#include <16F873A.h>

#fuses HS,NOWDT,NOLVP,NOPROTECT
#use delay(CLOCK=20000000) //クロック20MHz
#use RS232(BAUD=9600,xmit=PIN_C6,rcv=PIN_C7)

int i,j;
long a,b,c,vd;
int send;
char ch;int send2;

void p1(){
	for(i=0;i<23;i++){
		output_c(0);
		delay_us(12);
		output_c(7);
		delay_us(11);
	}
}
void p0(){
	output_c(7);
	delay_us(600);
}


#int_rda
void rda_isr(){//受信したよ
	ch=getchar();
	putchar(ch);
}
void main(){
	i=0;j=0;send=8;ch='a';
	a=0;b=0;c=0;vd=0;

	port_b_pullups(true);

	enable_interrupts(INT_RDA);//割り込み
 	enable_interrupts(GLOBAL);//割り込み許可

	setup_adc_ports(AN0);//AD変換のportセット
	setup_adc(ADC_clock_div_32);

	set_adc_channel(0);//ADをa0で

	delay_ms(200);

	while(1){
		vd=0;a=0;b=0;c=0;
		set_adc_channel(0);
		for(i=0;i<5;i++){
			vd=read_adc();
			delay_ms(1);
			a+=vd;
			send2+=input(PIN_B0);
		}
		a=a/5;

		vd=0;
		set_adc_channel(1);
		for(i=0;i<5;i++){
			vd=read_adc();
			delay_ms(1);
			b+=vd;
			send2+=input(PIN_B0);
		}
		b=b/5;

		vd=0;
		set_adc_channel(2);
		for(i=0;i<5;i++){
			vd=read_adc();
			delay_ms(1);
			c+=vd;
			send2+=input(PIN_B0);
		}
		c=c/5;
		if(send2>12)send2=1;
		else send2=0;
			
	//	printf("a%4ld:%4ld;%4ld\r\n",a,b,c);
	//	delay_ms(200);


		if(c>110){//９０以上回転していない

			if(159<c&&c<180){
				if((110<a&&a<130)&&(110<b&&b<130)){
					send=8;//上向き
				}
			}
			else if(159>c){
				if(a<110){
					if(b<110) send=7;
					else if(b>148) send=5;
					else send=6;
				}
				else if(a>130){
					if(b<110) send=1;
					else if(b>130) send=3;
					else send=2;
				}
				else{
					if(b<110) send=0;
					else if(b>130) send=4;
					else send=9;//縦に加速度がかかった
				}
			}
		}
		// a○○\r\n ↓
		/*if(ch=='a') printf("%3ld:%3ld:%3ld\r\n",a,b,c);
		else printf("8:%1d\:%1d\r\n",send,send2);
		delay_ms(100); */

		
		switch(send){
			case 0:
				if(send2==0){
					p1();p0();p1();
					p1();p1();p1();p1();
					p0();   p1();
				}
				else{
					p1();p0();p1();
					p1();p1();p1();p1();
					p1();   p1();
				}
				break;
			case 1:
				if(send2==0){
					p1();p0();p1();
					p1();p0();p0();p0();
					p0();    p1();
				}
				else{
					p1();p0();p1();
					p1();p0();p0();p0();
					p1();   p1();
				}
				break;
			case 2:
				if(send2==0){
					p1();p0();p1();
					p0();p1();p0();p0();
					p0();   p1();
				}
				else{
					p1();p0();p1();
					p0();p1();p0();p0();
					p1();  p1();
				}
				break;
			case 3:
				if(send2==0){
					p1();p0();p1();
					p1();p1();p0();p0();
					p0();  p1();
				}
				else{
					p1();p0();p1();
					p1();p1();p0();p0();
					p1();  p1();
				}
				break;
			case 4:
				if(send2==0){
					p1();p0();p1();
					p0();p0();p1();p0();
					p0();  p1();
				}
				else{
					p1();p0();p1();
					p0();p0();p1();p0();
					p1();  p1();
				}
				break;
			case 5:
				if(send2==0){
					p1();p0();p1();
					p1();p0();p1();p0();
					p0();    p1();
				}
				else{
					p1();p0();p1();
					p1();p0();p1();p0();
					p1(); p1();
				}
				break;
			case 6:
				if(send2==0){
					p1();p0();p1();
					p0();p1();p1();p0();
					p0(); p1();
				}
				else{
					p1();p0();p1();
					p0();p1();p1();p0();
					p1();p1();
				}
				break;
			case 7:
				if(send2==0){
					p1();p0();p1();
					p1();p1();p1();p0();
					p0();
				}
				else{
					p1();p0();p1();
					p1();p1();p1();p0();
					p1();p1();
				}
				break;

			case 8:
				if(send2==0){
					p1();p0();p1();
					p0();p0();p0();p1();
					p0();  p1();
				}
				else{
					p1();p0();p1();
					p0();p0();p0();p1();
					p1(); p1();
				}
				break;
			case 9:
				if(send2==0){
					p1();p0();p1();
					p1();p0();p0();p1();
					p0(); p1();
				}
				else{
					p1();p0();p1();
					p1();p0();p0();p1();
					p1();p1();
				}
				break;				
			default:
				break;
		}
		delay_ms(10);
	}

	
}