📄 strategies.c
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//********************************************************
//This function is for fast ATTACK!
//********************************************************
void S_fast(void)
{
char i,j;
unsigned int temp;
int encoder_slave=0;
char line;
static bit jump;
static char mode=0;
///*****LAN NHAN 1
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0; //jumping to another mode
break;
//mode 2
case 0x18:
up_manual(); //len
LED=4444;
break;
//mode 3:
case 0x09:
down_manual(); //xuong
LED =5555;
break;
default:
PWM1=0;
//PORTB.4=1;
Vleft=0;
Vright=0;
LED =1111;
}
};
//****LAN NHAN 2
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
// MODE_MOVING_BLUE();
mode=1;
break;
//mode 3:
case 0x09:
// MODE_RETRY_CHKPOINT_1_B();
mode=2;
break;
default:
Vleft=0;
Vright=0;
if(mode==1) LED=2211;
else if(mode==2) LED=2002;
else LED =2222;
if(mode==0) if(!_START_) MODE_MOVING_BLUE();
if((mode==1)&&(!_START_)) {MODE_RETRY_CHKPOINT_1_B();mode=0;}
if((mode==2)&&(!_START_)) {MODE_RETRY_CHKPOINT_2_B();mode=0;}
}
};
//****LAN NHAN 3
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
// MODE_RETRY_CHKPOINT_2_B();
mode=1;
break;
//mode 3:
case 0x09:
mode=2;
break;
default:
Vleft=0;
Vright=0;
LED =3333;
}
};
//****LAN NHAN 4
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
mode=1;
//MODE_MOVING_RED();
break;
//mode 3:
case 0x09:
mode=2;
//MODE_RETRY_CHKPOINT_1_R();
break;
default:
Vleft=0;
Vright=0;
if(mode==1) LED=4411;
else if(mode==2) LED=4422;
else LED=4444;
if(mode==0) if(!_START_) MODE_MOVING_RED();
if((mode==1)&&(!_START_)) {MODE_RETRY_CHKPOINT_1_R();mode=0;}
if((mode==2)&&(!_START_)) {MODE_RETRY_CHKPOINT_2_R();mode=0;}
}
};
//****LAN NHAN 5
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
// MODE_RETRY_CHKPOINT_2_R();
//mode=1;
while(1)
{Vleft=350;Vright=350;}
break;
//mode 3:
case 0x09:
// mode=2;
while(1)
{Vleft=350;Vright=350;}
break;
default:
Vleft=0;
Vright=0;
LED =5555;
}
};
}
//********************************************************
//This function is for slow ATTACK!
//********************************************************
void S_slow(void)
{
char i,j;
unsigned int temp;
int encoder_slave=0;
char line;
static bit jump;
static char mode=0;
///*****LAN NHAN 1
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0; //jumping to another mode
break;
//mode 2
case 0x18:
up_manual(); //len
LED=4444;
break;
//mode 3:
case 0x09:
down_manual(); //xuong
LED =5555;
break;
default:
PWM1=0;
//PORTB.4=1;
Vleft=0;
Vright=0;
LED =1111;
}
};
//****LAN NHAN 2
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
// MODE_MOVING_BLUE();
mode=1;
break;
//mode 3:
case 0x09:
// MODE_RETRY_CHKPOINT_1_B();
mode=2;
break;
default:
Vleft=0;
Vright=0;
if(mode==1) LED=2211;
else if(mode==2) LED=2002;
else LED =2222;
if(mode==0) if(!_START_) MODE_MOVING_BLUE_SLOW_V();
if((mode==1)&&(!_START_)) {MODE_RETRY_CHKPOINT_1_B_SLOW_V();mode=0;}
if((mode==2)&&(!_START_)) {MODE_RETRY_CHKPOINT_2_B_SLOW_V();mode=0;}
}
};
//****LAN NHAN 3
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
// MODE_RETRY_CHKPOINT_2_B();
mode=1;
break;
//mode 3:
case 0x09:
mode=2;
break;
default:
Vleft=0;
Vright=0;
LED =3333;
}
};
//****LAN NHAN 4
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
mode=1;
//MODE_MOVING_RED();
break;
//mode 3:
case 0x09:
mode=2;
//MODE_RETRY_CHKPOINT_1_R();
break;
default:
Vleft=0;
Vright=0;
if(mode==1) LED=4411;
else if(mode==2) LED=4422;
else LED=4444;
if(mode==0) if(!_START_) MODE_MOVING_RED_SLOW_V();
if((mode==1)&&(!_START_)) {MODE_RETRY_CHKPOINT_1_R_SLOW_V();mode=0;}
if((mode==2)&&(!_START_)) {MODE_RETRY_CHKPOINT_2_R_SLOW_V();mode=0;}
}
};
//****LAN NHAN 5
jump=1;
while(jump)
{
switch(Button)
{
//mode 1
case 0x11:
delay_ms(150);
jump=0;
break;
//mode 2
case 0x18:
// MODE_RETRY_CHKPOINT_2_R();
//mode=1;
while(1)
{Vleft=350;Vright=350;}
break;
//mode 3:
case 0x09:
// mode=2;
while(1)
{Vleft=350;Vright=350;}
break;
default:
Vleft=0;
Vright=0;
LED =5555;
}
};
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