CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

ジャパンオープン用のメインプログラム

Dependencies:   mbed AQM1602 HMC6352 PID

main_processing/strategy/LineProcess.cpp@28:f246a5fbf6a5, 2016-03-22 (annotated)

Committer:
lilac0112_1
Date:
Tue Mar 22 03:58:38 2016 +0000
Revision:
28:f246a5fbf6a5
Parent:
27:825c6835e3db
Child:
29:e8bafe48aa90
LineSeries2 has been released

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lilac0112_1 25:a7460e23e02e 1 #include "mbed.h"
lilac0112_1 25:a7460e23e02e 2 #include "extern.h"
lilac0112_1 25:a7460e23e02e 3
lilac0112_1 25:a7460e23e02e 4 void LineJudgeSlow(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 25:a7460e23e02e 5 uint8_t LineState;
lilac0112_1 25:a7460e23e02e 6 uint8_t LineSum;
lilac0112_1 25:a7460e23e02e 7
lilac0112_1 25:a7460e23e02e 8 //line
lilac0112_1 25:a7460e23e02e 9 LineState = 0;
lilac0112_1 25:a7460e23e02e 10
lilac0112_1 25:a7460e23e02e 11 LineSum = ((data.lnHold>>2)&0x1)+((data.lnHold>>1)&0x1)+((data.lnHold>>0)&0x1);
lilac0112_1 25:a7460e23e02e 12 if((LineSum==3)||(data.FieldSpot==LINE_OUTSIDE)){
lilac0112_1 25:a7460e23e02e 13 LineState = 3;
lilac0112_1 25:a7460e23e02e 14 }
lilac0112_1 25:a7460e23e02e 15 else if(LineSum==2){
lilac0112_1 25:a7460e23e02e 16 LineState = 2;
lilac0112_1 25:a7460e23e02e 17 }
lilac0112_1 25:a7460e23e02e 18 else if(LineSum==1){
lilac0112_1 25:a7460e23e02e 19 LineState = 1;
lilac0112_1 25:a7460e23e02e 20 }
lilac0112_1 25:a7460e23e02e 21 else if(LineSum==0){
lilac0112_1 25:a7460e23e02e 22 LineState = 0;
lilac0112_1 25:a7460e23e02e 23 }
lilac0112_1 25:a7460e23e02e 24
lilac0112_1 25:a7460e23e02e 25
lilac0112_1 25:a7460e23e02e 26 if(pow_x>=0){
lilac0112_1 25:a7460e23e02e 27 if(data.ping[R_PING]<WhiteToWall[X_PING]) (*x)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 28 else *x=1;
lilac0112_1 25:a7460e23e02e 29 }
lilac0112_1 25:a7460e23e02e 30 else{
lilac0112_1 25:a7460e23e02e 31 if(data.ping[L_PING]<WhiteToWall[X_PING]) (*x)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 32 else *x=1;
lilac0112_1 25:a7460e23e02e 33 }
lilac0112_1 25:a7460e23e02e 34
lilac0112_1 25:a7460e23e02e 35 if(pow_y>=0){
lilac0112_1 25:a7460e23e02e 36 if(data.ping[F_PING]<WhiteToWall[Y_PING]) (*y)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 37 else *y=1;
lilac0112_1 25:a7460e23e02e 38 }
lilac0112_1 25:a7460e23e02e 39 else{
lilac0112_1 25:a7460e23e02e 40 if(data.ping[B_PING]<WhiteToWall[Y_PING]) (*y)=LineDecline[LineState];
lilac0112_1 25:a7460e23e02e 41 else *y=1;
lilac0112_1 25:a7460e23e02e 42 }
lilac0112_1 25:a7460e23e02e 43 }
lilac0112_1 27:825c6835e3db 44 void LineJudgeSlow2(double pow_x, double pow_y, double *x, double *y, uint8_t *px, uint8_t *py){
lilac0112_1 27:825c6835e3db 45 uint8_t LineState;
lilac0112_1 27:825c6835e3db 46 uint8_t LineSum;
lilac0112_1 27:825c6835e3db 47
lilac0112_1 27:825c6835e3db 48 //line
lilac0112_1 27:825c6835e3db 49 LineState = 0;
lilac0112_1 27:825c6835e3db 50
lilac0112_1 27:825c6835e3db 51 LineSum = (data.lnRawOrder[0]!=LINE_EMPTY)+(data.lnRawOrder[1]!=LINE_EMPTY)+(data.lnRawOrder[2]!=LINE_EMPTY);
lilac0112_1 27:825c6835e3db 52 if(LineSum==3){
lilac0112_1 27:825c6835e3db 53 LineState = 3;
lilac0112_1 27:825c6835e3db 54 }
lilac0112_1 27:825c6835e3db 55 else if(LineSum==2){
lilac0112_1 27:825c6835e3db 56 LineState = 2;
lilac0112_1 27:825c6835e3db 57 }
lilac0112_1 27:825c6835e3db 58 else if(LineSum==1){
lilac0112_1 27:825c6835e3db 59 LineState = 1;
lilac0112_1 27:825c6835e3db 60 }
lilac0112_1 27:825c6835e3db 61 else if(LineSum==0){
lilac0112_1 27:825c6835e3db 62 LineState = 0;
lilac0112_1 27:825c6835e3db 63 }
lilac0112_1 27:825c6835e3db 64
lilac0112_1 27:825c6835e3db 65 if(LineSum>0){
lilac0112_1 27:825c6835e3db 66 if(pow_x>=0){
lilac0112_1 27:825c6835e3db 67 if((data.ping[R_PING]<WhiteToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 68 }
lilac0112_1 27:825c6835e3db 69 else{
lilac0112_1 27:825c6835e3db 70 if((data.ping[L_PING]<WhiteToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 71 }
lilac0112_1 27:825c6835e3db 72
lilac0112_1 27:825c6835e3db 73 if(pow_y>=0){
lilac0112_1 27:825c6835e3db 74 if((data.ping[F_PING]<WhiteToWall[Y_PING])&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 75 }
lilac0112_1 27:825c6835e3db 76 else{
lilac0112_1 27:825c6835e3db 77 if((data.ping[B_PING]<WhiteToWall[Y_PING])&&((*py)>LineDecrease[LineState])) (*py)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 78 }
lilac0112_1 27:825c6835e3db 79 }
lilac0112_1 27:825c6835e3db 80 else if(LineSum==0){
lilac0112_1 27:825c6835e3db 81 if(pow_x>=0){
lilac0112_1 27:825c6835e3db 82 if((data.ping[R_PING]<GoalEdgeToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 83 }
lilac0112_1 27:825c6835e3db 84 else{
lilac0112_1 27:825c6835e3db 85 if((data.ping[L_PING]<GoalEdgeToWall[X_PING])&&((*px)>LineDecrease[LineState])) (*px)=LineDecrease[LineState];
lilac0112_1 27:825c6835e3db 86 }
lilac0112_1 27:825c6835e3db 87 }
lilac0112_1 27:825c6835e3db 88
lilac0112_1 27:825c6835e3db 89 *x=1;
lilac0112_1 27:825c6835e3db 90 *y=1;
lilac0112_1 27:825c6835e3db 91 }
lilac0112_1 25:a7460e23e02e 92 void LineJudgeReturn(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 25:a7460e23e02e 93 const int8_t static LineReturn[5] = {0, 0, 0, 0, 20};
lilac0112_1 25:a7460e23e02e 94 uint8_t LinePingState[4];
lilac0112_1 25:a7460e23e02e 95 //◎ボールを追う力とラインから離れる力の向きが違うならばラインから離れる力が優先される．
lilac0112_1 25:a7460e23e02e 96 //◎ボールを追う力とラインから離れる力の向きが同じならばボールを追う力が優先される．
lilac0112_1 25:a7460e23e02e 97 //◎ラインセンサ全てが場外になるまではボールを追う力は作用しない．ボールを追う力は場内に出るまで作用する．
lilac0112_1 25:a7460e23e02e 98 //×ラインのほぼ場外では常時ラインから離れる力が優先される．
lilac0112_1 25:a7460e23e02e 99 //※場外判定を行うには再び場内に戻る必要がある．
lilac0112_1 25:a7460e23e02e 100
lilac0112_1 25:a7460e23e02e 101 if(data.FieldSpot==LINE_OUTSIDE){
lilac0112_1 25:a7460e23e02e 102
lilac0112_1 25:a7460e23e02e 103 LinePingState[L_PING]=(data.ping[L_PING]<WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 104 LinePingState[R_PING]=(data.ping[R_PING]<WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 105 LinePingState[F_PING]=(data.ping[F_PING]<WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 106 LinePingState[B_PING]=(data.ping[B_PING]<WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 107
lilac0112_1 25:a7460e23e02e 108 //line間際の復帰力以外の力を作用させるか否か
lilac0112_1 25:a7460e23e02e 109 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 110 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 111
lilac0112_1 25:a7460e23e02e 112 data.ReturnDir[X_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 113 data.ReturnDir[Y_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 114
lilac0112_1 25:a7460e23e02e 115 //x
lilac0112_1 25:a7460e23e02e 116 if(data.ReturnDir[X_LINE]==L_LINE){
lilac0112_1 25:a7460e23e02e 117 if(pow_x<0){
lilac0112_1 25:a7460e23e02e 118 *x = 0;
lilac0112_1 25:a7460e23e02e 119 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 120 }
lilac0112_1 25:a7460e23e02e 121 else{
lilac0112_1 25:a7460e23e02e 122 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 123 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 124 }
lilac0112_1 25:a7460e23e02e 125 }
lilac0112_1 25:a7460e23e02e 126 else if(data.ReturnDir[X_LINE]==R_LINE){
lilac0112_1 25:a7460e23e02e 127 if(pow_x>0){
lilac0112_1 25:a7460e23e02e 128 *x = 0;
lilac0112_1 25:a7460e23e02e 129 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 130 }
lilac0112_1 25:a7460e23e02e 131 else{
lilac0112_1 25:a7460e23e02e 132 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 133 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 134 }
lilac0112_1 25:a7460e23e02e 135 }
lilac0112_1 25:a7460e23e02e 136 else if(data.ReturnDir[X_LINE]==LINE_EMPTY){
lilac0112_1 25:a7460e23e02e 137 if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==0)){
lilac0112_1 25:a7460e23e02e 138 /*if(pow_x>0){
lilac0112_1 25:a7460e23e02e 139 *x = -pow_x*(1-0.75);
lilac0112_1 25:a7460e23e02e 140 }
lilac0112_1 25:a7460e23e02e 141 else{
lilac0112_1 25:a7460e23e02e 142 *x = pow_x*(1-0.75);
lilac0112_1 25:a7460e23e02e 143 }*/
lilac0112_1 25:a7460e23e02e 144 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 145 }
lilac0112_1 25:a7460e23e02e 146 if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
lilac0112_1 25:a7460e23e02e 147
lilac0112_1 25:a7460e23e02e 148 data.ReturnDir[X_LINE]=L_LINE;
lilac0112_1 25:a7460e23e02e 149
lilac0112_1 25:a7460e23e02e 150 /*if(pow_x<0){
lilac0112_1 25:a7460e23e02e 151 *x = 0;
lilac0112_1 25:a7460e23e02e 152 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 153 }
lilac0112_1 25:a7460e23e02e 154 else{
lilac0112_1 25:a7460e23e02e 155 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 156 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 157 }*/
lilac0112_1 25:a7460e23e02e 158 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 159 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 160 }
lilac0112_1 25:a7460e23e02e 161 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
lilac0112_1 25:a7460e23e02e 162
lilac0112_1 25:a7460e23e02e 163 data.ReturnDir[X_LINE]=R_LINE;
lilac0112_1 25:a7460e23e02e 164
lilac0112_1 25:a7460e23e02e 165 /*if(pow_x>0){
lilac0112_1 25:a7460e23e02e 166 *x = 0;
lilac0112_1 25:a7460e23e02e 167 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 168 }
lilac0112_1 25:a7460e23e02e 169 else{
lilac0112_1 25:a7460e23e02e 170 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 171 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 172 }*/
lilac0112_1 25:a7460e23e02e 173 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 174 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 175 }
lilac0112_1 25:a7460e23e02e 176 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)){
lilac0112_1 25:a7460e23e02e 177
lilac0112_1 25:a7460e23e02e 178 if(
lilac0112_1 25:a7460e23e02e 179 (data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT)&&(data.lnOrder[2]==B_SPOT)
lilac0112_1 25:a7460e23e02e 180 ){
lilac0112_1 25:a7460e23e02e 181 *x = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 182 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 183 }
lilac0112_1 25:a7460e23e02e 184 else if(
lilac0112_1 25:a7460e23e02e 185 (data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT)&&(data.lnOrder[2]==A_SPOT)
lilac0112_1 25:a7460e23e02e 186 ){
lilac0112_1 25:a7460e23e02e 187 *x = LineReturn[4];
lilac0112_1 25:a7460e23e02e 188 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 189 }
lilac0112_1 25:a7460e23e02e 190 else{
lilac0112_1 25:a7460e23e02e 191 *x = 0;
lilac0112_1 25:a7460e23e02e 192 data.lnStop[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 193 }
lilac0112_1 25:a7460e23e02e 194 }
lilac0112_1 25:a7460e23e02e 195 }
lilac0112_1 25:a7460e23e02e 196 //y
lilac0112_1 25:a7460e23e02e 197 if(data.ReturnDir[Y_LINE]==F_LINE){
lilac0112_1 25:a7460e23e02e 198 if(pow_y>0){
lilac0112_1 25:a7460e23e02e 199 *y = 0;
lilac0112_1 25:a7460e23e02e 200 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 201 }
lilac0112_1 25:a7460e23e02e 202 else{
lilac0112_1 25:a7460e23e02e 203 *y = LineReturn[4];
lilac0112_1 25:a7460e23e02e 204 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 205 }
lilac0112_1 25:a7460e23e02e 206 }
lilac0112_1 25:a7460e23e02e 207 else if(data.ReturnDir[Y_LINE]==B_LINE){
lilac0112_1 25:a7460e23e02e 208 if(pow_y<0){
lilac0112_1 25:a7460e23e02e 209 *y = 0;
lilac0112_1 25:a7460e23e02e 210 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 211 }
lilac0112_1 25:a7460e23e02e 212 else{
lilac0112_1 25:a7460e23e02e 213 *y = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 214 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 215 }
lilac0112_1 25:a7460e23e02e 216 }
lilac0112_1 25:a7460e23e02e 217 else if(data.ReturnDir[Y_LINE]==LINE_EMPTY){
lilac0112_1 25:a7460e23e02e 218 if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==0)){
lilac0112_1 25:a7460e23e02e 219 /*if(pow_y>0){
lilac0112_1 25:a7460e23e02e 220 *y = -pow_y*(1-0.75);
lilac0112_1 25:a7460e23e02e 221 }
lilac0112_1 25:a7460e23e02e 222 else{
lilac0112_1 25:a7460e23e02e 223 *y = pow_y*(1-0.75);
lilac0112_1 25:a7460e23e02e 224 }*/
lilac0112_1 25:a7460e23e02e 225 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 226 }
lilac0112_1 25:a7460e23e02e 227 if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==1)){
lilac0112_1 25:a7460e23e02e 228
lilac0112_1 25:a7460e23e02e 229 data.ReturnDir[Y_LINE]=B_LINE;
lilac0112_1 25:a7460e23e02e 230
lilac0112_1 25:a7460e23e02e 231 if(pow_y<0){
lilac0112_1 25:a7460e23e02e 232 *y = 0;
lilac0112_1 25:a7460e23e02e 233 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 234 }
lilac0112_1 25:a7460e23e02e 235 else{
lilac0112_1 25:a7460e23e02e 236 *y = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 237 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 238 }
lilac0112_1 25:a7460e23e02e 239 }
lilac0112_1 25:a7460e23e02e 240 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
lilac0112_1 25:a7460e23e02e 241
lilac0112_1 25:a7460e23e02e 242 data.ReturnDir[Y_LINE]=F_LINE;
lilac0112_1 25:a7460e23e02e 243
lilac0112_1 25:a7460e23e02e 244 if(pow_y>0){
lilac0112_1 25:a7460e23e02e 245 *y = 0;
lilac0112_1 25:a7460e23e02e 246 data.lnStop[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 247 }
lilac0112_1 25:a7460e23e02e 248 else{
lilac0112_1 25:a7460e23e02e 249 *y = LineReturn[4];
lilac0112_1 25:a7460e23e02e 250 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 251 }
lilac0112_1 25:a7460e23e02e 252 }
lilac0112_1 25:a7460e23e02e 253 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==1)){
lilac0112_1 25:a7460e23e02e 254 if(
lilac0112_1 25:a7460e23e02e 255 (data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT)&&(data.lnOrder[2]==B_SPOT)||
lilac0112_1 25:a7460e23e02e 256 (data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT)&&(data.lnOrder[2]==A_SPOT)
lilac0112_1 25:a7460e23e02e 257 ){
lilac0112_1 25:a7460e23e02e 258 *y = LineReturn[4];
lilac0112_1 25:a7460e23e02e 259 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 260 }
lilac0112_1 25:a7460e23e02e 261 else if(
lilac0112_1 25:a7460e23e02e 262 (data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT)&&(data.lnOrder[2]==C_SPOT)||
lilac0112_1 25:a7460e23e02e 263 (data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT)&&(data.lnOrder[2]==C_SPOT)
lilac0112_1 25:a7460e23e02e 264 ){
lilac0112_1 25:a7460e23e02e 265 *y = -LineReturn[4];
lilac0112_1 25:a7460e23e02e 266 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 267 }
lilac0112_1 25:a7460e23e02e 268 else{
lilac0112_1 25:a7460e23e02e 269 *y = 0;
lilac0112_1 25:a7460e23e02e 270 data.lnStop[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 271 }
lilac0112_1 25:a7460e23e02e 272 }
lilac0112_1 25:a7460e23e02e 273 }
lilac0112_1 25:a7460e23e02e 274 //none
lilac0112_1 25:a7460e23e02e 275 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)&&(LinePingState[F_PING]==1)&&(LinePingState[B_PING]==1)){
lilac0112_1 25:a7460e23e02e 276 //turn!
lilac0112_1 25:a7460e23e02e 277 }
lilac0112_1 25:a7460e23e02e 278
lilac0112_1 25:a7460e23e02e 279 }
lilac0112_1 25:a7460e23e02e 280 else{//data.FieldSpot==LINE_INSIDE
lilac0112_1 25:a7460e23e02e 281
lilac0112_1 25:a7460e23e02e 282 data.ReturnDir[X_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 283 data.ReturnDir[Y_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 284
lilac0112_1 25:a7460e23e02e 285 *x = 0;
lilac0112_1 25:a7460e23e02e 286 *y = 0;
lilac0112_1 25:a7460e23e02e 287
lilac0112_1 25:a7460e23e02e 288 //line間際の復帰力以外の力を作用させるか否か
lilac0112_1 25:a7460e23e02e 289 data.lnStop[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 290 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 291 /*
lilac0112_1 27:825c6835e3db 292 if(
lilac0112_1 27:825c6835e3db 293 (data.lnRawMemory[A_SPOT]==1)&&
lilac0112_1 27:825c6835e3db 294 (data.lnRawMemory[B_SPOT]==1)&&
lilac0112_1 27:825c6835e3db 295 (data.lnRawMemory[C_SPOT]==0)
lilac0112_1 27:825c6835e3db 296 ){
lilac0112_1 27:825c6835e3db 297 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 298 *y = -LineReturn[4];
lilac0112_1 27:825c6835e3db 299 }
lilac0112_1 27:825c6835e3db 300 else if(
lilac0112_1 27:825c6835e3db 301 (data.lnRawMemory[A_SPOT]==0)&&
lilac0112_1 27:825c6835e3db 302 (data.lnRawMemory[B_SPOT]==0)&&
lilac0112_1 27:825c6835e3db 303 (data.lnRawMemory[C_SPOT]==1)
lilac0112_1 27:825c6835e3db 304 ){
lilac0112_1 27:825c6835e3db 305 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 306 *y = LineReturn[4];
lilac0112_1 27:825c6835e3db 307 }*/
lilac0112_1 27:825c6835e3db 308 }
lilac0112_1 27:825c6835e3db 309 }
lilac0112_1 27:825c6835e3db 310 void LineJudgeReturn2(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 27:825c6835e3db 311 const int8_t static LineReturn[5] = {0, 0, 0, 0, 20};
lilac0112_1 27:825c6835e3db 312 uint8_t LinePingState[4];
lilac0112_1 27:825c6835e3db 313 //◎ボールを追う力とラインから離れる力の向きが違うならばラインから離れる力が優先される．
lilac0112_1 27:825c6835e3db 314 //◎ボールを追う力とラインから離れる力の向きが同じならばボールを追う力が優先される．
lilac0112_1 27:825c6835e3db 315 //◎ラインセンサ全てが場外になるまではボールを追う力は作用しない．ボールを追う力は場内に出るまで作用する．
lilac0112_1 27:825c6835e3db 316 //×ラインのほぼ場外では常時ラインから離れる力が優先される．
lilac0112_1 27:825c6835e3db 317 //※場外判定を行うには再び場内に戻る必要がある．
lilac0112_1 27:825c6835e3db 318
lilac0112_1 27:825c6835e3db 319 data.FieldSpot=LINE_INSIDE;
lilac0112_1 27:825c6835e3db 320
lilac0112_1 27:825c6835e3db 321 if(data.FieldSpot==LINE_OUTSIDE){
lilac0112_1 27:825c6835e3db 322 }
lilac0112_1 27:825c6835e3db 323 else{//data.FieldSpot==LINE_INSIDE
lilac0112_1 27:825c6835e3db 324
lilac0112_1 27:825c6835e3db 325 data.ReturnDir[X_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 326 data.ReturnDir[Y_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 327
lilac0112_1 27:825c6835e3db 328 *x = 0;
lilac0112_1 27:825c6835e3db 329 *y = 0;
lilac0112_1 27:825c6835e3db 330
lilac0112_1 27:825c6835e3db 331 //line間際の復帰力以外の力を作用させるか否か
lilac0112_1 27:825c6835e3db 332 data.lnStop[X_LINE]=1;
lilac0112_1 27:825c6835e3db 333 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 334
lilac0112_1 27:825c6835e3db 335 if(//y
lilac0112_1 27:825c6835e3db 336 ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==B_SPOT)&&(1))||
lilac0112_1 27:825c6835e3db 337 ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==A_SPOT)&&(1))
lilac0112_1 27:825c6835e3db 338 ){
lilac0112_1 27:825c6835e3db 339 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 340 *y = -LineReturn[4];
lilac0112_1 27:825c6835e3db 341 }
lilac0112_1 27:825c6835e3db 342 else if(
lilac0112_1 27:825c6835e3db 343 ((data.lnRawOrder[0]==C_SPOT)&&(1)&&(1))
lilac0112_1 27:825c6835e3db 344 ){
lilac0112_1 27:825c6835e3db 345 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 346 *y = LineReturn[4];
lilac0112_1 27:825c6835e3db 347 }
lilac0112_1 27:825c6835e3db 348 else if(//x
lilac0112_1 27:825c6835e3db 349 ((data.lnRawOrder[0]==A_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
lilac0112_1 27:825c6835e3db 350 ){
lilac0112_1 27:825c6835e3db 351 *x = -LineReturn[4];
lilac0112_1 27:825c6835e3db 352 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 353 }
lilac0112_1 27:825c6835e3db 354 else if(
lilac0112_1 27:825c6835e3db 355 ((data.lnRawOrder[0]==B_SPOT)&&(data.lnRawOrder[1]==C_SPOT)&&(1))
lilac0112_1 27:825c6835e3db 356 ){
lilac0112_1 27:825c6835e3db 357 *x = LineReturn[4];
lilac0112_1 27:825c6835e3db 358 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 359 }
lilac0112_1 27:825c6835e3db 360
lilac0112_1 27:825c6835e3db 361 if(
lilac0112_1 27:825c6835e3db 362 ((*x)!=0)||
lilac0112_1 27:825c6835e3db 363 ((*y)!=0)
lilac0112_1 27:825c6835e3db 364 ){
lilac0112_1 27:825c6835e3db 365
lilac0112_1 27:825c6835e3db 366 data.lnRawReturn=1;
lilac0112_1 27:825c6835e3db 367
lilac0112_1 27:825c6835e3db 368 LinePingState[L_PING]=(data.ping[L_PING]<WhiteToWallPlus[X_PING]);
lilac0112_1 27:825c6835e3db 369 LinePingState[R_PING]=(data.ping[R_PING]<WhiteToWallPlus[X_PING]);
lilac0112_1 27:825c6835e3db 370 LinePingState[F_PING]=(data.ping[F_PING]<WhiteToWallPlus[Y_PING]);
lilac0112_1 27:825c6835e3db 371 LinePingState[B_PING]=(data.ping[B_PING]<WhiteToWallPlus[Y_PING]);
lilac0112_1 27:825c6835e3db 372 //x
lilac0112_1 27:825c6835e3db 373 if(data.lnStop[X_LINE]==1){
lilac0112_1 27:825c6835e3db 374 if((LinePingState[L_PING]==0)&&(LinePingState[R_PING]==1)){
lilac0112_1 27:825c6835e3db 375 *x = -LineReturn[4];
lilac0112_1 27:825c6835e3db 376 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 377 }
lilac0112_1 27:825c6835e3db 378 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==0)){
lilac0112_1 27:825c6835e3db 379 *x = LineReturn[4];
lilac0112_1 27:825c6835e3db 380 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 381 }
lilac0112_1 27:825c6835e3db 382 if((LinePingState[L_PING]==1)&&(LinePingState[R_PING]==1)){
lilac0112_1 27:825c6835e3db 383 *x = 0;
lilac0112_1 27:825c6835e3db 384 data.lnStop[X_LINE]=0;
lilac0112_1 27:825c6835e3db 385 }
lilac0112_1 27:825c6835e3db 386 }
lilac0112_1 27:825c6835e3db 387 //y
lilac0112_1 27:825c6835e3db 388 if(data.lnStop[Y_LINE]==1){
lilac0112_1 27:825c6835e3db 389 if((LinePingState[B_PING]==0)&&(LinePingState[F_PING]==1)){
lilac0112_1 27:825c6835e3db 390 if(pow_y<0){
lilac0112_1 27:825c6835e3db 391 *y = 0;
lilac0112_1 27:825c6835e3db 392 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 393 }
lilac0112_1 27:825c6835e3db 394 else{
lilac0112_1 27:825c6835e3db 395 *y = -LineReturn[4];
lilac0112_1 27:825c6835e3db 396 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 397 }
lilac0112_1 27:825c6835e3db 398 }
lilac0112_1 27:825c6835e3db 399 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==0)){
lilac0112_1 27:825c6835e3db 400 if(pow_y>0){
lilac0112_1 27:825c6835e3db 401 *y = 0;
lilac0112_1 27:825c6835e3db 402 data.lnStop[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 403 }
lilac0112_1 27:825c6835e3db 404 else{
lilac0112_1 27:825c6835e3db 405 *y = LineReturn[4];
lilac0112_1 27:825c6835e3db 406 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 407 }
lilac0112_1 27:825c6835e3db 408 }
lilac0112_1 27:825c6835e3db 409 if((LinePingState[B_PING]==1)&&(LinePingState[F_PING]==1)){
lilac0112_1 27:825c6835e3db 410 *y = 0;
lilac0112_1 27:825c6835e3db 411 data.lnStop[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 412 }
lilac0112_1 27:825c6835e3db 413 }
lilac0112_1 27:825c6835e3db 414 }
lilac0112_1 27:825c6835e3db 415 else{
lilac0112_1 27:825c6835e3db 416 data.lnRawReturn=0;
lilac0112_1 27:825c6835e3db 417 }
lilac0112_1 27:825c6835e3db 418
lilac0112_1 25:a7460e23e02e 419 }
lilac0112_1 25:a7460e23e02e 420 }
lilac0112_1 25:a7460e23e02e 421 void LineJudgeReset(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 25:a7460e23e02e 422 //static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 423 //static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 424 static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 425 static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 25:a7460e23e02e 426
lilac0112_1 25:a7460e23e02e 427 if((/*data.lnRaw==0*/1)&&(data.lnHold==7)){
lilac0112_1 25:a7460e23e02e 428 if(data.FieldSpot==LINE_INSIDE){
lilac0112_1 25:a7460e23e02e 429
lilac0112_1 25:a7460e23e02e 430 data.lnCorner[L_LINE] = (data.ping[L_PING]<OutToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 431 data.lnCorner[R_LINE] = (data.ping[R_PING]<OutToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 432 data.lnCorner[F_LINE] = (data.ping[F_PING]<OutToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 433 data.lnCorner[B_LINE] = (data.ping[B_PING]<OutToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 434 if(
lilac0112_1 25:a7460e23e02e 435 (data.lnCorner[L_LINE])||
lilac0112_1 25:a7460e23e02e 436 (data.lnCorner[R_LINE])||
lilac0112_1 25:a7460e23e02e 437 (data.lnCorner[F_LINE])||
lilac0112_1 25:a7460e23e02e 438 (data.lnCorner[B_LINE])
lilac0112_1 25:a7460e23e02e 439 ){
lilac0112_1 25:a7460e23e02e 440
lilac0112_1 25:a7460e23e02e 441 data.NonWall[L_LINE] = (data.ping[L_PING]>WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 442 data.NonWall[R_LINE] = (data.ping[R_PING]>WhiteToWall[X_PING]);
lilac0112_1 25:a7460e23e02e 443 data.NonWall[F_LINE] = (data.ping[F_PING]>WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 444 data.NonWall[B_LINE] = (data.ping[B_PING]>WhiteToWall[Y_PING]);
lilac0112_1 25:a7460e23e02e 445
lilac0112_1 25:a7460e23e02e 446
lilac0112_1 25:a7460e23e02e 447
lilac0112_1 25:a7460e23e02e 448 ///*
lilac0112_1 25:a7460e23e02e 449 LastLineCorner[L_LINE]=NewLineCorner[L_LINE];
lilac0112_1 25:a7460e23e02e 450 LastLineCorner[R_LINE]=NewLineCorner[R_LINE];
lilac0112_1 25:a7460e23e02e 451 LastLineCorner[F_LINE]=NewLineCorner[F_LINE];
lilac0112_1 25:a7460e23e02e 452 LastLineCorner[B_LINE]=NewLineCorner[B_LINE];
lilac0112_1 25:a7460e23e02e 453
lilac0112_1 25:a7460e23e02e 454 NewLineCorner[L_LINE]=data.lnCorner[L_LINE];
lilac0112_1 25:a7460e23e02e 455 NewLineCorner[R_LINE]=data.lnCorner[R_LINE];
lilac0112_1 25:a7460e23e02e 456 NewLineCorner[F_LINE]=data.lnCorner[F_LINE];
lilac0112_1 25:a7460e23e02e 457 NewLineCorner[B_LINE]=data.lnCorner[B_LINE];
lilac0112_1 25:a7460e23e02e 458
lilac0112_1 25:a7460e23e02e 459 if(
lilac0112_1 25:a7460e23e02e 460 (LastLineCorner[L_LINE]==NewLineCorner[L_LINE])&&
lilac0112_1 25:a7460e23e02e 461 (LastLineCorner[R_LINE]==NewLineCorner[R_LINE])&&
lilac0112_1 25:a7460e23e02e 462 (LastLineCorner[F_LINE]==NewLineCorner[F_LINE])&&
lilac0112_1 25:a7460e23e02e 463 (LastLineCorner[B_LINE]==NewLineCorner[B_LINE])
lilac0112_1 25:a7460e23e02e 464 ){
lilac0112_1 25:a7460e23e02e 465 data.lnRepeat++;
lilac0112_1 25:a7460e23e02e 466 }
lilac0112_1 25:a7460e23e02e 467 else{
lilac0112_1 25:a7460e23e02e 468 data.lnRepeat=0;
lilac0112_1 25:a7460e23e02e 469 }
lilac0112_1 25:a7460e23e02e 470 //*/
lilac0112_1 25:a7460e23e02e 471
lilac0112_1 25:a7460e23e02e 472 data.FieldSpot = LINE_OUTSIDE;
lilac0112_1 25:a7460e23e02e 473 LineLiberate();
lilac0112_1 25:a7460e23e02e 474 }
lilac0112_1 25:a7460e23e02e 475 }
lilac0112_1 25:a7460e23e02e 476 else if(data.FieldSpot==LINE_OUTSIDE){
lilac0112_1 25:a7460e23e02e 477 if(data.lnRaw==0){
lilac0112_1 25:a7460e23e02e 478 data.FieldSpot = LINE_INSIDE;
lilac0112_1 25:a7460e23e02e 479 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 25:a7460e23e02e 480 LineLiberate();
lilac0112_1 25:a7460e23e02e 481 LineRankClear();
lilac0112_1 25:a7460e23e02e 482 }
lilac0112_1 25:a7460e23e02e 483 }
lilac0112_1 25:a7460e23e02e 484 }
lilac0112_1 25:a7460e23e02e 485 if(data.FieldSpot == LINE_OUTSIDE){
lilac0112_1 25:a7460e23e02e 486 if(
lilac0112_1 25:a7460e23e02e 487 (
lilac0112_1 25:a7460e23e02e 488 (data.ping[L_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 489 (data.NonWall[L_LINE]==1)||
lilac0112_1 25:a7460e23e02e 490 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 491 //(data.lnOrder[0]==A_SPOT)
lilac0112_1 25:a7460e23e02e 492 )&&
lilac0112_1 25:a7460e23e02e 493 (
lilac0112_1 25:a7460e23e02e 494 (data.ping[R_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 495 (data.NonWall[R_LINE]==1)||
lilac0112_1 25:a7460e23e02e 496 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 497 //(data.lnOrder[0]==B_SPOT)
lilac0112_1 25:a7460e23e02e 498 )&&
lilac0112_1 25:a7460e23e02e 499 (
lilac0112_1 25:a7460e23e02e 500 (data.ping[F_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 501 (data.NonWall[F_LINE]==1)||
lilac0112_1 25:a7460e23e02e 502 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
lilac0112_1 25:a7460e23e02e 503 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))
lilac0112_1 25:a7460e23e02e 504 )&&
lilac0112_1 25:a7460e23e02e 505 ((data.ping[B_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 506 (data.NonWall[B_LINE]==1)||
lilac0112_1 25:a7460e23e02e 507 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
lilac0112_1 25:a7460e23e02e 508 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
lilac0112_1 25:a7460e23e02e 509 )
lilac0112_1 25:a7460e23e02e 510 ){
lilac0112_1 25:a7460e23e02e 511 data.FieldSpot = LINE_INSIDE;
lilac0112_1 25:a7460e23e02e 512 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 25:a7460e23e02e 513 LineLiberate();
lilac0112_1 25:a7460e23e02e 514 LineRankClear();
lilac0112_1 25:a7460e23e02e 515 }
lilac0112_1 25:a7460e23e02e 516 }
lilac0112_1 25:a7460e23e02e 517 if((data.FieldSpot == LINE_INSIDE)&&(0<data.lnHold)&&(data.lnHold<7)&&(data.lnRaw==0)){
lilac0112_1 25:a7460e23e02e 518 if(
lilac0112_1 25:a7460e23e02e 519 (
lilac0112_1 25:a7460e23e02e 520 (
lilac0112_1 25:a7460e23e02e 521 (data.ping[L_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 522 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 523 //(data.lnOrder[0]==A_SPOT)
lilac0112_1 25:a7460e23e02e 524 )&&
lilac0112_1 25:a7460e23e02e 525 (
lilac0112_1 25:a7460e23e02e 526 (data.ping[R_PING]>=WhiteToWall[X_PING])||
lilac0112_1 25:a7460e23e02e 527 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 25:a7460e23e02e 528 //(data.lnOrder[0]==B_SPOT)
lilac0112_1 25:a7460e23e02e 529 )&&
lilac0112_1 25:a7460e23e02e 530 (
lilac0112_1 25:a7460e23e02e 531 (data.ping[F_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 532 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
lilac0112_1 25:a7460e23e02e 533 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))
lilac0112_1 25:a7460e23e02e 534 )&&
lilac0112_1 25:a7460e23e02e 535 (
lilac0112_1 25:a7460e23e02e 536 (data.ping[B_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 25:a7460e23e02e 537 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
lilac0112_1 25:a7460e23e02e 538 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
lilac0112_1 25:a7460e23e02e 539 )
lilac0112_1 25:a7460e23e02e 540 )
lilac0112_1 25:a7460e23e02e 541 ||
lilac0112_1 25:a7460e23e02e 542 (
lilac0112_1 25:a7460e23e02e 543 (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
lilac0112_1 25:a7460e23e02e 544 (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
lilac0112_1 25:a7460e23e02e 545 )
lilac0112_1 25:a7460e23e02e 546 ){
lilac0112_1 25:a7460e23e02e 547 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 25:a7460e23e02e 548 LineLiberate();
lilac0112_1 25:a7460e23e02e 549 }
lilac0112_1 25:a7460e23e02e 550 }
lilac0112_1 25:a7460e23e02e 551 ///*
lilac0112_1 25:a7460e23e02e 552 if(
lilac0112_1 25:a7460e23e02e 553 (data.irNotice==IR_NONE)||
lilac0112_1 25:a7460e23e02e 554 (data.irNotice==IR_FAR)||
lilac0112_1 25:a7460e23e02e 555 (
lilac0112_1 25:a7460e23e02e 556 (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
lilac0112_1 25:a7460e23e02e 557 (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
lilac0112_1 25:a7460e23e02e 558 )
lilac0112_1 25:a7460e23e02e 559 ){
lilac0112_1 25:a7460e23e02e 560 data.lnRepeat = 0;
lilac0112_1 25:a7460e23e02e 561
lilac0112_1 25:a7460e23e02e 562 NewLineCorner[L_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 563 NewLineCorner[R_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 564 NewLineCorner[F_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 565 NewLineCorner[B_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 566
lilac0112_1 25:a7460e23e02e 567 LastLineCorner[L_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 568 LastLineCorner[R_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 569 LastLineCorner[F_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 570 LastLineCorner[B_LINE]=LINE_EMPTY;
lilac0112_1 25:a7460e23e02e 571 }
lilac0112_1 25:a7460e23e02e 572 //data.lnRepeat=0;
lilac0112_1 25:a7460e23e02e 573 if((data.lnRepeat>0)&&(data.FieldSpot == LINE_INSIDE)){
lilac0112_1 25:a7460e23e02e 574 //x
lilac0112_1 25:a7460e23e02e 575 if(
lilac0112_1 25:a7460e23e02e 576 ((pow_x>=0)&&(NewLineCorner[R_LINE]))||
lilac0112_1 25:a7460e23e02e 577 ((pow_x<0)&&(NewLineCorner[L_LINE]))
lilac0112_1 25:a7460e23e02e 578 ){
lilac0112_1 25:a7460e23e02e 579 data.lnStay[X_LINE]=0;
lilac0112_1 25:a7460e23e02e 580 }
lilac0112_1 25:a7460e23e02e 581 else{
lilac0112_1 25:a7460e23e02e 582 data.lnStay[X_LINE]=1;
lilac0112_1 25:a7460e23e02e 583 }
lilac0112_1 25:a7460e23e02e 584 //y
lilac0112_1 25:a7460e23e02e 585 if(
lilac0112_1 25:a7460e23e02e 586 ((pow_y>=0)&&(NewLineCorner[F_LINE]))||
lilac0112_1 25:a7460e23e02e 587 ((pow_y<0)&&(NewLineCorner[B_LINE]))
lilac0112_1 25:a7460e23e02e 588 ){
lilac0112_1 25:a7460e23e02e 589 data.lnStay[Y_LINE]=0;
lilac0112_1 25:a7460e23e02e 590 }
lilac0112_1 25:a7460e23e02e 591 else{
lilac0112_1 25:a7460e23e02e 592 data.lnStay[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 593 }
lilac0112_1 25:a7460e23e02e 594 }
lilac0112_1 25:a7460e23e02e 595 else{
lilac0112_1 25:a7460e23e02e 596 data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
lilac0112_1 25:a7460e23e02e 597 }
lilac0112_1 25:a7460e23e02e 598 //*/
lilac0112_1 25:a7460e23e02e 599
lilac0112_1 25:a7460e23e02e 600 }
lilac0112_1 27:825c6835e3db 601 void LineJudgeReset2(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 27:825c6835e3db 602 if(
lilac0112_1 27:825c6835e3db 603 (data.lnRawOrderLog2[0]==data.lnRawOrderLog1[0])&&
lilac0112_1 27:825c6835e3db 604 (data.lnRawOrderLog2[1]==data.lnRawOrderLog1[1])&&
lilac0112_1 27:825c6835e3db 605 (data.lnRawOrderLog2[2]==data.lnRawOrderLog1[2])
lilac0112_1 27:825c6835e3db 606 ){
lilac0112_1 27:825c6835e3db 607 data.lnRepeat=1;
lilac0112_1 27:825c6835e3db 608 }
lilac0112_1 27:825c6835e3db 609 else{
lilac0112_1 27:825c6835e3db 610 data.lnRepeat=0;
lilac0112_1 27:825c6835e3db 611 }
lilac0112_1 27:825c6835e3db 612
lilac0112_1 27:825c6835e3db 613 if(
lilac0112_1 27:825c6835e3db 614 (data.irNotice==IR_NONE)||
lilac0112_1 27:825c6835e3db 615 (data.irNotice==IR_FAR)||
lilac0112_1 27:825c6835e3db 616 (
lilac0112_1 27:825c6835e3db 617 (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
lilac0112_1 27:825c6835e3db 618 (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
lilac0112_1 27:825c6835e3db 619 )
lilac0112_1 27:825c6835e3db 620 ){
lilac0112_1 27:825c6835e3db 621 data.lnRepeat = 0;
lilac0112_1 27:825c6835e3db 622
lilac0112_1 27:825c6835e3db 623 LineRawLogReset();
lilac0112_1 27:825c6835e3db 624 }
lilac0112_1 27:825c6835e3db 625 //data.lnRepeat=0;
lilac0112_1 28:f246a5fbf6a5 626 //if((data.lnRepeat==1)&&((data.lnRawOrder[0]==LINE_EMPTY)&&(data.lnRawOrder[1]==LINE_EMPTY)&&(data.lnRawOrder[2]==LINE_EMPTY))){
lilac0112_1 28:f246a5fbf6a5 627 if((data.lnRepeat==1)&&((data.lnRawOrder[0]==LINE_EMPTY))){
lilac0112_1 27:825c6835e3db 628 //y
lilac0112_1 27:825c6835e3db 629 if(
lilac0112_1 27:825c6835e3db 630 ((pow_y>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==B_SPOT)&&(1)))||
lilac0112_1 27:825c6835e3db 631 ((pow_y>0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==A_SPOT)&&(1)))||
lilac0112_1 27:825c6835e3db 632 ((pow_y<0)&&((data.lnRawOrderLog1[0]==C_SPOT)&&(1)&&(1)))
lilac0112_1 27:825c6835e3db 633 ){
lilac0112_1 27:825c6835e3db 634 data.lnStay[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 635 }
lilac0112_1 27:825c6835e3db 636 else{
lilac0112_1 27:825c6835e3db 637 data.lnStay[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 638 }
lilac0112_1 27:825c6835e3db 639 //x
lilac0112_1 27:825c6835e3db 640 if(
lilac0112_1 27:825c6835e3db 641 ((pow_x>0)&&((data.lnRawOrderLog1[0]==A_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))||
lilac0112_1 27:825c6835e3db 642 ((pow_x<0)&&((data.lnRawOrderLog1[0]==B_SPOT)&&(data.lnRawOrderLog1[1]==C_SPOT)&&(1)))
lilac0112_1 27:825c6835e3db 643 ){
lilac0112_1 27:825c6835e3db 644 data.lnStay[X_LINE]=0;
lilac0112_1 27:825c6835e3db 645 }
lilac0112_1 27:825c6835e3db 646 else{
lilac0112_1 27:825c6835e3db 647 data.lnStay[X_LINE]=1;
lilac0112_1 27:825c6835e3db 648 }
lilac0112_1 27:825c6835e3db 649 }
lilac0112_1 27:825c6835e3db 650 else{
lilac0112_1 27:825c6835e3db 651 data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 652 }
lilac0112_1 27:825c6835e3db 653
lilac0112_1 27:825c6835e3db 654 }
lilac0112_1 27:825c6835e3db 655 void LineJudgeReset3(double pow_x, double pow_y, double *x, double *y){
lilac0112_1 27:825c6835e3db 656 //static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 27:825c6835e3db 657 //static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 27:825c6835e3db 658 static uint8_t NewLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 27:825c6835e3db 659 static uint8_t LastLineCorner[4]={LINE_EMPTY, LINE_EMPTY, LINE_EMPTY, LINE_EMPTY};
lilac0112_1 27:825c6835e3db 660
lilac0112_1 27:825c6835e3db 661 if((/*data.lnRaw==0*/1)&&(data.lnHold>0)){
lilac0112_1 27:825c6835e3db 662 if(data.FieldSpot==LINE_INSIDE){
lilac0112_1 27:825c6835e3db 663
lilac0112_1 27:825c6835e3db 664 data.lnCorner[L_LINE] = (data.ping[L_PING]<OutToWall[X_PING]);
lilac0112_1 27:825c6835e3db 665 data.lnCorner[R_LINE] = (data.ping[R_PING]<OutToWall[X_PING]);
lilac0112_1 27:825c6835e3db 666 data.lnCorner[F_LINE] = (data.ping[F_PING]<OutToWall[Y_PING]);
lilac0112_1 27:825c6835e3db 667 data.lnCorner[B_LINE] = (data.ping[B_PING]<OutToWall[Y_PING]);
lilac0112_1 27:825c6835e3db 668 if(
lilac0112_1 27:825c6835e3db 669 (data.lnCorner[L_LINE])||
lilac0112_1 27:825c6835e3db 670 (data.lnCorner[R_LINE])||
lilac0112_1 27:825c6835e3db 671 (data.lnCorner[F_LINE])||
lilac0112_1 27:825c6835e3db 672 (data.lnCorner[B_LINE])
lilac0112_1 27:825c6835e3db 673 ){
lilac0112_1 27:825c6835e3db 674
lilac0112_1 27:825c6835e3db 675 data.NonWall[L_LINE] = (data.ping[L_PING]>WhiteToWall[X_PING]);
lilac0112_1 27:825c6835e3db 676 data.NonWall[R_LINE] = (data.ping[R_PING]>WhiteToWall[X_PING]);
lilac0112_1 27:825c6835e3db 677 data.NonWall[F_LINE] = (data.ping[F_PING]>WhiteToWall[Y_PING]);
lilac0112_1 27:825c6835e3db 678 data.NonWall[B_LINE] = (data.ping[B_PING]>WhiteToWall[Y_PING]);
lilac0112_1 27:825c6835e3db 679
lilac0112_1 27:825c6835e3db 680
lilac0112_1 27:825c6835e3db 681
lilac0112_1 27:825c6835e3db 682 ///*
lilac0112_1 27:825c6835e3db 683 LastLineCorner[L_LINE]=NewLineCorner[L_LINE];
lilac0112_1 27:825c6835e3db 684 LastLineCorner[R_LINE]=NewLineCorner[R_LINE];
lilac0112_1 27:825c6835e3db 685 LastLineCorner[F_LINE]=NewLineCorner[F_LINE];
lilac0112_1 27:825c6835e3db 686 LastLineCorner[B_LINE]=NewLineCorner[B_LINE];
lilac0112_1 27:825c6835e3db 687
lilac0112_1 27:825c6835e3db 688 NewLineCorner[L_LINE]=data.lnCorner[L_LINE];
lilac0112_1 27:825c6835e3db 689 NewLineCorner[R_LINE]=data.lnCorner[R_LINE];
lilac0112_1 27:825c6835e3db 690 NewLineCorner[F_LINE]=data.lnCorner[F_LINE];
lilac0112_1 27:825c6835e3db 691 NewLineCorner[B_LINE]=data.lnCorner[B_LINE];
lilac0112_1 27:825c6835e3db 692
lilac0112_1 27:825c6835e3db 693 if(
lilac0112_1 27:825c6835e3db 694 (LastLineCorner[L_LINE]==NewLineCorner[L_LINE])&&
lilac0112_1 27:825c6835e3db 695 (LastLineCorner[R_LINE]==NewLineCorner[R_LINE])&&
lilac0112_1 27:825c6835e3db 696 (LastLineCorner[F_LINE]==NewLineCorner[F_LINE])&&
lilac0112_1 27:825c6835e3db 697 (LastLineCorner[B_LINE]==NewLineCorner[B_LINE])
lilac0112_1 27:825c6835e3db 698 ){
lilac0112_1 27:825c6835e3db 699 data.lnRepeat++;
lilac0112_1 27:825c6835e3db 700 }
lilac0112_1 27:825c6835e3db 701 else{
lilac0112_1 27:825c6835e3db 702 data.lnRepeat=0;
lilac0112_1 27:825c6835e3db 703 }
lilac0112_1 27:825c6835e3db 704 //*/
lilac0112_1 27:825c6835e3db 705
lilac0112_1 27:825c6835e3db 706 data.FieldSpot = LINE_OUTSIDE;
lilac0112_1 27:825c6835e3db 707 //Line_home.detach();
lilac0112_1 27:825c6835e3db 708 LineLiberate();
lilac0112_1 27:825c6835e3db 709 }
lilac0112_1 27:825c6835e3db 710 else{
lilac0112_1 27:825c6835e3db 711 data.FieldSpot = LINE_INSIDE;
lilac0112_1 27:825c6835e3db 712 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 27:825c6835e3db 713 //Line_home.detach();
lilac0112_1 27:825c6835e3db 714 LineLiberate();
lilac0112_1 27:825c6835e3db 715 LineRankClear();
lilac0112_1 27:825c6835e3db 716 }
lilac0112_1 27:825c6835e3db 717 }
lilac0112_1 27:825c6835e3db 718 /*else if(data.FieldSpot==LINE_OUTSIDE){
lilac0112_1 27:825c6835e3db 719 if(data.lnRaw==0){
lilac0112_1 27:825c6835e3db 720 data.FieldSpot = LINE_INSIDE;
lilac0112_1 27:825c6835e3db 721 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 27:825c6835e3db 722 LineLiberate();
lilac0112_1 27:825c6835e3db 723 LineRankClear();
lilac0112_1 27:825c6835e3db 724 }
lilac0112_1 27:825c6835e3db 725 }*/
lilac0112_1 27:825c6835e3db 726 }
lilac0112_1 27:825c6835e3db 727 if(data.FieldSpot == LINE_OUTSIDE){
lilac0112_1 27:825c6835e3db 728 //Line_home.attach(&JudgeInSide, 2.0);
lilac0112_1 27:825c6835e3db 729 if(
lilac0112_1 27:825c6835e3db 730 (
lilac0112_1 27:825c6835e3db 731 data.lnRaw==0
lilac0112_1 27:825c6835e3db 732 )&&
lilac0112_1 27:825c6835e3db 733 (
lilac0112_1 27:825c6835e3db 734 (data.ping[L_PING]>=WhiteToWall[X_PING])||
lilac0112_1 27:825c6835e3db 735 (data.NonWall[L_LINE]==1)||
lilac0112_1 27:825c6835e3db 736 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))||
lilac0112_1 27:825c6835e3db 737 ((data.lnOrder[0]==A_SPOT)&&(data.NonWall[F_LINE]==1)&&(data.NonWall[B_LINE]==1))||
lilac0112_1 27:825c6835e3db 738 ((data.lnOrder[0]==A_SPOT)&&(data.ping[F_PING]>WhiteToWall[Y_PING])&&(data.ping[B_PING]>WhiteToWall[Y_PING]))
lilac0112_1 27:825c6835e3db 739 )&&
lilac0112_1 27:825c6835e3db 740 (
lilac0112_1 27:825c6835e3db 741 (data.ping[R_PING]>=WhiteToWall[X_PING])||
lilac0112_1 27:825c6835e3db 742 (data.NonWall[R_LINE]==1)||
lilac0112_1 27:825c6835e3db 743 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))||
lilac0112_1 27:825c6835e3db 744 ((data.lnOrder[0]==B_SPOT)&&(data.NonWall[F_LINE]==1)&&(data.NonWall[B_LINE]==1))||
lilac0112_1 27:825c6835e3db 745 ((data.lnOrder[0]==B_SPOT)&&(data.ping[F_PING]>WhiteToWall[Y_PING])&&(data.ping[B_PING]>WhiteToWall[Y_PING]))
lilac0112_1 27:825c6835e3db 746 )&&
lilac0112_1 27:825c6835e3db 747 (
lilac0112_1 27:825c6835e3db 748 (data.ping[F_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 27:825c6835e3db 749 (data.NonWall[F_LINE]==1)||
lilac0112_1 27:825c6835e3db 750 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
lilac0112_1 27:825c6835e3db 751 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))||
lilac0112_1 27:825c6835e3db 752 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==LINE_EMPTY))
lilac0112_1 27:825c6835e3db 753 )&&
lilac0112_1 27:825c6835e3db 754 ((data.ping[B_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 27:825c6835e3db 755 (data.NonWall[B_LINE]==1)||
lilac0112_1 27:825c6835e3db 756 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
lilac0112_1 27:825c6835e3db 757 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
lilac0112_1 27:825c6835e3db 758 )
lilac0112_1 27:825c6835e3db 759 ){
lilac0112_1 27:825c6835e3db 760 data.FieldSpot = LINE_INSIDE;
lilac0112_1 27:825c6835e3db 761 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 27:825c6835e3db 762 //Line_home.detach();
lilac0112_1 27:825c6835e3db 763 LineLiberate();
lilac0112_1 27:825c6835e3db 764 LineRankClear();
lilac0112_1 27:825c6835e3db 765 }
lilac0112_1 27:825c6835e3db 766 }
lilac0112_1 27:825c6835e3db 767 /*if((data.FieldSpot == LINE_INSIDE)&&(0<data.lnHold)&&(data.lnHold<7)&&(data.lnRaw==0)){
lilac0112_1 27:825c6835e3db 768 if(
lilac0112_1 27:825c6835e3db 769 (
lilac0112_1 27:825c6835e3db 770 (
lilac0112_1 27:825c6835e3db 771 (data.ping[L_PING]>=WhiteToWall[X_PING])||
lilac0112_1 27:825c6835e3db 772 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 27:825c6835e3db 773 //(data.lnOrder[0]==A_SPOT)
lilac0112_1 27:825c6835e3db 774 )&&
lilac0112_1 27:825c6835e3db 775 (
lilac0112_1 27:825c6835e3db 776 (data.ping[R_PING]>=WhiteToWall[X_PING])||
lilac0112_1 27:825c6835e3db 777 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==C_SPOT))
lilac0112_1 27:825c6835e3db 778 //(data.lnOrder[0]==B_SPOT)
lilac0112_1 27:825c6835e3db 779 )&&
lilac0112_1 27:825c6835e3db 780 (
lilac0112_1 27:825c6835e3db 781 (data.ping[F_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 27:825c6835e3db 782 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==A_SPOT))||
lilac0112_1 27:825c6835e3db 783 ((data.lnOrder[0]==C_SPOT)&&(data.lnOrder[1]==B_SPOT))
lilac0112_1 27:825c6835e3db 784 )&&
lilac0112_1 27:825c6835e3db 785 (
lilac0112_1 27:825c6835e3db 786 (data.ping[B_PING]>=WhiteToWall[Y_PING])||
lilac0112_1 27:825c6835e3db 787 ((data.lnOrder[0]==A_SPOT)&&(data.lnOrder[1]==B_SPOT))||
lilac0112_1 27:825c6835e3db 788 ((data.lnOrder[0]==B_SPOT)&&(data.lnOrder[1]==A_SPOT))
lilac0112_1 27:825c6835e3db 789 )
lilac0112_1 27:825c6835e3db 790 )
lilac0112_1 27:825c6835e3db 791 ||
lilac0112_1 27:825c6835e3db 792 (
lilac0112_1 27:825c6835e3db 793 (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
lilac0112_1 27:825c6835e3db 794 (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
lilac0112_1 27:825c6835e3db 795 )
lilac0112_1 27:825c6835e3db 796 ){
lilac0112_1 27:825c6835e3db 797 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 27:825c6835e3db 798 LineLiberate();
lilac0112_1 27:825c6835e3db 799 }
lilac0112_1 27:825c6835e3db 800 }*/
lilac0112_1 27:825c6835e3db 801 ///*
lilac0112_1 27:825c6835e3db 802 if(
lilac0112_1 27:825c6835e3db 803 (data.irNotice==IR_NONE)||
lilac0112_1 27:825c6835e3db 804 (data.irNotice==IR_FAR)||
lilac0112_1 27:825c6835e3db 805 (
lilac0112_1 27:825c6835e3db 806 (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
lilac0112_1 27:825c6835e3db 807 (data.ping[R_PING]>=GoalEdgeToWall[X_PING])
lilac0112_1 27:825c6835e3db 808 )
lilac0112_1 27:825c6835e3db 809 ){
lilac0112_1 27:825c6835e3db 810 data.lnRepeat = 0;
lilac0112_1 27:825c6835e3db 811
lilac0112_1 27:825c6835e3db 812 NewLineCorner[L_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 813 NewLineCorner[R_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 814 NewLineCorner[F_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 815 NewLineCorner[B_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 816
lilac0112_1 27:825c6835e3db 817 LastLineCorner[L_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 818 LastLineCorner[R_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 819 LastLineCorner[F_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 820 LastLineCorner[B_LINE]=LINE_EMPTY;
lilac0112_1 27:825c6835e3db 821 }
lilac0112_1 27:825c6835e3db 822 //data.lnRepeat=0;
lilac0112_1 27:825c6835e3db 823 if((data.lnRepeat>0)&&(data.FieldSpot == LINE_INSIDE)){
lilac0112_1 27:825c6835e3db 824 //x
lilac0112_1 27:825c6835e3db 825 if(
lilac0112_1 27:825c6835e3db 826 ((pow_x>=0)&&(NewLineCorner[R_LINE]))||
lilac0112_1 27:825c6835e3db 827 ((pow_x<0)&&(NewLineCorner[L_LINE]))
lilac0112_1 27:825c6835e3db 828 ){
lilac0112_1 27:825c6835e3db 829 data.lnStay[X_LINE]=0;
lilac0112_1 27:825c6835e3db 830 }
lilac0112_1 27:825c6835e3db 831 else{
lilac0112_1 27:825c6835e3db 832 data.lnStay[X_LINE]=1;
lilac0112_1 27:825c6835e3db 833 }
lilac0112_1 27:825c6835e3db 834 //y
lilac0112_1 27:825c6835e3db 835 if(
lilac0112_1 27:825c6835e3db 836 ((pow_y>=0)&&(NewLineCorner[F_LINE]))||
lilac0112_1 27:825c6835e3db 837 ((pow_y<0)&&(NewLineCorner[B_LINE]))
lilac0112_1 27:825c6835e3db 838 ){
lilac0112_1 27:825c6835e3db 839 data.lnStay[Y_LINE]=0;
lilac0112_1 27:825c6835e3db 840 }
lilac0112_1 27:825c6835e3db 841 else{
lilac0112_1 27:825c6835e3db 842 data.lnStay[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 843 }
lilac0112_1 27:825c6835e3db 844 }
lilac0112_1 27:825c6835e3db 845 else{
lilac0112_1 27:825c6835e3db 846 data.lnStay[X_LINE]=data.lnStay[Y_LINE]=1;
lilac0112_1 27:825c6835e3db 847 }
lilac0112_1 27:825c6835e3db 848 //*/
lilac0112_1 27:825c6835e3db 849
lilac0112_1 27:825c6835e3db 850 }
lilac0112_1 27:825c6835e3db 851 void JudgeInSide(void){
lilac0112_1 27:825c6835e3db 852 data.FieldSpot = LINE_INSIDE;
lilac0112_1 27:825c6835e3db 853 data.NonWall[L_LINE] = data.NonWall[R_LINE] = data.NonWall[F_LINE] = data.NonWall[B_LINE] = 0;
lilac0112_1 27:825c6835e3db 854 LineLiberate();
lilac0112_1 27:825c6835e3db 855 LineRankClear();
lilac0112_1 27:825c6835e3db 856 //Line_home.detach();
lilac0112_1 27:825c6835e3db 857 }