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WER_xyl.2018 05 26 19 07 43.c
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WER_xyl.2018 05 26 19 07 43.c
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#include "ASEIO.h"
#define true 1
#define false 0
//=================Settings=================//
//Button
const int buttonPort = 10;
//dh
const bool useSafedh = true;
const int safedh = 100;
const bool ReadEEOnStart = true;
const int dhPort[7] = {2,3,4,5,6,7,8};
const int EEAddr[7] = {0,1,2,3,4,5,6};
//Motor
const int lMotorPort = 0;
const int rMotorPort = 1;
const bool invertL = true;
const bool invertR = false;
//Servo
const int servoPort = 9;
const int servoID = 1;
//Battery
const int battMin = 7800;
const int battMax = 8500;
//--------------Drive--------------//
//Departure 2
const int Speed_2 = 50;
//UpStair 3
const int lSpeed_3 = -40;
const int mSpeed_3 = 35;
const int hSpeed_3 = 70;
const int tSpeed_3 = 40;
const int upSpeed_3 = 100;
const float upDelay_3 = 0.3;
const int dhdet_3 = 200;
//Back 4
const int mSpeed_4 = 40;
const float backDelay_4 = 0.75;
//UtlStop 5
const int lSpeed_5 = -40;
const int mSpeed_5 = 30;
const int hSpeed_5 = 50;
const int tSpeed_5 = 30;
//CrossJunc 6
const int lSpeed_6 = -40;
const int mSpeed_6 = 35;
const int hSpeed_6 = 60;
const int tSpeed_6 = 40;
//Left 7
const int hSpeed_7 = 60;
const int mSpeed_7 = 35;
const int lSpeed_7 = -40;
const int tSpeed_7 = 40;
const float btDelay_7 = 0.2;
const float bttDelay_7 = 0.2;
//Right 8
const int hSpeed_8 = 60;
const int mSpeed_8 = 35;
const int lSpeed_8 = -40;
const int tSpeed_8 = 40;
const float btDelay_8 = 0.2;
const float bttDelay_8 = 0.2;
//TLeft 9
const int tSpeed_9 = 40;
const float btDelay_9 = 0.15;
const float bttDelay_9 = 0.2;
//TRight 10
const int tSpeed_10 = 40;
const float btDelay_10 = 0.15;
const float bttDelay_10 = 0.2;
//DownStair 11
const int lSpeed_11 = -20;
const int mSpeed_11 = 20;
const int hSpeed_11 = 40;
const int tSpeed_11 = 20;
//---------------------------------//
//Debug
int defdbgLevel = 2;
float dbgSeqDelay = 1;
int defSequence = 0;
float dbgDelay = 0.0;
//---------------------------------//
bool isMatch = false;
//==========================================//
//===varDecl===//
int dbgLevel = 0;
int dh[7]={0};
char *subNameP;
char *subNameC;
char *subNameN;
int curSeq;
bool isServInit = false;
//=============//
//===funcDecl===//
void runsub(int sub,bool getName);
void initServ();
void Drive_Init();//1
void Drive_Departure();//2
void Drive_UpStair();//3
void Drive_Back();//4
void Drive_UtlStop();//5
void Drive_CrossJunc();//6
void Drive_UtlLeft();//7
void Drive_UtlRight();//8
void Drive_TurnLeft();//9
void Drive_TurnRight();//10
void Drive_DownStair();//11
void Mission_N01();//101
void Mission_N02();//102
void Mission_N03();//103
void Mission_N04();//104
void Mission_N05();//105
void Mission_N06();//106
void Mission_N07();//107
void Mission_N08();//108
void Mission_N09();//109
void Mission_N10();//110
void Mission_N11();//111
void Mission_N12();//112
void Mission_N13();//113
void Mission_N14();//114
void Mission_N15();//115
void Mission_N16();//116
void Act_01();//201
void Act_02();//202
void Act_03();//203
void Act_04();//204
void Act_05();//205
void Act_06();//206
void Act_07();//207
void Act_08();//208
void Act_09();//209
void Act_10();//210
void Act_11();//211
void Act_12();//212
void Act_13();//213
void Act_14();//214
void Act_15();//215
void Act_16();//216
void Act_17();//217
void Act_18();//218
void Act_19();//219
void Act_20();//220
bool dhs(int port);
int rawDh(int port);
void drive(int lspd,int rspd);
void setServ(float angle,int speed);
void dhUpdate();
void ReadEE();
void ReadEE_Fast();
void WriteEE();
void main_match();
void main_test();
//==============//
//=================SEQUENCE=================//
int Sequence[8][100] = {
{201,2,8,8,5,203,9,7,7,6},
{201,1,2,6,202,9,3,0},
{7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7},
{8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8},
{0},
{0},
{0},
{0},
{0}};
//==========================================//
//Upstair: {201,1,2,6,202,9,3,0}
void main(){
if(isMatch) main_match();
else main_test();
return;
}
void main_match(){
BEEP(700,0.25);
printf(" Debug\n\n Init Servo\n (on port %2d ID %3d)",servoPort,servoID);
initServ();
Drive_Init();
if(ReadEEOnStart)ReadEE_Fast();
curSeq = defSequence;
int curStep = 0;
int i=0,Steps=0;
bool runFlag=false;
A:
i=0;
Steps=0;
curStep = 0;
runFlag=false;
int cnt = 0;
while(true){
while(true){
bool cbatt=false;
int batt;
batt = Get_Battery();
if(batt<battMin||batt>battMax)cbatt=true;
switch(curSeq){
case 0:
printf(" MATCH\nChoose Sequence:\n >0< 1\n 2 3\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 1:
printf(" MATCH\nChoose Sequence:\n 0 >1<\n 2 3\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 2:
printf(" MATCH\nChoose Sequence:\n 0 1\n >2< 3\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 3:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 >3<\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 4:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n >4< 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 5:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n 4 >5<\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 6:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n 4 5\n >6< 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 7:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n 4 5\n 6 >7<\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
}
if(Get_Button()||AI(buttonPort))break;
if(Get_BtnLeft()){
BEEP(1000,0.15);
if(--curSeq<0)curSeq=7;
break;
}
if(Get_BtnRight()){
BEEP(1000,0.15);
if(++curSeq>7)curSeq=0;
break;
}
wait(0.05);
}
if(Get_Button()||AI(buttonPort)){
BEEP(1000,0.15);
break;
}
}
dbgLevel = 0;
wait(0.5);
for(i=0;true;i++){
if(Sequence[curSeq][i])Steps++;
else break;
}
if(!Steps){
printf(" Debug\n\n Invalid Sequence %2d\n\n\n\n\n Continue",curSeq);
while(!Get_Button()||AI(buttonPort)){;}
BEEP(1000,0.15);
curStep = 0;
i=0;
Steps=0;
goto A;
}
Steps--;
switch(curSeq){
case 0:
printf(" MATCH\nChoose Sequence:\n >0< 1\n 2 3\n 4 5\n 6 7\n RUNNING SEQ\nPrev Sel Next");
break;
case 1:
printf(" MATCH\nChoose Sequence:\n 0 >1<\n 2 3\n 4 5\n 6 7\n RUNNING SEQ\nPrev Sel Next");
break;
case 2:
printf(" MATCH\nChoose Sequence:\n 0 1\n >2< 3\n 4 5\n 6 7\n RUNNING SEQ\nPrev Sel Next");
break;
case 3:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 >3<\n 4 5\n 6 7\n RUNNING SEQ\nPrev Sel Next");
break;
case 4:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n >4< 5\n 6 7\n RUNNING SEQ\nPrev Sel Next");
break;
case 5:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n 4 >5<\n 6 7\n RUNNING SEQ\nPrev Sel Next");
break;
case 6:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n 4 5\n >6< 7\n RUNNING SEQ\nPrev Sel Next");
break;
case 7:
printf(" MATCH\nChoose Sequence:\n 0 1\n 2 3\n 4 5\n 6 >7<\n RUNNING SEQ\nPrev Sel Next");
break;
}
while(true){
runsub(curStep,0);
BEEP(1000,0.15);
if(++curStep>Steps){
BEEP(1000,0.15);
break;
}
}
if(++curSeq>7)curSeq=7;
drive(0,0);
setServ(45,512);
goto A;
}
void main_test(){
BEEP(700,0.25);
if(ReadEEOnStart)ReadEE_Fast();
curSeq = defSequence;
int curStep = 0;
int i=0,Steps=0;
bool runFlag=false;
A:
i=0;
Steps=0;
curStep = 0;
runFlag=false;
dbgLevel=defdbgLevel;
int cnt = 0;
if(dbgLevel == 2){
while(true){
while(true){
bool cbatt;
int batt;
batt = Get_Battery();
if(++cnt>15&&(batt<battMin||batt>battMax)){
cbatt = true;
if(cnt>30)cnt=0;
}else{
cbatt = false;
if(!batt<battMin&&!batt>battMax)
cnt=0;
}
switch(curSeq){
case 0:
printf(" Debug\nChoose Sequence:\n >0< 1\n 2 3\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 1:
printf(" Debug\nChoose Sequence:\n 0 >1<\n 2 3\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 2:
printf(" Debug\nChoose Sequence:\n 0 1\n >2< 3\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 3:
printf(" Debug\nChoose Sequence:\n 0 1\n 2 >3<\n 4 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 4:
printf(" Debug\nChoose Sequence:\n 0 1\n 2 3\n >4< 5\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 5:
printf(" Debug\nChoose Sequence:\n 0 1\n 2 3\n 4 >5<\n 6 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 6:
printf(" Debug\nChoose Sequence:\n 0 1\n 2 3\n 4 5\n >6< 7\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 7:
printf(" Debug\nChoose Sequence:\n 0 1\n 2 3\n 4 5\n 6 >7<\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
}
if(cnt>29&&cbatt)BEEP(2000,0.25);
else wait(0.05);
if(Get_Button()||AI(buttonPort))break;
if(Get_BtnLeft()){
BEEP(1000,0.15);
if(--curSeq<0)curSeq=7;
break;
}
if(Get_BtnRight()){
BEEP(1000,0.15);
if(++curSeq>7)curSeq=0;
break;
}
}
if(Get_Button()||AI(buttonPort)){
BEEP(1000,0.15);
break;
}
}
while(true){
while(true){
bool cbatt;
int batt;
batt = Get_Battery();
if(++cnt>15&&(batt<battMin||batt>battMax)){
cbatt = true;
if(cnt>30)cnt=0;
}else{
cbatt = false;
if(!batt<battMin&&!batt>battMax)
cnt=0;
}
switch(dbgLevel){
case 0:
printf(" Debug\nChoose dbgLevel:\n\n >0< 1 2\n\n\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 1:
printf(" Debug\nChoose dbgLevel:\n\n 0 >1< 2\n\n\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
case 2:
printf(" Debug\nChoose dbgLevel:\n\n 0 1 >2<\n\n\nBatt:%d%s\nPrev Sel Next",batt,cbatt?"<-ATTENTION":" ");
break;
}
if(cnt>29&&cbatt)BEEP(2000,0.25);
else wait(0.05);
if(Get_Button()||AI(buttonPort))break;
if(Get_BtnLeft()){
BEEP(1000,0.15);
if(--dbgLevel<0)dbgLevel=2;
break;
}
if(Get_BtnRight()){
BEEP(1000,0.15);
if(++dbgLevel>2)dbgLevel=0;
break;
}
}
if(Get_Button()||AI(buttonPort)){
BEEP(1000,0.15);
break;
}
}
}
if(dbgLevel){
printf(" Debug\n\n Init Servo\n (on port %2d ID %3d)",servoPort,servoID);
wait(0.5);
}
initServ();
if(dbgLevel){
printf(" Debug\n\n Loading Sequence %2d",curSeq);
wait(0.5);
}
for(i=0;true;i++){
if(Sequence[curSeq][i])Steps++;
else break;
}
if(!Steps){
printf(" Debug\n\n Invalid Sequence %2d\n\n\n\n\n Continue",curSeq);
while(!Get_Button()||AI(buttonPort)){;}
BEEP(1000,0.15);
curStep = 0;
i=0;
Steps=0;
goto A;
}
Steps--;
while(true){
if(dbgLevel==2){
runsub(curStep,1);
if(curStep==0){
printf(" Debug\n\n\n Cur==>%2d-%s\n Next: %2d-%s\n\n\nPrev Run Next",curStep,subNameC,curStep+1,subNameN);
}else if(curStep==Steps){
printf(" Debug\n\n Prev: %2d-%s\n Cur==>%2d-%s\n\n\n\nPrev Run Next",curStep-1,subNameP,curStep,subNameC);
}else{
printf(" Debug\n\n Prev: %2d-%s\n Cur==>%2d-%s\n Next: %2d-%s\n\n\nPrev Run Next",curStep-1,subNameP,curStep,subNameC,curStep+1,subNameN);
}
while(true){
if(Get_Button()||AI(buttonPort)){
break;
}
if(Get_BtnLeft()){
int buf=0;
while(Get_BtnLeft()){
buf++;
wait(0.01);
if(buf>150){
BEEP(1000,0.15);
printf(" Debug\n\n Return to SeqSel?");
wait(1);
printf(" Debug\n\n Return to SeqSel?\n\n\n\n\nNo Yes");
while(true){
if(Get_BtnLeft()||Get_BtnRight()){
break;
}
}
if(Get_BtnLeft()){
break;
}
if(Get_BtnRight()){
BEEP(1000,0.15);
goto A;
break;
}
}
}
if(Get_BtnLeft()){
BEEP(1000,0.15);
break;
}
BEEP(1000,0.15);
if(--curStep<0)curStep=Steps;
break;
}
if(Get_BtnRight()){
int buf=0;
bool bufFlag=true;
while(Get_BtnRight()){
buf++;
wait(0.01);
if(buf>150){
bufFlag=false;
BEEP(1000,0.15);
printf(" Debug\n\n Run dhUpdate?");
wait(1);
if(useSafedh)
printf(" Debug\n\n Run dhUpdate?\n\n ***NOTE***\n Safe dh Enabled\n\nNo Yes");
else
printf(" Debug\n\n Run dhUpdate?\n\n\n\n\nNo Yes");
while(true){
if(Get_BtnLeft()||Get_BtnRight()){
break;
}
}
if(Get_BtnLeft()){
while(Get_BtnLeft()){;}
}
if(Get_BtnRight()){
BEEP(1000,0.15);
dhUpdate();
break;
}
}
}
if(bufFlag){
BEEP(1000,0.15);
if(++curStep>Steps)curStep=0;
break;
}else break;
}
if(Get_Button()||AI(buttonPort)){
BEEP(1000,0.15);
printf(" Debug\n\nRunning:\n Seq %2d Step %2d",curSeq,curStep);
runFlag=true;
break;
}
}
}
if(runFlag||dbgLevel!=2){
runsub(curStep,0);
if(dbgLevel){
drive(0,0);
BEEP(700,0.25);
wait(dbgDelay);
}
if(runFlag)runFlag=false;
if(++curStep>Steps){
if(dbgLevel!=2){
printf(" Debug\n\n Seq %2d Completed\n\n\n\n\n Continue",curSeq);
drive(0,0);
BEEP(700,0.25);
while(!Get_Button()&&!AI(buttonPort)){;}
BEEP(1000,0.15);
break;
}else{
curStep--;
}
}
}
}
goto A;
}
void runsub(int sub,bool getName){
if(!getName){
switch(Sequence[curSeq][sub]){
case 1:
Drive_Init();
break;
case 2:
Drive_Departure();
break;
case 3:
Drive_UpStair();
break;
case 4:
Drive_Back();
break;
case 5:
Drive_UtlStop();
break;
case 6:
Drive_CrossJunc();
break;
case 7:
Drive_UtlLeft();
break;
case 8:
Drive_UtlRight();
break;
case 9:
Drive_TurnLeft();
break;
case 10:
Drive_TurnRight();
break;
case 11:
Drive_DownStair();
break;
case 101:
Mission_N01();
break;
case 102:
Mission_N02();
break;
case 103:
Mission_N03();
break;
case 104:
Mission_N04();
break;
case 105:
Mission_N05();
break;
case 106:
Mission_N06();
break;
case 107:
Mission_N07();
break;
case 108:
Mission_N08();
break;
case 109:
Mission_N09();
break;
case 110:
Mission_N10();
break;
case 111:
Mission_N11();
break;
case 112:
Mission_N12();
break;
case 113:
Mission_N13();
break;
case 114:
Mission_N14();
break;
case 115:
Mission_N15();
break;
case 116:
Mission_N16();
break;
case 201:
Act_01();
break;
case 202:
Act_02();
break;
case 203:
Act_03();
break;
case 204:
Act_04();
break;
case 205:
Act_05();
break;
case 206:
Act_06();
break;
case 207:
Act_07();
break;
case 208:
Act_08();
break;
case 209:
Act_09();
break;
case 210:
Act_10();
break;
case 211:
Act_11();
break;
case 212:
Act_12();
break;
case 213:
Act_13();
break;
case 214:
Act_14();
break;
case 215:
Act_15();
break;
case 216:
Act_16();
break;
case 217:
Act_17();
break;
case 218:
Act_18();
break;
case 219:
Act_19();
break;
case 220:
Act_20();
break;
}
}else{
char *subName;
int i=0;
for(i=0;i<3;i++){
switch(Sequence[curSeq][sub-1+i]){
case 1:
subName="D_Init";
break;
case 2:
subName="D_Dept";
break;
case 3:
subName="D_UStair";
break;
case 4:
subName="D_Back";
break;
case 5:
subName="D_UtStop";
break;
case 6:
subName="D_CrJunc";
break;
case 7:
subName="D_UtLeft";
break;
case 8:
subName="D_UtRght";
break;
case 9:
subName="D_TuLeft";
break;
case 10:
subName="D_TuRght";
break;
case 11:
subName="D_DStair";
break;
case 101:
subName="M_N01";
break;
case 102:
subName="M_N02";
break;
case 103:
subName="M_N03";
break;
case 104:
subName="M_N04";
break;
case 105:
subName="M_N05";
break;
case 106:
subName="M_N06";
break;
case 107:
subName="M_N07";
break;
case 108:
subName="M_N08";
break;
case 109:
subName="M_N09";
break;
case 110:
subName="M_N10";
break;
case 111:
subName="M_N11";
break;
case 112:
subName="M_N12";
break;
case 113:
subName="M_N13";
break;
case 114:
subName="M_N14";
break;
case 115:
subName="M_N15";
break;
case 116:
subName="M_N16";
break;
case 201:
subName="A_01";
break;
case 202:
subName="A_02";
break;
case 203:
subName="A_03";
break;
case 204:
subName="A_04";
break;
case 205:
subName="A_05";
break;
case 206:
subName="A_06";
break;
case 207:
subName="A_07";
break;
case 208:
subName="A_08";
break;
case 209:
subName="A_09";
break;
case 210:
subName="A_10";
break;
case 211:
subName="A_11";
break;
case 212:
subName="A_12";
break;
case 213:
subName="A_13";
break;
case 214:
subName="A_14";
break;
case 215:
subName="A_15";
break;
case 216:
subName="A_16";
break;
case 217:
subName="A_17";
break;
case 218:
subName="A_18";
break;
case 219:
subName="A_19";
break;
case 220:
subName="A_20";
break;
default:
subName="*INVALID*";
}
switch(i){
case 0:
subNameP=subName;
break;
case 1:
subNameC=subName;
break;
case 2:
subNameN=subName;
}
}
}
return;
}
void initServ(){
if(!isServInit){
ServoPort_Init(servoPort);
isServInit = true;
}
}
void Drive_Init(){//1
int i=0;
for(i=0;i<7;i++){
rawDh(i);
}
}
void Drive_Departure(){//2
drive(Speed_2,Speed_2);
while(!(dhs(0)||dhs(6))){;}
while(dhs(0)||dhs(6)){;}
return;
}
void Drive_UpStair(){//3
setServ(-90,512);
int i=0;
for(i=0;i<7;i++){
dh[i]+=dhdet_3;
}
resettime();
while(true){
if(dhs(6)&&seconds()>4){
drive(upSpeed_3,upSpeed_3);
wait(upDelay_3);
drive(mSpeed_3,mSpeed_3);
break;
}else if(dhs(1)){
drive(lSpeed_3,hSpeed_3);
}else if(dhs(5)){
drive(hSpeed_3,lSpeed_3);
}else if(dhs(2)){
drive(mSpeed_3,hSpeed_3);
}else if(dhs(4)){
drive(hSpeed_3,mSpeed_3);
}else if(!dhs(3)){
drive(tSpeed_3,-tSpeed_3);
}else{
drive(hSpeed_3,hSpeed_3);
}
}
for(i=0;i<7;i++){
dh[i]-=dhdet_3;
}
drive(mSpeed_3,mSpeed_3);
wait(0.5);
}
void Drive_Back(){//4
drive(-mSpeed_4,-mSpeed_4);
wait(backDelay_4);
}
void Drive_UtlStop(){//5
resettime();
while(true){
if(!GetPrevSpeed(0)&&!GetPrevSpeed(3)&&seconds()>3){
drive(0,0);
return;
}else if(dhs(1)){
wait(0.05);
drive(lSpeed_5,hSpeed_5);
}else if(dhs(5)){
wait(0.05);
drive(hSpeed_5,lSpeed_5);
}else if(dhs(2)){
drive(mSpeed_5,hSpeed_5);
}else if(dhs(4)){
drive(hSpeed_5,mSpeed_5);
}else{
drive(hSpeed_5,hSpeed_5);
}
}
}
void Drive_CrossJunc(){//6
while(true){
if(dhs(0)||dhs(6)){
drive(hSpeed_6,hSpeed_6);
while((dhs(0)||dhs(6))){;}
wait(0.1);
return;
}else if(dhs(1)){
drive(lSpeed_6,hSpeed_6);
}else if(dhs(5)){
drive(hSpeed_6,lSpeed_6);
}else if(dhs(2)){
drive(mSpeed_6,hSpeed_6);
}else if(dhs(4)){
drive(hSpeed_6,mSpeed_6);
}else if(!dhs(3)){
drive(tSpeed_6,-tSpeed_6);
}else{
drive(hSpeed_6,hSpeed_6);
}
}
}
void Drive_UtlLeft(){//7
while(true){
if(dhs(0)){
drive(tSpeed_7,tSpeed_7);
wait(btDelay_7);
drive(-tSpeed_7,tSpeed_7);
wait(bttDelay_7);
while(!dhs(2)){;}
return;
}else if(dhs(1)){
drive(lSpeed_7,hSpeed_7);
}else if(dhs(5)){
drive(hSpeed_7,lSpeed_7);
}else if(dhs(2)){
drive(mSpeed_7,hSpeed_7);
}else if(dhs(4)){
drive(hSpeed_7,mSpeed_7);
}else if(!dhs(3)){
drive(tSpeed_7,-tSpeed_7);
}else{
drive(hSpeed_7,hSpeed_7);
}
}
}
void Drive_UtlRight(){//8
while(true){
if(dhs(6)){
drive(tSpeed_8,tSpeed_8);