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mecanum.ino
244
mecanum.ino
@ -1,21 +1,47 @@
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#include <boarddefs.h>
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//#include <boarddefs.h>
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#include <IRremote.h>
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#include <IRremoteInt.h>
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#include <ir_Lego_PF_BitStreamEncoder.h>
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//#include <IRremoteInt.h>
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//#include <ir_Lego_PF_BitStreamEncoder.h>
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#define IR 4
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IRrecv irrecv(IR);
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//GPIO Wheels
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#define WHEEL_FRONT_LEFT_F A0
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#define WHEEL_REAR_LEFT_R A1
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#define WHEEL_REAR_RIGHT_F A2
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#define WHEEL_FRONT_RIGHT_R A3
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#define WHEEL_FRONT_LEFT_R 10
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#define WHEEL_REAR_LEFT_F 9
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#define WHEEL_FRONT_RIGHT_F 8
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#define WHEEL_REAR_RIGHT_R 7
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#define WHEEL_FRONT_RIGHT_F 8
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#define WHEEL_REAR_LEFT_F 9
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#define WHEEL_FRONT_LEFT_R 10
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/*
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//Response from Remote
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#define RFORWARD 4060792887
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#define RBACKWARD 4060752087
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#define RSTRAFE_LEFT 4060768407
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#define RSTRAFE_RIGHT 4060784727
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#define RSTOP 4060801047
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#define RTURN_LEFT 4060750047
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#define RTURN_RIGHT 4060790847
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#define RDIAG_LEFT_FOR 4060786767
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#define RDIAG_RIGHT_BACK 4060778607
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#define RDIAG_RIGHT_FOR 4060782687
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#define RDIAG_LEFT_BACK 4060766367
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//direction bitmaps
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#define DSTOP 0b00000000
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#define DFORWARD 0b11110000
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#define DBACKWARD 0b00001111
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#define DSTRAFE_LEFT 0b01101001
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#define DSTRAFE_RIGHT 0b10010110
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#define DDIAG_LEFT_FOR 0b01100000
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#define DDIAG_RIGHT_BACK 0b00000110
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#define DDIAG_RIGHT_FOR 0b10010000
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#define DDIAG_LEFT_BACK 0b00001001
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#define DTURN_LEFT 0b10100101
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#define DTURN_RIGHT 0b01011010
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/* All Responses
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* 4060792887 ^
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* 4060752087 v
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* 4060768407 <
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@ -56,80 +82,19 @@ void setup() {
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pinMode(WHEEL_FRONT_LEFT_F, OUTPUT);
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}
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void drive(int direction) {
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digitalWrite(WHEEL_FRONT_LEFT_F, direction & 0b10000000 ? LOW : HIGH);
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digitalWrite(WHEEL_FRONT_RIGHT_F, direction & 0b01000000 ? LOW : HIGH);
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digitalWrite(WHEEL_REAR_LEFT_F, direction & 0b00100000 ? LOW : HIGH);
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digitalWrite(WHEEL_REAR_RIGHT_F, direction & 0b00010000 ? LOW : HIGH);
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void stop(){
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digitalWrite(WHEEL_REAR_RIGHT_R, HIGH);
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digitalWrite(WHEEL_REAR_RIGHT_F, HIGH);
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digitalWrite(WHEEL_REAR_LEFT_R, HIGH);
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digitalWrite(WHEEL_REAR_LEFT_F, HIGH);
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digitalWrite(WHEEL_FRONT_RIGHT_R, HIGH);
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digitalWrite(WHEEL_FRONT_RIGHT_F, HIGH);
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digitalWrite(WHEEL_FRONT_LEFT_R, HIGH);
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digitalWrite(WHEEL_FRONT_LEFT_F, HIGH);
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}
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void forward(){
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digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
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digitalWrite(WHEEL_REAR_LEFT_F, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
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}
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void backward(){
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digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
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digitalWrite(WHEEL_REAR_LEFT_R, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
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}
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void strafe_l(){
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digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
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digitalWrite(WHEEL_REAR_LEFT_F, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
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}
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void strafe_r(){
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digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
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digitalWrite(WHEEL_REAR_LEFT_R, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
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}
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void diag_l_f(){
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digitalWrite(WHEEL_REAR_LEFT_F, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
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}
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void diag_r_r(){
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digitalWrite(WHEEL_REAR_LEFT_R, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
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}
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void diag_r_f(){
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digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
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}
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void diag_l_r(){
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digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
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}
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void turn_l(){
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digitalWrite(WHEEL_REAR_RIGHT_R, LOW);
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digitalWrite(WHEEL_REAR_LEFT_F, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_R, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_F, LOW);
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}
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void turn_r(){
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digitalWrite(WHEEL_REAR_RIGHT_F, LOW);
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digitalWrite(WHEEL_REAR_LEFT_R, LOW);
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digitalWrite(WHEEL_FRONT_RIGHT_F, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_R, LOW);
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digitalWrite(WHEEL_FRONT_LEFT_R, direction & 0b00001000 ? LOW : HIGH);
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digitalWrite(WHEEL_FRONT_RIGHT_R, direction & 0b00000100 ? LOW : HIGH);
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digitalWrite(WHEEL_REAR_LEFT_R, direction & 0b00000010 ? LOW : HIGH);
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digitalWrite(WHEEL_REAR_RIGHT_R, direction & 0b00000001 ? LOW : HIGH);
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}
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//MIK IR Remote.pdf S.12 I. Kübler
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unsigned long getIRremote(){
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static unsigned long lastValue = 0;
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decode_results irResults;
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@ -146,66 +111,75 @@ unsigned long getIRremote(){
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void loop() {
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unsigned long remote = getIRremote();
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static unsigned long modus;
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static unsigned long mode;
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static unsigned long lastMode = 0;
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if(remote){
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Serial.println(remote);
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modus = remote;
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mode = remote;
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if(mode != lastMode){
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drive(DSTOP);
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delay(50);
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lastMode = mode;
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}
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}
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if(modus == 4060792887){
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forward();
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}else if(modus == 4060801047){
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stop();
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}else if(modus == 4060752087){
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backward();
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}else if(modus == 4060768407){
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strafe_l();
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}else if(modus == 4060784727){
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strafe_r();
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}else if(modus == 4060750047){
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turn_l();
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}else if(modus == 4060790847){
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turn_r();
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}else if(modus == 4060786767){
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diag_l_f();
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}else if(modus == 4060778607){
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diag_r_r();
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}else if(modus == 4060782687){
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diag_r_f();
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}else if(modus == 4060766367){
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diag_l_r();
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switch(mode){
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case RFORWARD:
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drive(DFORWARD);
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break;
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case RSTOP:
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drive(DSTOP);
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break;
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case RBACKWARD:
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drive(DBACKWARD);
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break;
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case RSTRAFE_LEFT:
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drive(DSTRAFE_LEFT);
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break;
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case RSTRAFE_RIGHT:
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drive(DSTRAFE_RIGHT);
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break;
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case RTURN_LEFT:
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drive(DTURN_LEFT);
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break;
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case RTURN_RIGHT:
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drive(DTURN_RIGHT);
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break;
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case RDIAG_LEFT_FOR:
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drive(DDIAG_LEFT_FOR);
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break;
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case RDIAG_LEFT_BACK:
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drive(DDIAG_LEFT_BACK);
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break;
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case RDIAG_RIGHT_FOR:
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drive(DDIAG_RIGHT_FOR);
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break;
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case RDIAG_RIGHT_BACK:
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drive(DDIAG_RIGHT_BACK);
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break;
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}
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/*
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stop();
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forward();
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delay(1000);
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stop();
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backward();
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delay(1000);
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stop();
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strafe_l();
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delay(1000);
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stop();
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strafe_r();
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delay(1000);
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stop();
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diag_l_f();
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delay(1000);
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stop();
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diag_l_r();
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delay(1000);
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stop();
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diag_r_f();
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delay(1000);
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stop();
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diag_r_r();
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delay(1000);
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stop();
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turn_l();
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delay(1000);
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stop();
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turn_r();
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delay(1000);
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stop();
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if(mode == RFORWARD){
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drive(DFORWARD);
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}else if(mode == RSTOP){
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drive(DSTOP);
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}else if(mode == RBACKWARD){
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drive(DBACKWARD);
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}else if(mode == RSTRAFE_LEFT){
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drive(DSTRAFE_LEFT);
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}else if(mode == RSTRAFE_RIGHT){
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drive(DSTRAFE_RIGHT);
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}else if(mode == RTURN_LEFT){
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drive(DTURN_LEFT);
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}else if(mode == RTURN_RIGHT){
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drive(DTURN_RIGHT);
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}else if(mode == RDIAG_LEFT_FOR){
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drive(DDIAG_LEFT_FOR);
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}else if(mode == RDIAG_RIGHT_BACK){
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drive(DDIAG_RIGHT_BACK);
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}else if(mode == RDIAG_RIGHT_FOR){
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drive(DDIAG_RIGHT_FOR);
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}else if(mode == RDIAG_LEFT_BACK){
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drive(DDIAG_LEFT_BACK);
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}
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*/
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}
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