro	31:45f97698857b	1371	case 255:
yabahiro	31:45f97698857b	1372	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1373	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1374	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1375	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1376	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1377	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1378	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1379	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1380	mtc2=true;
yabahiro	31:45f97698857b	1381	break;
yabahiro	31:45f97698857b	1382	case 253:
yabahiro	31:45f97698857b	1383	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1384	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1385	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1386	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1387	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1388	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1389	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1390	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1391	mtc2=true;
yabahiro	31:45f97698857b	1392	break;
yabahiro	31:45f97698857b	1393	case 254:
yabahiro	31:45f97698857b	1394	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1395	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1396	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1397	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1398	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1399	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1400	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1401	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1402	mtc2=true;
yabahiro	31:45f97698857b	1403	break;
yabahiro	31:45f97698857b	1404	case 1:
yabahiro	31:45f97698857b	1405	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1406	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1407	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1408	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1409	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1410	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1411	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1412	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1413	mtc2=true;
yabahiro	31:45f97698857b	1414	break;
yabahiro	31:45f97698857b	1415	case 3:
yabahiro	31:45f97698857b	1416	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1417	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1418	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1419	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1420	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1421	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1422	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1423	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1424	mtc2=true;
yabahiro	31:45f97698857b	1425	break;
yabahiro	31:45f97698857b	1426	case 2:
yabahiro	31:45f97698857b	1427	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1428	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1429	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1430	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1431	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1432	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1433	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1434	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1435	mtc2=true;
yabahiro	31:45f97698857b	1436	break;
yabahiro	31:45f97698857b	1437	}
yabahiro	31:45f97698857b	1438	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1439	switch(g[2]) {
yabahiro	29:c78a46f51209	1440	case 0:
yabahiro	31:45f97698857b	1441	mtc2=false;
yabahiro	29:c78a46f51209	1442	break;
yabahiro	29:c78a46f51209	1443	case 255:
yabahiro	31:45f97698857b	1444	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1445	mtc2=false;
yabahiro	29:c78a46f51209	1446	break;
yabahiro	29:c78a46f51209	1447	case 253:
yabahiro	31:45f97698857b	1448	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1449	mtc2=false;
yabahiro	29:c78a46f51209	1450	break;
yabahiro	29:c78a46f51209	1451	case 254:
yabahiro	31:45f97698857b	1452	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	1453	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1454	mtc2=false;
yabahiro	29:c78a46f51209	1455	break;
yabahiro	29:c78a46f51209	1456	case 1:
yabahiro	31:45f97698857b	1457	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1458	mtc2=false;
yabahiro	29:c78a46f51209	1459	break;
yabahiro	29:c78a46f51209	1460	case 3:
yabahiro	31:45f97698857b	1461	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1462	mtc2=false;
yabahiro	29:c78a46f51209	1463	break;
yabahiro	29:c78a46f51209	1464	case 2:
yabahiro	31:45f97698857b	1465	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1466	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1467	mtc2=false;
yabahiro	29:c78a46f51209	1468	break;
yabahiro	29:c78a46f51209	1469	}
yabahiro	31:45f97698857b	1470	}
yabahiro	31:45f97698857b	1471	} else if(mode==61) {
yabahiro	31:45f97698857b	1472	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1473	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1474	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1475	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1476	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1477	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1478	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1479	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1480	if(count>5000&&g[1]==0) {
yabahiro	31:45f97698857b	1481	count=0;
yabahiro	31:45f97698857b	1482	mode=62;
yabahiro	31:45f97698857b	1483	}
yabahiro	31:45f97698857b	1484	} else if(mode==62) {
yabahiro	31:45f97698857b	1485	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	1486	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1487	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1488	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1489	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1490	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1491	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1492	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1493	if(count>5000&&g[1]==0) {
yabahiro	31:45f97698857b	1494	count=0;
yabahiro	31:45f97698857b	1495	mode=70;
yabahiro	31:45f97698857b	1496	}
yabahiro	31:45f97698857b	1497	} else if(mode==70) {
yabahiro	31:45f97698857b	1498	switch(g[1]) {
yabahiro	31:45f97698857b	1499	case 99:
yabahiro	31:45f97698857b	1500	if(count>=100000) {
yabahiro	31:45f97698857b	1501	mode=100;
yabahiro	29:c78a46f51209	1502	}
yabahiro	31:45f97698857b	1503	break;
yabahiro	31:45f97698857b	1504	case 98:
yabahiro	31:45f97698857b	1505	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1506	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1507	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1508	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1509	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1510	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1511	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1512	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1513	break;
yabahiro	31:45f97698857b	1514	case 0:
yabahiro	31:45f97698857b	1515	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1516	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1517	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1518	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1519	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1520	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1521	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1522	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1523	mtc=true;
yabahiro	31:45f97698857b	1524	break;
yabahiro	31:45f97698857b	1525	case 255:
yabahiro	31:45f97698857b	1526	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1527	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1528	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1529	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1530	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1531	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1532	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1533	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1534	mtc=true;
yabahiro	31:45f97698857b	1535	break;
yabahiro	31:45f97698857b	1536	case 253:
yabahiro	31:45f97698857b	1537	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1538	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1539	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1540	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1541	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1542	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1543	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1544	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1545	mtc=true;
yabahiro	31:45f97698857b	1546	break;
yabahiro	31:45f97698857b	1547	case 254:
yabahiro	31:45f97698857b	1548	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1549	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1550	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1551	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1552	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1553	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1554	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1555	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1556	mtc=true;
yabahiro	31:45f97698857b	1557	break;
yabahiro	31:45f97698857b	1558	case 1:
yabahiro	31:45f97698857b	1559	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1560	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1561	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1562	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1563	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1564	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1565	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1566	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1567	mtc=true;
yabahiro	31:45f97698857b	1568	break;
yabahiro	31:45f97698857b	1569	case 3:
yabahiro	31:45f97698857b	1570	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1571	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1572	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1573	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1574	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1575	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1576	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1577	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1578	mtc=true;
yabahiro	31:45f97698857b	1579	break;
yabahiro	31:45f97698857b	1580	case 2:
yabahiro	31:45f97698857b	1581	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1582	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1583	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1584	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1585	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1586	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1587	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1588	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1589	mtc=true;
yabahiro	31:45f97698857b	1590	break;
yabahiro	31:45f97698857b	1591	}
yabahiro	31:45f97698857b	1592	if(g[1]!=98&&mtc==true) {
yabahiro	31:45f97698857b	1593	switch(g[0]) {
yabahiro	29:c78a46f51209	1594	case 0:
yabahiro	31:45f97698857b	1595	mtc=false;
yabahiro	29:c78a46f51209	1596	break;
yabahiro	29:c78a46f51209	1597	case 255:
yabahiro	31:45f97698857b	1598	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1599	mtc=false;
yabahiro	29:c78a46f51209	1600	break;
yabahiro	29:c78a46f51209	1601	case 253:
yabahiro	31:45f97698857b	1602	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1603	mtc=false;
yabahiro	29:c78a46f51209	1604	break;
yabahiro	29:c78a46f51209	1605	case 254:
yabahiro	31:45f97698857b	1606	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	1607	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1608	mtc=false;
yabahiro	29:c78a46f51209	1609	break;
yabahiro	29:c78a46f51209	1610	case 1:
yabahiro	31:45f97698857b	1611	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1612	mtc=false;
yabahiro	29:c78a46f51209	1613	break;
yabahiro	29:c78a46f51209	1614	case 3:
yabahiro	31:45f97698857b	1615	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1616	mtc=false;
yabahiro	29:c78a46f51209	1617	break;
yabahiro	29:c78a46f51209	1618	case 2:
yabahiro	31:45f97698857b	1619	motor[TIRE_FR].pwm += 20;
yabahiro	31:45f97698857b	1620	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1621	mtc=false;
yabahiro	29:c78a46f51209	1622	break;
yabahiro	29:c78a46f51209	1623	}
yabahiro	31:45f97698857b	1624	}
yabahiro	31:45f97698857b	1625	} else if(mode==100) {
yabahiro	31:45f97698857b	1626	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1627	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1628	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1629	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1630	motor[TIRE_BR].pwm = 23;
yabahiro	31:45f97698857b	1631	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1632	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1633	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1634	} else {
yabahiro	31:45f97698857b	1635	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1636	motor[TIRE_FR].dir = BRAKE;
yabahiro	31:45f97698857b	1637	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1638	motor[TIRE_FL].dir = BRAKE;
yabahiro	31:45f97698857b	1639	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1640	motor[TIRE_BR].dir = BRAKE;
yabahiro	31:45f97698857b	1641	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1642	motor[TIRE_BL].dir = BRAKE;
yabahiro	31:45f97698857b	1643	}
yabahiro	31:45f97698857b	1644	}
yabahiro	31:45f97698857b	1645
yabahiro	31:45f97698857b	1646	#endif
yabahiro	31:45f97698857b	1647
yabahiro	31:45f97698857b	1648	#if USE_PROCESS_NUM>3
yabahiro	31:45f97698857b	1649	static void Process3()
yabahiro	31:45f97698857b	1650	{
yabahiro	31:45f97698857b	1651	for(int i=0; i<=3; i++) {
yabahiro	31:45f97698857b	1652	if(i==3) {
yabahiro	31:45f97698857b	1653	POTENTIOMETER::dio[3]=1;
yabahiro	29:c78a46f51209	1654	} else {
yabahiro	31:45f97698857b	1655	POTENTIOMETER::dio[i]=0;
yabahiro	29:c78a46f51209	1656	}
yabahiro	31:45f97698857b	1657	}
yabahiro	31:45f97698857b	1658	if(mode==1) {//スタートゾーンから白線検知
yabahiro	31:45f97698857b	1659	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1660	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1661	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1662	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1663	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1664	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1665	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1666	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1667	if(g[2]==0) {
yabahiro	31:45f97698857b	1668	count=100000;
yabahiro	31:45f97698857b	1669	cross=0;
yabahiro	31:45f97698857b	1670	mode=2;
yabahiro	31:45f97698857b	1671	}
yabahiro	31:45f97698857b	1672	} else if(mode==2) {//横移動
yabahiro	31:45f97698857b	1673	if(g[2]==0) {
yabahiro	31:45f97698857b	1674	count=100000;
yabahiro	31:45f97698857b	1675	cross=0;
yabahiro	31:45f97698857b	1676	mode=3;
yabahiro	31:45f97698857b	1677	mtc2=true;
yabahiro	31:45f97698857b	1678	} else {
yabahiro	29:c78a46f51209	1679	motor[TIRE_FR].pwm = 30;
yabahiro	29:c78a46f51209	1680	motor[TIRE_FR].dir = FOR;
yabahiro	29:c78a46f51209	1681	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1682	motor[TIRE_FL].dir = FOR;
yabahiro	29:c78a46f51209	1683	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1684	motor[TIRE_BR].dir = BACK;
yabahiro	29:c78a46f51209	1685	motor[TIRE_BL].pwm = 30;
yabahiro	29:c78a46f51209	1686	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1687	}
yabahiro	31:45f97698857b	1688	} else if(mode==3) { //横ライントレースから縦ライントレースへ
yabahiro	31:45f97698857b	1689	motor[TIRE_FR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1690	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1691	motor[TIRE_FL].pwm = 20;
kishibekairohan	32:90f018b10ad6	1692	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1693	motor[TIRE_BR].pwm = 20;
kishibekairohan	32:90f018b10ad6	1694	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1695	motor[TIRE_BL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1696	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1697	if(count>100000&&g[0]==0) {
yabahiro	31:45f97698857b	1698	count=0;
yabahiro	31:45f97698857b	1699	mode=10;
yabahiro	31:45f97698857b	1700	}
yabahiro	31:45f97698857b	1701	} else if(mode==4) { //横ライントレースから縦ライントレースへ
yabahiro	31:45f97698857b	1702	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	1703	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1704	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	1705	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1706	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	1707	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1708	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	1709	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1710	if(count>30000&&g[0]==0) {
yabahiro	31:45f97698857b	1711	count=0;
yabahiro	31:45f97698857b	1712	cross=0;
yabahiro	31:45f97698857b	1713	mode=10;
yabahiro	31:45f97698857b	1714	}
kishibekairohan	32:90f018b10ad6	1715	} else if(g[1]!=99&&mode==10) { //縦ライントレース
kishibekairohan	32:90f018b10ad6	1716	switch(g[1]) {
yabahiro	31:45f97698857b	1717	case 98:
yabahiro	31:45f97698857b	1718	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1719	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1720	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1721	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1722	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1723	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1724	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1725	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1726	if(count>100000) {
yabahiro	31:45f97698857b	1727	cross++;
yabahiro	31:45f97698857b	1728	count=0;
yabahiro	31:45f97698857b	1729	}
yabahiro	31:45f97698857b	1730	mtc=true;
yabahiro	31:45f97698857b	1731	if(cross==Twsh) {
yabahiro	31:45f97698857b	1732	mode=11;
yabahiro	31:45f97698857b	1733	count=0;
yabahiro	31:45f97698857b	1734	}
yabahiro	31:45f97698857b	1735	break;
yabahiro	31:45f97698857b	1736	case 0:
yabahiro	31:45f97698857b	1737	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1738	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1739	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1740	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1741	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1742	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1743	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1744	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1745	mtc=true;
yabahiro	31:45f97698857b	1746	break;
yabahiro	31:45f97698857b	1747	case 255:
yabahiro	31:45f97698857b	1748	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1749	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1750	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1751	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1752	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1753	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1754	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1755	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1756	mtc=true;
yabahiro	31:45f97698857b	1757	break;
yabahiro	31:45f97698857b	1758	case 253:
yabahiro	31:45f97698857b	1759	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1760	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1761	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1762	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1763	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1764	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1765	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1766	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1767	mtc=true;
yabahiro	31:45f97698857b	1768	break;
yabahiro	31:45f97698857b	1769	case 254:
yabahiro	31:45f97698857b	1770	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1771	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1772	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1773	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1774	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1775	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1776	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1777	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1778	mtc=true;
yabahiro	31:45f97698857b	1779	break;
yabahiro	31:45f97698857b	1780	case 1:
yabahiro	31:45f97698857b	1781	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1782	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1783	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1784	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1785	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1786	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1787	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1788	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1789	mtc=true;
yabahiro	31:45f97698857b	1790	break;
yabahiro	31:45f97698857b	1791	case 3:
yabahiro	31:45f97698857b	1792	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1793	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1794	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1795	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1796	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1797	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1798	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1799	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1800	mtc=true;
yabahiro	31:45f97698857b	1801	break;
yabahiro	31:45f97698857b	1802	case 2:
yabahiro	31:45f97698857b	1803	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1804	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1805	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1806	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	1807	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1808	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	1809	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1810	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1811	mtc=true;
yabahiro	31:45f97698857b	1812	break;
yabahiro	31:45f97698857b	1813	}
kishibekairohan	32:90f018b10ad6	1814	if(g[1]!=98&&mtc==true) {
kishibekairohan	32:90f018b10ad6	1815	switch(g[0]) {
yabahiro	31:45f97698857b	1816	case 0:
yabahiro	31:45f97698857b	1817	mtc=false;
yabahiro	31:45f97698857b	1818	break;
yabahiro	31:45f97698857b	1819	case 255:
kishibekairohan	32:90f018b10ad6	1820	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1821	mtc=false;
yabahiro	31:45f97698857b	1822	break;
yabahiro	31:45f97698857b	1823	case 253:
kishibekairohan	32:90f018b10ad6	1824	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1825	mtc=false;
yabahiro	31:45f97698857b	1826	break;
yabahiro	31:45f97698857b	1827	case 254:
kishibekairohan	32:90f018b10ad6	1828	motor[TIRE_FL].pwm += 20;
kishibekairohan	32:90f018b10ad6	1829	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1830	mtc=false;
yabahiro	31:45f97698857b	1831	break;
yabahiro	31:45f97698857b	1832	case 1:
kishibekairohan	32:90f018b10ad6	1833	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	1834	mtc=false;
yabahiro	31:45f97698857b	1835	break;
yabahiro	31:45f97698857b	1836	case 3:
kishibekairohan	32:90f018b10ad6	1837	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	1838	mtc=false;
yabahiro	31:45f97698857b	1839	break;
yabahiro	31:45f97698857b	1840	case 2:
kishibekairohan	32:90f018b10ad6	1841	motor[TIRE_FR].pwm += 20;
kishibekairohan	32:90f018b10ad6	1842	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1843	mtc=false;
yabahiro	31:45f97698857b	1844	break;
yabahiro	29:c78a46f51209	1845	}
yabahiro	31:45f97698857b	1846	}
yabahiro	31:45f97698857b	1847	} else if(mode==11) {
yabahiro	31:45f97698857b	1848	motor[TIRE_FR].pwm = 0;
kishibekairohan	32:90f018b10ad6	1849	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1850	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	1851	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1852	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	1853	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1854	motor[TIRE_BL].pwm = 0;
kishibekairohan	32:90f018b10ad6	1855	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1856	if(count>5000&&g[2]==0) {
yabahiro	31:45f97698857b	1857	count=0;
yabahiro	31:45f97698857b	1858	mode=12;
yabahiro	31:45f97698857b	1859	}
yabahiro	31:45f97698857b	1860	} else if(mode==12) {
yabahiro	31:45f97698857b	1861	motor[TIRE_FR].pwm = 15;
kishibekairohan	32:90f018b10ad6	1862	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	1863	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	1864	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1865	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	1866	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1867	motor[TIRE_BL].pwm = 15;
kishibekairohan	32:90f018b10ad6	1868	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	1869	if(count>10000&&g[2]==0) {
yabahiro	31:45f97698857b	1870	count=0;
yabahiro	31:45f97698857b	1871	cross=0;
yabahiro	31:45f97698857b	1872	mode=20;
yabahiro	31:45f97698857b	1873	}
yabahiro	31:45f97698857b	1874	} else if(mode==20) {
yabahiro	31:45f97698857b	1875	switch(g[2]) {
yabahiro	31:45f97698857b	1876	case 98:
kishibekairohan	22:c47f29caded6	1877	motor[TIRE_FR].pwm = 30;
kishibekairohan	22:c47f29caded6	1878	motor[TIRE_FR].dir = FOR;
yabahiro	23:694ecfa97839	1879	motor[TIRE_FL].pwm = 30;
yabahiro	23:694ecfa97839	1880	motor[TIRE_FL].dir = FOR;
yabahiro	23:694ecfa97839	1881	motor[TIRE_BR].pwm = 30;
yabahiro	23:694ecfa97839	1882	motor[TIRE_BR].dir = BACK;
yabahiro	23:694ecfa97839	1883	motor[TIRE_BL].pwm = 30;
yabahiro	29:c78a46f51209	1884	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1885	if(count>70000) {
yabahiro	31:45f97698857b	1886	cross++;
yabahiro	31:45f97698857b	1887	count=0;
yabahiro	31:45f97698857b	1888	}
yabahiro	31:45f97698857b	1889	mtc2=true;
yabahiro	31:45f97698857b	1890	if(cross==3) {
yabahiro	31:45f97698857b	1891	mode=21;
yabahiro	31:45f97698857b	1892	count=0;
yabahiro	31:45f97698857b	1893	cross=0;
yabahiro	31:45f97698857b	1894	}
yabahiro	31:45f97698857b	1895	break;
yabahiro	31:45f97698857b	1896	case 0:
yabahiro	31:45f97698857b	1897	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1898	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1899	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1900	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1901	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1902	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1903	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1904	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1905	mtc2=true;
yabahiro	31:45f97698857b	1906	break;
yabahiro	31:45f97698857b	1907	case 255:
yabahiro	31:45f97698857b	1908	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	1909	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1910	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	1911	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1912	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	1913	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1914	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	1915	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1916	mtc2=true;
yabahiro	31:45f97698857b	1917	break;
yabahiro	31:45f97698857b	1918	case 253:
yabahiro	31:45f97698857b	1919	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1920	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1921	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	1922	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1923	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	1924	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1925	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1926	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1927	mtc2=true;
yabahiro	31:45f97698857b	1928	break;
yabahiro	31:45f97698857b	1929	case 254:
yabahiro	31:45f97698857b	1930	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	1931	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	1932	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	1933	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1934	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	1935	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1936	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	1937	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	1938	mtc2=true;
yabahiro	31:45f97698857b	1939	break;
yabahiro	31:45f97698857b	1940	case 1:
yabahiro	31:45f97698857b	1941	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	1942	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1943	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	1944	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	1945	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	1946	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	1947	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	1948	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1949	mtc2=true;
yabahiro	31:45f97698857b	1950	break;
yabahiro	31:45f97698857b	1951	case 3:
yabahiro	31:45f97698857b	1952	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	1953	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1954	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1955	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1956	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1957	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1958	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	1959	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1960	mtc2=true;
yabahiro	31:45f97698857b	1961	break;
yabahiro	31:45f97698857b	1962	case 2:
yabahiro	31:45f97698857b	1963	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	1964	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	1965	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1966	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	1967	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	1968	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	1969	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	1970	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	1971	mtc2=true;
yabahiro	31:45f97698857b	1972	break;
yabahiro	31:45f97698857b	1973	}
yabahiro	31:45f97698857b	1974	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	1975	switch(g[3]) {
yabahiro	23:694ecfa97839	1976	case 0:
yabahiro	31:45f97698857b	1977	mtc2=false;
yabahiro	23:694ecfa97839	1978	break;
yabahiro	23:694ecfa97839	1979	case 255:
yabahiro	31:45f97698857b	1980	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	1981	mtc2=false;
yabahiro	23:694ecfa97839	1982	break;
yabahiro	23:694ecfa97839	1983	case 253:
yabahiro	31:45f97698857b	1984	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	1985	mtc2=false;
yabahiro	23:694ecfa97839	1986	break;
yabahiro	23:694ecfa97839	1987	case 254:
yabahiro	31:45f97698857b	1988	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	1989	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	1990	mtc2=false;
yabahiro	23:694ecfa97839	1991	break;
yabahiro	23:694ecfa97839	1992	case 1:
yabahiro	31:45f97698857b	1993	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	1994	mtc2=false;
yabahiro	23:694ecfa97839	1995	break;
yabahiro	23:694ecfa97839	1996	case 3:
yabahiro	31:45f97698857b	1997	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	1998	mtc2=false;
yabahiro	23:694ecfa97839	1999	break;
yabahiro	23:694ecfa97839	2000	case 2:
yabahiro	31:45f97698857b	2001	motor[TIRE_FL].pwm += 20;
yabahiro	31:45f97698857b	2002	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2003	mtc2=false;
yabahiro	29:c78a46f51209	2004	break;
yabahiro	29:c78a46f51209	2005	}
yabahiro	31:45f97698857b	2006	}
yabahiro	31:45f97698857b	2007	} else if(mode==21) {
yabahiro	31:45f97698857b	2008	motor[TIRE_FR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2009	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2010	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2011	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2012	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2013	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2014	motor[TIRE_BL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2015	motor[TIRE_BL].dir = BACK;
kishibekairohan	32:90f018b10ad6	2016	if(count>2000&&g[1]==0) {
yabahiro	31:45f97698857b	2017	count=0;
yabahiro	31:45f97698857b	2018	mode=22;
yabahiro	31:45f97698857b	2019	}
yabahiro	31:45f97698857b	2020	} else if(mode==22) {
yabahiro	31:45f97698857b	2021	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	2022	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2023	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	2024	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2025	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	2026	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2027	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	2028	motor[TIRE_BL].dir = FOR;
kishibekairohan	32:90f018b10ad6	2029	if(count>5000&&g[1]==0) {
yabahiro	31:45f97698857b	2030	count=0;
yabahiro	31:45f97698857b	2031	cross=0;
yabahiro	31:45f97698857b	2032	mode=30;
yabahiro	31:45f97698857b	2033	}
yabahiro	31:45f97698857b	2034	} else if(mode==30) {
kishibekairohan	32:90f018b10ad6	2035	switch(g[1]) {
yabahiro	31:45f97698857b	2036	case 98:
yabahiro	31:45f97698857b	2037	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2038	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2039	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2040	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2041	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2042	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2043	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2044	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	2045	if(count>100000) {
yabahiro	31:45f97698857b	2046	cross++;
yabahiro	31:45f97698857b	2047	count=0;
yabahiro	31:45f97698857b	2048	}
yabahiro	31:45f97698857b	2049	mtc=true;
yabahiro	31:45f97698857b	2050	if(cross==1) {
yabahiro	31:45f97698857b	2051	mode=31;
yabahiro	31:45f97698857b	2052	count=0;
yabahiro	29:c78a46f51209	2053	}
yabahiro	31:45f97698857b	2054	break;
yabahiro	31:45f97698857b	2055	case 0:
yabahiro	31:45f97698857b	2056	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2057	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2058	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2059	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2060	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2061	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2062	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2063	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	2064	mtc=true;
yabahiro	31:45f97698857b	2065	break;
yabahiro	31:45f97698857b	2066	case 255:
yabahiro	31:45f97698857b	2067	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2068	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2069	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	2070	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2071	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	2072	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2073	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2074	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	2075	mtc=true;
yabahiro	31:45f97698857b	2076	break;
yabahiro	31:45f97698857b	2077	case 253:
yabahiro	31:45f97698857b	2078	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	2079	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2080	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2081	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2082	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2083	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2084	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	2085	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	2086	mtc=true;
yabahiro	31:45f97698857b	2087	break;
yabahiro	31:45f97698857b	2088	case 254:
yabahiro	31:45f97698857b	2089	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2090	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2091	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2092	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2093	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2094	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2095	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2096	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	2097	mtc=true;
yabahiro	31:45f97698857b	2098	break;
yabahiro	31:45f97698857b	2099	case 1:
yabahiro	31:45f97698857b	2100	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	2101	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2102	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2103	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2104	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2105	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2106	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	2107	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	2108	mtc=true;
yabahiro	31:45f97698857b	2109	break;
yabahiro	31:45f97698857b	2110	case 3:
yabahiro	31:45f97698857b	2111	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2112	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2113	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	2114	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2115	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	2116	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2117	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2118	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2119	mtc=true;
yabahiro	31:45f97698857b	2120	break;
yabahiro	31:45f97698857b	2121	case 2:
yabahiro	31:45f97698857b	2122	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2123	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2124	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2125	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2126	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2127	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2128	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2129	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2130	mtc=true;
yabahiro	31:45f97698857b	2131	break;
yabahiro	31:45f97698857b	2132	}
kishibekairohan	32:90f018b10ad6	2133	if(g[1]!=98&&mtc==true) {
kishibekairohan	32:90f018b10ad6	2134	switch(g[0]) {
yabahiro	29:c78a46f51209	2135	case 0:
yabahiro	31:45f97698857b	2136	mtc=false;
yabahiro	29:c78a46f51209	2137	break;
yabahiro	29:c78a46f51209	2138	case 255:
yabahiro	31:45f97698857b	2139	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	2140	mtc=false;
yabahiro	29:c78a46f51209	2141	break;
yabahiro	29:c78a46f51209	2142	case 253:
yabahiro	31:45f97698857b	2143	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	2144	mtc=false;
yabahiro	29:c78a46f51209	2145	break;
yabahiro	29:c78a46f51209	2146	case 254:
yabahiro	31:45f97698857b	2147	motor[TIRE_BL].pwm += 20;
yabahiro	29:c78a46f51209	2148	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2149	mtc=false;
yabahiro	29:c78a46f51209	2150	break;
yabahiro	29:c78a46f51209	2151	case 1:
yabahiro	31:45f97698857b	2152	motor[TIRE_BR].pwm += 5;
yabahiro	31:45f97698857b	2153	mtc=false;
yabahiro	29:c78a46f51209	2154	break;
yabahiro	29:c78a46f51209	2155	case 3:
yabahiro	31:45f97698857b	2156	motor[TIRE_BR].pwm += 10;
yabahiro	31:45f97698857b	2157	mtc=false;
yabahiro	29:c78a46f51209	2158	break;
yabahiro	29:c78a46f51209	2159	case 2:
yabahiro	31:45f97698857b	2160	motor[TIRE_BR].pwm += 20;
yabahiro	29:c78a46f51209	2161	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2162	mtc=false;
yabahiro	23:694ecfa97839	2163	break;
yabahiro	23:694ecfa97839	2164	}
yabahiro	31:45f97698857b	2165	}
yabahiro	31:45f97698857b	2166	} else if(mode==31) {
yabahiro	31:45f97698857b	2167	motor[TIRE_FR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2168	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2169	motor[TIRE_FL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2170	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2171	motor[TIRE_BR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2172	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2173	motor[TIRE_BL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2174	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2175	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	2176	count=0;
yabahiro	31:45f97698857b	2177	mode=32;
yabahiro	31:45f97698857b	2178	}
yabahiro	31:45f97698857b	2179	} else if(mode==32) {
yabahiro	31:45f97698857b	2180	motor[TIRE_FR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2181	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2182	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2183	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2184	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2185	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2186	motor[TIRE_BL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2187	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2188	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	2189	count=0;
yabahiro	31:45f97698857b	2190	cross=0;
yabahiro	31:45f97698857b	2191	mode=40;
yabahiro	31:45f97698857b	2192	}
yabahiro	31:45f97698857b	2193	} else if(mode==40) {
yabahiro	31:45f97698857b	2194	switch(g[3]) {
yabahiro	31:45f97698857b	2195	case 98:
yabahiro	31:45f97698857b	2196	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2197	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2198	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2199	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2200	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2201	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2202	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2203	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2204	if(count>30000) {
yabahiro	31:45f97698857b	2205	cross++;
yabahiro	31:45f97698857b	2206	count=0;
yabahiro	31:45f97698857b	2207	}
yabahiro	31:45f97698857b	2208	mtc2=true;
yabahiro	31:45f97698857b	2209	if(cross==1) {
yabahiro	31:45f97698857b	2210	mode=41;
yabahiro	31:45f97698857b	2211	count=0;
yabahiro	31:45f97698857b	2212	cross=0;
yabahiro	24:41c23c9a5058	2213	}
yabahiro	31:45f97698857b	2214	break;
yabahiro	31:45f97698857b	2215	case 0:
yabahiro	31:45f97698857b	2216	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2217	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2218	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2219	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2220	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2221	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2222	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2223	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2224	mtc2=true;
yabahiro	31:45f97698857b	2225	break;
yabahiro	31:45f97698857b	2226	case 255:
yabahiro	31:45f97698857b	2227	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	2228	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2229	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2230	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2231	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2232	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2233	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	2234	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2235	mtc2=true;
yabahiro	31:45f97698857b	2236	break;
yabahiro	31:45f97698857b	2237	case 253:
yabahiro	31:45f97698857b	2238	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2239	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2240	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	2241	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2242	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	2243	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2244	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2245	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2246	mtc2=true;
yabahiro	31:45f97698857b	2247	break;
yabahiro	31:45f97698857b	2248	case 254:
yabahiro	31:45f97698857b	2249	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2250	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2251	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2252	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2253	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2254	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2255	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2256	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2257	mtc2=true;
yabahiro	31:45f97698857b	2258	break;
yabahiro	31:45f97698857b	2259	case 1:
yabahiro	31:45f97698857b	2260	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2261	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2262	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	2263	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2264	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	2265	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2266	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2267	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2268	mtc2=true;
yabahiro	31:45f97698857b	2269	break;
yabahiro	31:45f97698857b	2270	case 3:
yabahiro	31:45f97698857b	2271	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	2272	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2273	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2274	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2275	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2276	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2277	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	2278	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2279	mtc2=true;
yabahiro	31:45f97698857b	2280	break;
yabahiro	31:45f97698857b	2281	case 2:
yabahiro	31:45f97698857b	2282	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2283	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2284	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2285	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2286	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2287	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2288	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2289	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2290	mtc2=true;
yabahiro	31:45f97698857b	2291	break;
yabahiro	31:45f97698857b	2292	}
yabahiro	31:45f97698857b	2293	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	2294	switch(g[2]) {
yabahiro	23:694ecfa97839	2295	case 0:
yabahiro	31:45f97698857b	2296	mtc2=false;
yabahiro	23:694ecfa97839	2297	break;
yabahiro	23:694ecfa97839	2298	case 255:
yabahiro	31:45f97698857b	2299	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	2300	mtc2=false;
yabahiro	23:694ecfa97839	2301	break;
yabahiro	23:694ecfa97839	2302	case 253:
yabahiro	31:45f97698857b	2303	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	2304	mtc2=false;
yabahiro	23:694ecfa97839	2305	break;
yabahiro	23:694ecfa97839	2306	case 254:
yabahiro	31:45f97698857b	2307	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	2308	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2309	mtc2=false;
yabahiro	23:694ecfa97839	2310	break;
yabahiro	23:694ecfa97839	2311	case 1:
yabahiro	31:45f97698857b	2312	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	2313	mtc2=false;
yabahiro	23:694ecfa97839	2314	break;
yabahiro	23:694ecfa97839	2315	case 3:
yabahiro	31:45f97698857b	2316	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	2317	mtc2=false;
yabahiro	23:694ecfa97839	2318	break;
yabahiro	23:694ecfa97839	2319	case 2:
yabahiro	31:45f97698857b	2320	motor[TIRE_BL].pwm += 20;
yabahiro	27:545148741493	2321	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2322	mtc2=false;
yabahiro	29:c78a46f51209	2323	break;
yabahiro	29:c78a46f51209	2324	}
yabahiro	31:45f97698857b	2325	}
yabahiro	31:45f97698857b	2326	} else if(mode==41) {
yabahiro	31:45f97698857b	2327	motor[TIRE_FR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2328	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2329	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2330	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2331	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2332	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2333	motor[TIRE_BL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2334	motor[TIRE_BL].dir = FOR;
kishibekairohan	32:90f018b10ad6	2335	if(count>5000&&g[0]==0) {
yabahiro	31:45f97698857b	2336	count=0;
yabahiro	31:45f97698857b	2337	mode=42;
yabahiro	31:45f97698857b	2338	}
yabahiro	31:45f97698857b	2339	} else if(mode==42) {
yabahiro	31:45f97698857b	2340	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	2341	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2342	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	2343	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2344	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	2345	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2346	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	2347	motor[TIRE_BL].dir = BACK;
kishibekairohan	32:90f018b10ad6	2348	if(count>5000&&g[0]==0) {
yabahiro	31:45f97698857b	2349	count=0;
yabahiro	31:45f97698857b	2350	mode=50;
yabahiro	31:45f97698857b	2351	}
yabahiro	31:45f97698857b	2352	} else if(mode==50) {
kishibekairohan	32:90f018b10ad6	2353	switch(g[0]) {
yabahiro	31:45f97698857b	2354	case 98:
yabahiro	31:45f97698857b	2355	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2356	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2357	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2358	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2359	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2360	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2361	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2362	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2363	if(count>100000) {
yabahiro	31:45f97698857b	2364	cross++;
yabahiro	31:45f97698857b	2365	count=0;
yabahiro	31:45f97698857b	2366	}
yabahiro	31:45f97698857b	2367	mtc=true;
yabahiro	31:45f97698857b	2368	if(cross==1) {
yabahiro	31:45f97698857b	2369	mode=51;
yabahiro	31:45f97698857b	2370	count=0;
yabahiro	29:c78a46f51209	2371	}
yabahiro	31:45f97698857b	2372	break;
yabahiro	31:45f97698857b	2373	case 0:
yabahiro	31:45f97698857b	2374	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2375	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2376	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2377	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2378	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2379	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2380	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2381	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2382	mtc=true;
yabahiro	31:45f97698857b	2383	break;
yabahiro	31:45f97698857b	2384	case 255:
yabahiro	31:45f97698857b	2385	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2386	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2387	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	2388	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2389	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	2390	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2391	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2392	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2393	mtc=true;
yabahiro	31:45f97698857b	2394	break;
yabahiro	31:45f97698857b	2395	case 253:
yabahiro	31:45f97698857b	2396	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	2397	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2398	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2399	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2400	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2401	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2402	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	2403	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2404	mtc=true;
yabahiro	31:45f97698857b	2405	break;
yabahiro	31:45f97698857b	2406	case 254:
yabahiro	31:45f97698857b	2407	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2408	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2409	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2410	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2411	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2412	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2413	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2414	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2415	mtc=true;
yabahiro	31:45f97698857b	2416	break;
yabahiro	31:45f97698857b	2417	case 1:
yabahiro	31:45f97698857b	2418	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	2419	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2420	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2421	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2422	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2423	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2424	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	2425	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2426	mtc=true;
yabahiro	31:45f97698857b	2427	break;
yabahiro	31:45f97698857b	2428	case 3:
yabahiro	31:45f97698857b	2429	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2430	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2431	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	2432	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2433	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	2434	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2435	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2436	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2437	mtc=true;
yabahiro	31:45f97698857b	2438	break;
yabahiro	31:45f97698857b	2439	case 2:
yabahiro	31:45f97698857b	2440	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2441	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2442	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2443	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2444	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2445	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2446	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2447	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2448	mtc=true;
yabahiro	31:45f97698857b	2449	break;
yabahiro	31:45f97698857b	2450	}
kishibekairohan	32:90f018b10ad6	2451	if(g[0]!=98&&mtc==true) {
kishibekairohan	32:90f018b10ad6	2452	switch(g[1]) {
yabahiro	29:c78a46f51209	2453	case 0:
yabahiro	31:45f97698857b	2454	mtc=false;
yabahiro	29:c78a46f51209	2455	break;
yabahiro	29:c78a46f51209	2456	case 255:
yabahiro	31:45f97698857b	2457	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	2458	mtc=false;
yabahiro	29:c78a46f51209	2459	break;
yabahiro	29:c78a46f51209	2460	case 253:
yabahiro	31:45f97698857b	2461	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	2462	mtc=false;
yabahiro	29:c78a46f51209	2463	break;
yabahiro	29:c78a46f51209	2464	case 254:
yabahiro	31:45f97698857b	2465	motor[TIRE_FR].pwm += 20;
yabahiro	29:c78a46f51209	2466	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2467	mtc=false;
yabahiro	29:c78a46f51209	2468	break;
yabahiro	29:c78a46f51209	2469	case 1:
yabahiro	31:45f97698857b	2470	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	2471	mtc=false;
yabahiro	29:c78a46f51209	2472	break;
yabahiro	29:c78a46f51209	2473	case 3:
yabahiro	31:45f97698857b	2474	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	2475	mtc=false;
yabahiro	29:c78a46f51209	2476	break;
yabahiro	29:c78a46f51209	2477	case 2:
yabahiro	31:45f97698857b	2478	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	2479	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2480	mtc=false;
yabahiro	23:694ecfa97839	2481	break;
yabahiro	23:694ecfa97839	2482	}
yabahiro	31:45f97698857b	2483	}
yabahiro	31:45f97698857b	2484	} else if(mode==51) {
yabahiro	31:45f97698857b	2485	motor[TIRE_FR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2486	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2487	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2488	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2489	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2490	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2491	motor[TIRE_BL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2492	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2493	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	2494	count=0;
yabahiro	31:45f97698857b	2495	mode=52;
yabahiro	31:45f97698857b	2496	}
yabahiro	31:45f97698857b	2497	} else if(mode==52) {
yabahiro	31:45f97698857b	2498	motor[TIRE_FR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2499	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2500	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2501	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2502	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2503	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2504	motor[TIRE_BL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2505	motor[TIRE_BL].dir = BACK;
yabahiro	31:45f97698857b	2506	if(count>5000&&g[3]==0) {
yabahiro	31:45f97698857b	2507	count=0;
yabahiro	31:45f97698857b	2508	cross=0;
yabahiro	31:45f97698857b	2509	mode=60;
yabahiro	31:45f97698857b	2510	}
yabahiro	31:45f97698857b	2511	} else if(mode==60) {
yabahiro	31:45f97698857b	2512	switch(g[3]) {
yabahiro	31:45f97698857b	2513	case 98:
yabahiro	31:45f97698857b	2514	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2515	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2516	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2517	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2518	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2519	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2520	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2521	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2522	if(count>50000) {
yabahiro	31:45f97698857b	2523	cross++;
yabahiro	31:45f97698857b	2524	count=0;
yabahiro	31:45f97698857b	2525	}
yabahiro	31:45f97698857b	2526	mtc2=true;
yabahiro	31:45f97698857b	2527	if(cross==2) {
yabahiro	31:45f97698857b	2528	mode=61;
yabahiro	31:45f97698857b	2529	count=0;
yabahiro	31:45f97698857b	2530	cross=0;
yabahiro	24:41c23c9a5058	2531	}
yabahiro	31:45f97698857b	2532	break;
yabahiro	31:45f97698857b	2533	case 0:
yabahiro	31:45f97698857b	2534	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2535	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2536	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2537	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2538	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2539	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2540	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2541	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2542	mtc2=true;
yabahiro	31:45f97698857b	2543	break;
yabahiro	31:45f97698857b	2544	case 255:
yabahiro	31:45f97698857b	2545	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	2546	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2547	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2548	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2549	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2550	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2551	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	2552	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2553	mtc2=true;
yabahiro	31:45f97698857b	2554	break;
yabahiro	31:45f97698857b	2555	case 253:
yabahiro	31:45f97698857b	2556	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2557	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2558	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	2559	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2560	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	2561	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2562	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2563	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2564	mtc2=true;
yabahiro	31:45f97698857b	2565	break;
yabahiro	31:45f97698857b	2566	case 254:
yabahiro	31:45f97698857b	2567	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2568	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2569	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2570	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2571	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2572	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2573	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2574	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2575	mtc2=true;
yabahiro	31:45f97698857b	2576	break;
yabahiro	31:45f97698857b	2577	case 1:
yabahiro	31:45f97698857b	2578	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2579	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2580	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	2581	motor[TIRE_FL].dir = BACK;
yabahiro	31:45f97698857b	2582	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	2583	motor[TIRE_BR].dir = FOR;
yabahiro	31:45f97698857b	2584	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2585	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2586	mtc2=true;
yabahiro	31:45f97698857b	2587	break;
yabahiro	31:45f97698857b	2588	case 3:
yabahiro	31:45f97698857b	2589	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	2590	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2591	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2592	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2593	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2594	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2595	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	2596	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2597	mtc2=true;
yabahiro	31:45f97698857b	2598	break;
yabahiro	31:45f97698857b	2599	case 2:
yabahiro	31:45f97698857b	2600	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2601	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2602	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2603	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2604	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2605	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2606	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2607	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2608	mtc2=true;
yabahiro	31:45f97698857b	2609	break;
yabahiro	31:45f97698857b	2610	}
yabahiro	31:45f97698857b	2611	if(g[2]!=98&&mtc2==true) {
yabahiro	31:45f97698857b	2612	switch(g[2]) {
yabahiro	24:41c23c9a5058	2613	case 0:
yabahiro	31:45f97698857b	2614	mtc2=false;
yabahiro	24:41c23c9a5058	2615	break;
yabahiro	24:41c23c9a5058	2616	case 255:
yabahiro	31:45f97698857b	2617	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	2618	mtc2=false;
yabahiro	24:41c23c9a5058	2619	break;
yabahiro	24:41c23c9a5058	2620	case 253:
yabahiro	31:45f97698857b	2621	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	2622	mtc2=false;
yabahiro	24:41c23c9a5058	2623	break;
yabahiro	24:41c23c9a5058	2624	case 254:
yabahiro	31:45f97698857b	2625	motor[TIRE_FL].pwm += 20;
yabahiro	24:41c23c9a5058	2626	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2627	mtc2=false;
yabahiro	24:41c23c9a5058	2628	break;
yabahiro	24:41c23c9a5058	2629	case 1:
yabahiro	31:45f97698857b	2630	motor[TIRE_BL].pwm += 5;
yabahiro	31:45f97698857b	2631	mtc2=false;
yabahiro	24:41c23c9a5058	2632	break;
yabahiro	24:41c23c9a5058	2633	case 3:
yabahiro	31:45f97698857b	2634	motor[TIRE_BL].pwm += 10;
yabahiro	31:45f97698857b	2635	mtc2=false;
yabahiro	24:41c23c9a5058	2636	break;
yabahiro	24:41c23c9a5058	2637	case 2:
yabahiro	31:45f97698857b	2638	motor[TIRE_BL].pwm += 20;
yabahiro	24:41c23c9a5058	2639	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2640	mtc2=false;
yabahiro	24:41c23c9a5058	2641	break;
yabahiro	24:41c23c9a5058	2642	}
yabahiro	31:45f97698857b	2643	}
yabahiro	31:45f97698857b	2644	} else if(mode==61) {
yabahiro	31:45f97698857b	2645	motor[TIRE_FR].pwm = 0;
kishibekairohan	32:90f018b10ad6	2646	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2647	motor[TIRE_FL].pwm = 15;
kishibekairohan	32:90f018b10ad6	2648	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2649	motor[TIRE_BR].pwm = 15;
kishibekairohan	32:90f018b10ad6	2650	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2651	motor[TIRE_BL].pwm = 0;
kishibekairohan	32:90f018b10ad6	2652	motor[TIRE_BL].dir = FOR;
kishibekairohan	32:90f018b10ad6	2653	if(count>5000&&g[0]==0) {
yabahiro	31:45f97698857b	2654	count=0;
yabahiro	31:45f97698857b	2655	mode=62;
yabahiro	31:45f97698857b	2656	}
yabahiro	31:45f97698857b	2657	} else if(mode==62) {
yabahiro	31:45f97698857b	2658	motor[TIRE_FR].pwm = 15;
yabahiro	31:45f97698857b	2659	motor[TIRE_FR].dir = FOR;
yabahiro	31:45f97698857b	2660	motor[TIRE_FL].pwm = 15;
yabahiro	31:45f97698857b	2661	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2662	motor[TIRE_BR].pwm = 15;
yabahiro	31:45f97698857b	2663	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2664	motor[TIRE_BL].pwm = 15;
yabahiro	31:45f97698857b	2665	motor[TIRE_BL].dir = BACK;
kishibekairohan	32:90f018b10ad6	2666	if(count>5000&&g[0]==0) {
yabahiro	31:45f97698857b	2667	count=0;
yabahiro	31:45f97698857b	2668	mode=70;
yabahiro	31:45f97698857b	2669	}
yabahiro	31:45f97698857b	2670	} else if(mode==70) {
kishibekairohan	32:90f018b10ad6	2671	switch(g[0]) {
yabahiro	31:45f97698857b	2672	case 99:
yabahiro	31:45f97698857b	2673	if(count>=100000) {
yabahiro	31:45f97698857b	2674	mode=100;
yabahiro	28:9cd36721cf83	2675	}
yabahiro	31:45f97698857b	2676	break;
yabahiro	31:45f97698857b	2677	case 98:
yabahiro	31:45f97698857b	2678	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2679	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2680	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2681	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2682	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2683	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2684	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2685	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2686	break;
yabahiro	31:45f97698857b	2687	case 0:
yabahiro	31:45f97698857b	2688	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2689	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2690	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2691	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2692	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2693	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2694	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2695	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2696	mtc=true;
yabahiro	31:45f97698857b	2697	break;
yabahiro	31:45f97698857b	2698	case 255:
yabahiro	31:45f97698857b	2699	motor[TIRE_FR].pwm = 60;
yabahiro	31:45f97698857b	2700	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2701	motor[TIRE_FL].pwm = 40;
yabahiro	31:45f97698857b	2702	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2703	motor[TIRE_BR].pwm = 40;
yabahiro	31:45f97698857b	2704	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2705	motor[TIRE_BL].pwm = 60;
yabahiro	31:45f97698857b	2706	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2707	mtc=true;
yabahiro	31:45f97698857b	2708	break;
yabahiro	31:45f97698857b	2709	case 253:
yabahiro	31:45f97698857b	2710	motor[TIRE_FR].pwm = 20;
yabahiro	31:45f97698857b	2711	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2712	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2713	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2714	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2715	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2716	motor[TIRE_BL].pwm = 20;
yabahiro	31:45f97698857b	2717	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2718	mtc=true;
yabahiro	31:45f97698857b	2719	break;
yabahiro	31:45f97698857b	2720	case 254:
yabahiro	31:45f97698857b	2721	motor[TIRE_FR].pwm = 30;
yabahiro	31:45f97698857b	2722	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2723	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2724	motor[TIRE_FL].dir = FREE;
yabahiro	31:45f97698857b	2725	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2726	motor[TIRE_BR].dir = FREE;
yabahiro	31:45f97698857b	2727	motor[TIRE_BL].pwm = 30;
yabahiro	31:45f97698857b	2728	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2729	mtc=true;
yabahiro	31:45f97698857b	2730	break;
yabahiro	31:45f97698857b	2731	case 1:
yabahiro	31:45f97698857b	2732	motor[TIRE_FR].pwm = 40;
yabahiro	31:45f97698857b	2733	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2734	motor[TIRE_FL].pwm = 60;
yabahiro	31:45f97698857b	2735	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2736	motor[TIRE_BR].pwm = 60;
yabahiro	31:45f97698857b	2737	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2738	motor[TIRE_BL].pwm = 40;
yabahiro	31:45f97698857b	2739	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2740	mtc=true;
yabahiro	31:45f97698857b	2741	break;
yabahiro	31:45f97698857b	2742	case 3:
yabahiro	31:45f97698857b	2743	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2744	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2745	motor[TIRE_FL].pwm = 20;
yabahiro	31:45f97698857b	2746	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2747	motor[TIRE_BR].pwm = 20;
yabahiro	31:45f97698857b	2748	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2749	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2750	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2751	mtc=true;
yabahiro	31:45f97698857b	2752	break;
yabahiro	31:45f97698857b	2753	case 2:
yabahiro	31:45f97698857b	2754	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2755	motor[TIRE_FR].dir = FREE;
yabahiro	31:45f97698857b	2756	motor[TIRE_FL].pwm = 30;
yabahiro	31:45f97698857b	2757	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2758	motor[TIRE_BR].pwm = 30;
yabahiro	31:45f97698857b	2759	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2760	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2761	motor[TIRE_BL].dir = FREE;
yabahiro	31:45f97698857b	2762	mtc=true;
yabahiro	31:45f97698857b	2763	break;
yabahiro	31:45f97698857b	2764	}
kishibekairohan	32:90f018b10ad6	2765	if(g[0]!=98&&mtc==true) {
kishibekairohan	32:90f018b10ad6	2766	switch(g[1]) {
yabahiro	24:41c23c9a5058	2767	case 0:
yabahiro	31:45f97698857b	2768	mtc=false;
yabahiro	24:41c23c9a5058	2769	break;
yabahiro	24:41c23c9a5058	2770	case 255:
yabahiro	31:45f97698857b	2771	motor[TIRE_FR].pwm += 5;
yabahiro	31:45f97698857b	2772	mtc=false;
yabahiro	24:41c23c9a5058	2773	break;
yabahiro	24:41c23c9a5058	2774	case 253:
yabahiro	31:45f97698857b	2775	motor[TIRE_FR].pwm += 10;
yabahiro	31:45f97698857b	2776	mtc=false;
yabahiro	24:41c23c9a5058	2777	break;
yabahiro	24:41c23c9a5058	2778	case 254:
yabahiro	31:45f97698857b	2779	motor[TIRE_FR].pwm += 20;
yabahiro	29:c78a46f51209	2780	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2781	mtc=false;
yabahiro	24:41c23c9a5058	2782	break;
yabahiro	24:41c23c9a5058	2783	case 1:
yabahiro	31:45f97698857b	2784	motor[TIRE_FL].pwm += 5;
yabahiro	31:45f97698857b	2785	mtc=false;
yabahiro	24:41c23c9a5058	2786	break;
yabahiro	24:41c23c9a5058	2787	case 3:
yabahiro	31:45f97698857b	2788	motor[TIRE_FL].pwm += 10;
yabahiro	31:45f97698857b	2789	mtc=false;
yabahiro	24:41c23c9a5058	2790	break;
yabahiro	24:41c23c9a5058	2791	case 2:
yabahiro	31:45f97698857b	2792	motor[TIRE_FL].pwm += 20;
yabahiro	29:c78a46f51209	2793	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2794	mtc=false;
yabahiro	24:41c23c9a5058	2795	break;
yabahiro	24:41c23c9a5058	2796	}
yabahiro	24:41c23c9a5058	2797	}
yabahiro	31:45f97698857b	2798	} else if(mode==100) {
yabahiro	31:45f97698857b	2799	motor[TIRE_FR].pwm = 20;
kishibekairohan	32:90f018b10ad6	2800	motor[TIRE_FR].dir = BACK;
yabahiro	31:45f97698857b	2801	motor[TIRE_FL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2802	motor[TIRE_FL].dir = FOR;
yabahiro	31:45f97698857b	2803	motor[TIRE_BR].pwm = 23;
kishibekairohan	32:90f018b10ad6	2804	motor[TIRE_BR].dir = BACK;
yabahiro	31:45f97698857b	2805	motor[TIRE_BL].pwm = 20;
kishibekairohan	32:90f018b10ad6	2806	motor[TIRE_BL].dir = FOR;
yabahiro	31:45f97698857b	2807	} else {
yabahiro	31:45f97698857b	2808	motor[TIRE_FR].pwm = 0;
yabahiro	31:45f97698857b	2809	motor[TIRE_FR].dir = BRAKE;
yabahiro	31:45f97698857b	2810	motor[TIRE_FL].pwm = 0;
yabahiro	31:45f97698857b	2811	motor[TIRE_FL].dir = BRAKE;
yabahiro	31:45f97698857b	2812	motor[TIRE_BR].pwm = 0;
yabahiro	31:45f97698857b	2813	motor[TIRE_BR].dir = BRAKE;
yabahiro	31:45f97698857b	2814	motor[TIRE_BL].pwm = 0;
yabahiro	31:45f97698857b	2815	motor[TIRE_BL].dir = BRAKE;
yabahiro	21:1f1e9c585da8	2816	}
kishibekairohan	13:b6e02d6261d7	2817	}
yabahiro	23:694ecfa97839	2818
kishibekairohan	13:b6e02d6261d7	2819	#endif
kishibekairohan	13:b6e02d6261d7	2820
kishibekairohan	13:b6e02d6261d7	2821	#if USE_PROCESS_NUM>4
yabahiro	21:1f1e9c585da8	2822	static void Process4()
yabahiro	21:1f1e9c585da8	2823	{
kishibekairohan	15:dfcec98f5aa9	2824
kishibekairohan	13:b6e02d6261d7	2825	}
kishibekairohan	13:b6e02d6261d7	2826	#endif
kishibekairohan	13:b6e02d6261d7	2827
kishibekairohan	13:b6e02d6261d7	2828	#if USE_PROCESS_NUM>5
yabahiro	21:1f1e9c585da8	2829	static void Process5()
yabahiro	21:1f1e9c585da8	2830	{
yabahiro	21:1f1e9c585da8	2831
kishibekairohan	13:b6e02d6261d7	2832	}
kishibekairohan	13:b6e02d6261d7	2833	#endif
kishibekairohan	13:b6e02d6261d7	2834
kishibekairohan	13:b6e02d6261d7	2835	#if USE_PROCESS_NUM>6
yabahiro	21:1f1e9c585da8	2836	static void Process6()
kishibekairohan	13:b6e02d6261d7	2837	{
yabahiro	21:1f1e9c585da8	2838
kishibekairohan	13:b6e02d6261d7	2839	}
kishibekairohan	13:b6e02d6261d7	2840	#endif
kishibekairohan	13:b6e02d6261d7	2841
kishibekairohan	13:b6e02d6261d7	2842	#if USE_PROCESS_NUM>7
kishibekairohan	13:b6e02d6261d7	2843	static void Process7()
kishibekairohan	13:b6e02d6261d7	2844	{
yabahiro	21:1f1e9c585da8	2845
kishibekairohan	12:c09b3e08a316	2846	}
kishibekairohan	12:c09b3e08a316	2847	#endif
kishibekairohan	12:c09b3e08a316	2848
yabahiro	21:1f1e9c585da8	2849	#if USE_PROCESS_NUM>8
kishibekairohan	13:b6e02d6261d7	2850	static void Process8()
kishibekairohan	12:c09b3e08a316	2851	{
yabahiro	21:1f1e9c585da8	2852
kishibekairohan	12:c09b3e08a316	2853	}
kishibekairohan	12:c09b3e08a316	2854	#endif
kishibekairohan	12:c09b3e08a316	2855
kishibekairohan	13:b6e02d6261d7	2856	#if USE_PROCESS_NUM>9
kishibekairohan	13:b6e02d6261d7	2857	static void Process9()
kishibekairohan	12:c09b3e08a316	2858	{
yabahiro	21:1f1e9c585da8	2859
t_yamamoto	0:669ef71cba68	2860	}
t_yamamoto	0:669ef71cba68	2861	#endif
t_yamamoto	0:669ef71cba68	2862	#endif
t_yamamoto	0:669ef71cba68	2863	#pragma endregion PROCESS
t_yamamoto	0:669ef71cba68	2864
t_yamamoto	0:669ef71cba68	2865	static void AllActuatorReset()
t_yamamoto	0:669ef71cba68	2866	{
t_yamamoto	0:669ef71cba68	2867
yabahiro	21:1f1e9c585da8	2868	#ifdef USE_SOLENOID
yabahiro	21:1f1e9c585da8	2869	solenoid.all = ALL_SOLENOID_OFF;
yabahiro	21:1f1e9c585da8	2870	#endif
t_yamamoto	0:669ef71cba68	2871
yabahiro	21:1f1e9c585da8	2872	#ifdef USE_MOTOR
yabahiro	21:1f1e9c585da8	2873	for (uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
yabahiro	21:1f1e9c585da8	2874	motor[i].dir = FREE;
yabahiro	21:1f1e9c585da8	2875	motor[i].pwm = 0;
yabahiro	21:1f1e9c585da8	2876	}
yabahiro	21:1f1e9c585da8	2877	#endif
t_yamamoto	0:669ef71cba68	2878	}
t_yamamoto	0:669ef71cba68	2879
yabahiro	21:1f1e9c585da8	2880	/*
yabahiro	21:1f1e9c585da8	2881	void BuzzerTimer_func()
yabahiro	21:1f1e9c585da8	2882	{
kishibekairohan	16:3f2c2d89372b	2883	buzzer = !buzzer;
kishibekairohan	17:50dc4b449e69	2884	//LED_DEBUG0 = !LED_DEBUG0;
kishibekairohan	11:028a150943b5	2885	}
yabahiro	21:1f1e9c585da8	2886	*/
yabahiro	21:1f1e9c585da8	2887	void TapeLedEms_func()
yabahiro	21:1f1e9c585da8	2888	{
kishibekairohan	16:3f2c2d89372b	2889	sendLedData.code = sendLedData.code == (uint32_t)Red ? (uint32_t)Black : (uint32_t)Red;
kishibekairohan	9:f93fc79a49ea	2890	}
kishibekairohan	16:3f2c2d89372b	2891
kishibekairohan	16:3f2c2d89372b	2892	#pragma region USER-DEFINED-FUNCTIONS
kishibekairohan	16:3f2c2d89372b	2893
kishibekairohan	16:3f2c2d89372b	2894
t_yamamoto	0:669ef71cba68	2895	#pragma endregion

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Sep 2019
Imports:	1
Forks:	0
Commits:	36
Dependents:	0
Dependencies:	3
Followers:	0

System/Process/Process.cpp@32:90f018b10ad6, 2019-09-21 (annotated)

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