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大季矢花 / Mbed 2 deprecated MainBoard2019_Master_9_25_last

Dependencies: mbed TrapezoidControl QEI

System/Process/Process.cpp@31:45f97698857b, 2019-09-21 (annotated)

Committer:: yabahiro
Date:: Sat Sep 21 04:28:31 2019 +0000
Revision:: 31:45f97698857b
Parent:: 30:9450dc1d53cc
Child:: 32:90f018b10ad6

aa;

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

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	25 Sep 2019
Imports:	1
Forks:	0
Commits:	38
Dependents:	0
Dependencies:	3
Followers:	1

System/Process/Process.cpp@31:45f97698857b, 2019-09-21 (annotated)

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