int selection(void)
{
int no = 0;
do{
no = inputNo();
switch(no){
case 1:
enter();
break;
case 2:
list();
break;
case 3:
serch();
break;
case 4:
printf("【終了】\n");
break;
default:
printf("1~4までの半角数字でご入力頂きますよう、お願いします。\n");
break;
}
}while(4 != no);
return 0;
}
///*
int main(){ //第3回試走会用
int ball_count = 0;
bool area_flag = OFF;
float serch_posi = 0.0;
float move_dis = 0.0;
state = init_state;
// color = RED;
while(1){ //while開始
switch(state){
case init_state:
initialize();
state = free_ball;
//state = ball_search;
//state = finish;
break;
case free_ball:
Line_Trace(3);
turn(85.0, FAST);
wait(0.25);
servo_throw();
wait(0.25);
servo_ini();
wait(0.25);
turn(-85.0,FAST);
Line_Trace(2);
state = ball_search;
break;
case ball_search:
if(move_flag){
while(l_Y <= move_dis)
Line_Trace();
stop();
move_flag = OFF;
}
else{
if(color != NO_BALL){
while(l_Y <= serch_posi)
Line_Trace();
stop();
}
}
serch();
state = ball_shoot;
//if((l_time+35) > LIMIT)
// state = finish;
break;
case ball_shoot:
wait(0.25);
//color = what_color();
if(color != NO_BALL){ //色を得られたら
//turn(180, FAST);
//wait(0.25);
if(area_flag){
if(color == YELLO)
Line_Trace(color);
else
Line_Trace(color + 1);
}
else{
if(color == YELLO)
Line_Trace(color - 1);
else
Line_Trace(color);
}
Ball_Shoot();
ball_count++;
if(ball_count == B_GOAL || (l_time+35) > LIMIT){
state = finish;
break;
}
if(color == YELLO)
Line_Trace(color - 1);
else
Line_Trace(color);
}
//目標まで行ったかの確認
state = ball_search;
if(move_flag)
state = area_move;
break;
case area_move:
move_dis = 250;
if(serch_posi >= 1200 - move_dis) //行き過ぎ防止用
move_dis = 0;
serch_posi += move_dis;
area_flag = ON;
state = ball_search;
break;
case finish:
fine();
break;
}//switch終了
}//while終了
}//main終了
