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

Diff: main_processing/strategy_parts/input.cpp

Revision:
22:b7720bba2ca6
Parent:
21:378470320524
Child:
24:34ef6379b0df
--- a/main_processing/strategy_parts/input.cpp	Wed Mar 16 11:27:58 2016 +0000
+++ b/main_processing/strategy_parts/input.cpp	Wed Mar 16 11:49:42 2016 +0000
@@ -59,17 +59,28 @@
     data.lnOrder[1]=LINE_EMPTY;
     data.lnOrder[2]=LINE_EMPTY;
     
-    if((LineHold==1)||(LineHold==2)||(LineHold==4)||(LineHold==3)){
-        if((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==0)){
-            data.lnOrder[0] = A_SPOT;
+    if((0<LineHold)&&(LineHold<7)){
+        if((LineHolding[A_SPOT].read()==0)&&(LineHolding[B_SPOT].read()==0)&&(LineHolding[C_SPOT].read()==1)){
+            data.lnOrder[0] = C_SPOT;
+            data.lnOrder[1] = LINE_EMPTY;
         }
-        else if((LineHolding[A_SPOT].read()==0)&&(LineHolding[B_SPOT].read()==1)){
+        else if((LineHolding[A_SPOT].read()==0)&&(LineHolding[B_SPOT].read()==1)&&(LineHolding[C_SPOT].read()==0)){
             data.lnOrder[0] = B_SPOT;
+            data.lnOrder[1] = LINE_EMPTY;
         }
-        else if(LineHolding[C_SPOT].read()==1){
+        else if((LineHolding[A_SPOT].read()==0)&&(LineHolding[B_SPOT].read()==1)&&(LineHolding[C_SPOT].read()==1)){
             data.lnOrder[0] = C_SPOT;
+            data.lnOrder[1] = B_SPOT;
         }
-        else if((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==1)){
+        else if((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==0)&&(LineHolding[C_SPOT].read()==0)){
+            data.lnOrder[0] = A_SPOT;
+            data.lnOrder[1] = LINE_EMPTY;
+        }
+        else if((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==0)&&(LineHolding[C_SPOT].read()==1)){
+            data.lnOrder[0] = C_SPOT;
+            data.lnOrder[1] = A_SPOT;
+        }
+        else if((LineHolding[A_SPOT].read()==1)&&(LineHolding[B_SPOT].read()==1)&&(LineHolding[C_SPOT].read()==0)){
             data.lnOrder[0] = A_SPOT;
             data.lnOrder[1] = B_SPOT;
         }