//////////////////////////入力のＩＯを処理する///////////////////////////////////////
// 入力IO
byte ShiftData ;
byte ShiftIn(int dataPin, int clockPin, int loadPin) //前半のビット処理
{
  unsigned char x ;
  int  i ;
  x = 0;
  digitalWrite(loadPin, LOW) ;         // 入力端子(A-H)の情報をレジスタに読込めと指示する
  digitalWrite(loadPin, HIGH) ;
  x = x | (digitalRead(dataPin) << 7) ;// H端子の内容を受信する
  for (i = 6 ; i >= 0 ; i--) {         // G端子〜A端子まで繰り返す
    digitalWrite(clockPin, HIGH) ;        // 1ビットシフト指示を出す
    digitalWrite(clockPin, LOW) ;
    x = x | (digitalRead(dataPin) << i) ; // シフトされた内容を受信する
  }
  return x ;
}
byte ShiftIn2(int dataPin, int clockPin, int loadPin) //後半のビット処理
{
  unsigned char x ;
  int  i ;
  x = 0;
  for (i = 7 ; i >= 0 ; i--) {         // G端子〜A端子まで繰り返すIC２個目
    digitalWrite(clockPin, HIGH) ;        // 1ビットシフト指示を出す
    digitalWrite(clockPin, LOW) ;
    x = x | (digitalRead(dataPin) << i) ; // シフトされた内容を受信する
  }
  return x ;
}
//////////////////////////入力のＩＯを処理する（終わり）///////////////////////////////////////
//////////////////////////変数初期化///////////////////////////////////////
//初期化
int Motor_5F = 0;
int Motor_5B = 0;
int Motor_6F = 0;
int Motor_6B = 0;
int Motor_7F = 0;
int Motor_7B = 0;
int Motor_8F = 0;
int Motor_8B = 0;
int Motor_1F = 0;
int Motor_1B = 0;
int Motor_2F = 0;
int Motor_2B = 0;
int Motor_3F = 0;
int Motor_3B = 0;
int Motor_4F = 0;
int Motor_4B = 0;
int MortorIO_1 = 0;
int MortorIO_2 = 0;

int MortorIO_5F = 0;
int MortorIO_5B = 0;
int MortorIO_6F = 0;
int MortorIO_6B = 0;
int MortorIO_7F = 0;
int MortorIO_7B = 0;
int MortorIO_8F = 0;
int MortorIO_8B = 0;
int MortorIO_1F = 0;
int MortorIO_1B = 0;
int MortorIO_2F = 0;
int MortorIO_2B = 0;
int MortorIO_3F = 0;
int MortorIO_3B = 0;
int MortorIO_4F = 0;
int MortorIO_4B = 0;


int ButtonIO_S7 = 0;
int ButtonIO_S5 = 0;
int ButtonIO_S3 = 0;
int ButtonIO_S1 = 0;
int ButtonIO_S0 = 0;
int ButtonIO_S2 = 0;
int ButtonIO_S4 = 0;
int ButtonIO_S6 = 0;

int ButtonIO_SE = 0;
int ButtonIO_SC = 0;
int ButtonIO_SA = 0;
int ButtonIO_S8 = 0;
int ButtonIO_S9 = 0;
int ButtonIO_SB = 0;
int ButtonIO_SD = 0;
int ButtonIO_SF = 0;



long Analog_L_X_ini_Value;
long Analog_L_Y_ini_Value;
long Analog_R_X_ini_Value;
long Analog_R_Y_ini_Value;

long AnalogZensin_L;
long AnalogKoutai_L;
long AnalogMigi_L;
long AnalogHidari_L;
long AnalogZensin_R;
long AnalogKoutai_R;
long AnalogMigi_R;
long AnalogHidari_R;
int Mode_OyaKo;

uint8_t input[30];   // 文字列格納用

int i = 0;  // 文字数のカウンタ
uint8_t L_Zengo_Val;
uint8_t L_sayuu_Val;
uint8_t R_Zengo_Val;
uint8_t R_sayuu_Val;

uint8_t PSB_PAD_UP_Val;
uint8_t PSB_PAD_DOWN_Val;
uint8_t PSB_PAD_RIGHT_Val;
uint8_t PSB_PAD_LEFT_Val;
uint8_t PSB_CIRCLE_Val;
uint8_t PSB_CROSS_Val;
uint8_t PSB_SQUARE_Val;
uint8_t PSB_TRIANGLE_Val;
uint8_t PSB_L1_Val;
uint8_t PSB_R1_Val;
uint8_t PSB_L2_Val;
uint8_t PSB_R2_Val;
uint8_t PSB_L3_Val;
uint8_t PSB_R3_Val;
uint8_t PSB_START_Val;
uint8_t PSB_SELECT_Val;
uint8_t MyMode1_Val;
uint8_t MyMode2_Val;
uint8_t MyMode3_Val;
uint8_t MyMode4_Val;
uint8_t MyMode5_Val;

int First_Check;

//モーター用変数
uint8_t Mortor01_MortorType;//モーター種類
int16_t Mortor01_NowSpeed;//モーター加速用カウント
int16_t Mortor01_TargetSpeed;//モーター加速用カウント
uint8_t Mortor01_InputMode;//モータ指令
uint8_t Mortor01_BrakeFlag;
uint8_t Mortor01_EMGBrakeFlag;
uint8_t Mortor02_MortorType;//モーター種類
int16_t Mortor02_NowSpeed;//モーター加速用カウント
int16_t Mortor02_TargetSpeed;//モーター加速用カウント
uint8_t Mortor02_InputMode;//モータ指令
uint8_t Mortor02_BrakeFlag;
uint8_t Mortor02_EMGBrakeFlag;
uint8_t Mortor03_MortorType;//モーター種類
int16_t Mortor03_NowSpeed;//モーター加速用カウント
int16_t Mortor03_TargetSpeed;//モーター加速用カウント
uint8_t Mortor03_InputMode;//モータ指令
uint8_t Mortor03_BrakeFlag;
uint8_t Mortor03_EMGBrakeFlag;
uint8_t Mortor04_MortorType;//モーター種類
int16_t Mortor04_NowSpeed;//モーター加速用カウント
int16_t Mortor04_TargetSpeed;//モーター加速用カウント
uint8_t Mortor04_InputMode;//モータ指令
uint8_t Mortor04_BrakeFlag;
uint8_t Mortor04_EMGBrakeFlag;
uint8_t Mortor05_MortorType;//モーター種類
int16_t Mortor05_NowSpeed;//モーター加速用カウント
int16_t Mortor05_TargetSpeed;//モーター加速用カウント
uint8_t Mortor05_InputMode;//モータ指令
uint8_t Mortor05_BrakeFlag;
uint8_t Mortor05_EMGBrakeFlag;
uint8_t Mortor06_MortorType;//モーター種類
int16_t Mortor06_NowSpeed;//モーター加速用カウント
int16_t Mortor06_TargetSpeed;//モーター加速用カウント
uint8_t Mortor06_InputMode;//モータ指令
uint8_t Mortor06_BrakeFlag;
uint8_t Mortor06_EMGBrakeFlag;
uint8_t Mortor07_MortorType;//モーター種類
int16_t Mortor07_NowSpeed;//モーター加速用カウント
int16_t Mortor07_TargetSpeed;//モーター加速用カウント
uint8_t Mortor07_InputMode;//モータ指令
uint8_t Mortor07_BrakeFlag;
uint8_t Mortor07_EMGBrakeFlag;
uint8_t Mortor08_MortorType;//モーター種類
int16_t Mortor08_NowSpeed;//モーター加速用カウント
int16_t Mortor08_TargetSpeed;//モーター加速用カウント
uint8_t Mortor08_InputMode;//モータ指令
uint8_t Mortor08_BrakeFlag;
uint8_t Mortor08_EMGBrakeFlag;
char MyStr;

int16_t ScanCount;
unsigned long Beftime;
//////////////////////////変数初期化（終わり）///////////////////////////////////////
//////////////////////////セットアップ（電源ＯＮ後１回だけ処理）///////////////////////////////////////
void setup() {
  delay(1000);
  //シリアル通信の初期化
  Serial.begin(57600) ;
  //OUT_Motor
  pinMode(2, OUTPUT);
  pinMode(4, OUTPUT);
  //OUT_PWM_Motor
  pinMode(3, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);
  //I/O_OUT_PIN
  pinMode(12, OUTPUT) ;   // 制御するピンは全て出力に設定する
  pinMode(13, OUTPUT) ;
  pinMode(14,  OUTPUT) ;
  // 74HC165のピン情報初期化
  pinMode(16, INPUT) ;
  pinMode(17, OUTPUT) ;
  pinMode(15, OUTPUT) ;
  digitalWrite(15, HIGH) ;
  digitalWrite(17, LOW) ;



  //モーター用加速変数設定値（５０を基本。これ以上は大きくしない方が良い。小さいモーターであればＯＫ。０１と０４は数値に関係なくＯＮ　ＯＦＦされる）
  Mortor01_MortorType = 50;//ゆっくりＯＮは無効
  Mortor02_MortorType = 50;
  Mortor03_MortorType = 50;
  Mortor04_MortorType = 50;//ゆっくりＯＮは無効
  Mortor05_MortorType = 50;
  Mortor06_MortorType = 50;
  Mortor07_MortorType = 50;
  Mortor08_MortorType = 50;
}
//////////////////////////セットアップ（終わり）///////////////////////////////////////
//////////////////////////プログラムメイン///////////////////////////////////////
void loop() {
  //////////////////////////コントローラーからのシリアル通信の状態取得///////////////////////////////////////
  if (Serial.available()) {
    input[i] = Serial.read();
    // 文字数が6以上 or 末尾文字
    if (input[i] == 255) {
      //インデックス
      i = 1;
    } else if (i == 1) {
      L_sayuu_Val = constrain(input[i], 0, 255);
      i++;
    } else if (i == 2) {
      L_Zengo_Val = constrain(input[i], 0, 255);
      i++;
    } else if (i == 3) {
      R_sayuu_Val = constrain(input[i], 0, 255);
      //no use
      i++;
    } else if (i == 4) {
      R_Zengo_Val = constrain(input[i], 0, 255);
      i++;
      //no use
    } else if (i == 5) {
      //KeyPad1 = ps2x.Button(PSB_PAD_UP) + ps2x.Button(PSB_PAD_DOWN) * 2 + ps2x.Button(PSB_PAD_RIGHT) * 4 + ps2x.Button(PSB_PAD_LEFT) * 8 +  ps2x.Button(PSB_L1) * 16 + ps2x.Button(PSB_R1) * 32 + ps2x.Button(PSB_L3) * 64;
      uint8_t buffer_value1 = constrain(input[i], 0, 255);
      PSB_PAD_UP_Val = buffer_value1 & 0b00000001;
      PSB_PAD_DOWN_Val = buffer_value1 & 0b00000010;
      PSB_PAD_DOWN_Val = PSB_PAD_DOWN_Val >> 1;
      PSB_PAD_RIGHT_Val = buffer_value1 & 0b00000100;
      PSB_PAD_RIGHT_Val = PSB_PAD_RIGHT_Val >> 2;
      PSB_PAD_LEFT_Val = buffer_value1 & 0b00001000;
      PSB_PAD_LEFT_Val = PSB_PAD_LEFT_Val >> 3;
      PSB_L1_Val = buffer_value1 & 0b00010000;
      PSB_L1_Val = PSB_L1_Val >> 4;
      PSB_R1_Val = buffer_value1 & 0b00100000;
      PSB_R1_Val = PSB_R1_Val >> 5;
      PSB_L3_Val = buffer_value1 & 0b01000000;
      PSB_L3_Val = PSB_L3_Val >> 6;
      i++;
    } else if (i == 6) {
      //KeyPad2 = ps2x.Button(PSB_CIRCLE) + ps2x.Button(PSB_CROSS) * 2 + ps2x.Button(PSB_SQUARE) * 4 + ps2x.Button(PSB_TRIANGLE) * 8  + ps2x.Button(PSB_L2) * 16 + ps2x.Button(PSB_R2) * 32 + ps2x.Button(PSB_R3) * 64;
      uint8_t buffer_value2 = constrain(input[i], 0, 255);
      PSB_CIRCLE_Val = buffer_value2 & 0b00000001;
      PSB_CROSS_Val = buffer_value2 & 0b00000010;
      PSB_CROSS_Val = PSB_CROSS_Val >> 1;
      PSB_SQUARE_Val = buffer_value2 & 0b00000100;
      PSB_SQUARE_Val = PSB_SQUARE_Val >> 2;
      PSB_TRIANGLE_Val = buffer_value2 & 0b00001000;
      PSB_TRIANGLE_Val = PSB_TRIANGLE_Val >> 3;
      PSB_L2_Val = buffer_value2 & 0b00010000;
      PSB_L2_Val = PSB_L2_Val >> 4;
      PSB_R2_Val = buffer_value2 & 0b00100000;
      PSB_R2_Val = PSB_R2_Val >> 5;
      PSB_R3_Val = buffer_value2 & 0b01000000;
      PSB_R3_Val = PSB_R3_Val >> 6;
      i++;
    } else if (i == 7) {
      //KeyPad3 = ps2x.Button(PSB_START)  + ps2x.Button(PSB_SELECT)  * 2;
      uint8_t buffer_value3 = constrain(input[i], 0, 255);
      PSB_START_Val = buffer_value3 & 0b00000001;
      PSB_SELECT_Val = buffer_value3 & 0b00000010;
      PSB_SELECT_Val = PSB_SELECT_Val >> 1;
      MyMode1_Val = buffer_value3 & 0b00000100;
      MyMode1_Val = MyMode1_Val >> 2;
      MyMode2_Val = buffer_value3 & 0b00001000;
      MyMode2_Val = MyMode2_Val >> 3;
      MyMode3_Val = buffer_value3 & 0b00010000;
      MyMode3_Val = MyMode3_Val >> 4;
      MyMode4_Val = buffer_value3 & 0b00100000;
      MyMode4_Val = MyMode4_Val >> 5;
      MyMode5_Val = buffer_value3 & 0b01000000;
      MyMode5_Val = MyMode5_Val >> 6;
      i++;
      if (First_Check == 0) {

        Analog_L_X_ini_Value = L_sayuu_Val;
        Analog_L_Y_ini_Value = L_Zengo_Val;
        Analog_R_X_ini_Value = R_sayuu_Val;
        Analog_R_Y_ini_Value = R_Zengo_Val;
        AnalogZensin_L = Analog_L_Y_ini_Value + 25;
        AnalogKoutai_L = Analog_L_Y_ini_Value - 25;
        AnalogMigi_L = Analog_L_X_ini_Value - 25;
        AnalogHidari_L = Analog_L_X_ini_Value + 25;
        AnalogZensin_R = Analog_R_Y_ini_Value + 25;
        AnalogKoutai_R = Analog_R_Y_ini_Value - 25;
        AnalogMigi_R = Analog_R_X_ini_Value - 25;
        AnalogHidari_R = Analog_R_X_ini_Value + 25;
        First_Check = 1;

      }

    } else {
      //i++;
    }
  }
  //////////////////////////コントローラーからのシリアル通信の状態取得（終わり）///////////////////////////////////////
  //////////////////////////７４ＨＣ５９５の処理///////////////////////////////////////
  //Motor_Group1のIO形成
  if (Motor_5F == 1) {
    MortorIO_5F = 1;
  }//5F-analogWrite(6, 255)_A_1
  if (Motor_5B == 1) {
    MortorIO_5B = 2;
  }//5B-analogWrite(6, 255)_B_1
  if (Motor_6F == 1) {
    MortorIO_6F = 4;
  }//6F-analogWrite(9, 255);_C_1
  if (Motor_6B == 1) {
    MortorIO_6B = 8;
  }//6B-analogWrite(9, 255);_D_1
  if (Motor_7F == 1) {
    MortorIO_7F = 64;
  }//7F-analogWrite(11, 255);_G_1
  if (Motor_7B == 1) {
    MortorIO_7B = 128;
  }//7B-analogWrite(11, 255);_H_1
  if (Motor_8F == 1) {
    MortorIO_8F = 16;
  }//8F-analogWrite(10, 255);_E_1
  if (Motor_8B == 1) {
    MortorIO_8B = 32;
  }//8F-analogWrite(10, 255);_F_1
  if (Motor_5F == 0) {
    MortorIO_5F = 0;
  }
  if (Motor_5B == 0) {
    MortorIO_5B = 0;
  }
  if (Motor_6F == 0) {
    MortorIO_6F = 0;
  }
  if (Motor_6B == 0) {
    MortorIO_6B = 0;
  }
  if (Motor_7F == 0) {
    MortorIO_7F = 0;
  }
  if (Motor_7B == 0) {
    MortorIO_7B = 0;
  }
  if (Motor_8F == 0) {
    MortorIO_8F = 0;
  }
  if (Motor_8B == 0) {
    MortorIO_8B = 0;
  }
  MortorIO_1 = MortorIO_5F + MortorIO_5B + MortorIO_6F + MortorIO_6B + MortorIO_7F + MortorIO_7B + MortorIO_8F + MortorIO_8B;
  //Motor_Group2のIO形成
  if (Motor_1F == 1) {
    MortorIO_1F = 1;
  }//1F-digitalWrite(2, HIGH);_A_2
  if (Motor_1B == 1) {
    MortorIO_1B = 2;
  }//1B-digitalWrite(2, HIGH);_B_2
  if (Motor_2F == 1) {
    MortorIO_2F = 4;
  }//2F-analogWrite(3, 255);_C_2
  if (Motor_2B == 1) {
    MortorIO_2B = 8;
  }//2B-analogWrite(3, 255);_D_2
  if (Motor_3F == 1) {
    MortorIO_3F = 16;
  }//3F-analogWrite(5, 255);_E_2
  if (Motor_3B == 1) {
    MortorIO_3B = 32;
  }//3B-analogWrite(5, 255);_F_2
  if (Motor_4F == 1) {
    MortorIO_4F = 64;
  }//4F-digitalWrite(4, HIGH);_G_2
  if (Motor_4B == 1) {
    MortorIO_4B = 128;
  }//4B-digitalWrite(4, HIGH);_H_2
  if (Motor_1F == 0) {
    MortorIO_1F = 0;
  }
  if (Motor_1B == 0) {
    MortorIO_1B = 0;
  }
  if (Motor_2F == 0) {
    MortorIO_2F = 0;
  }
  if (Motor_2B == 0) {
    MortorIO_2B = 0;
  }
  if (Motor_3F == 0) {
    MortorIO_3F = 0;
  }
  if (Motor_3B == 0) {
    MortorIO_3B = 0;
  }
  if (Motor_4F == 0) {
    MortorIO_4F = 0;
  }
  if (Motor_4B == 0) {
    MortorIO_4B = 0;
  }
  MortorIO_2 = MortorIO_1F + MortorIO_1B + MortorIO_2F + MortorIO_2B + MortorIO_3F + MortorIO_3B + MortorIO_4F + MortorIO_4B;

  digitalWrite(12, LOW) ;
  shiftOut(13, 14, MSBFIRST, MortorIO_1) ;
  shiftOut(13, 14, MSBFIRST, MortorIO_2) ;
  digitalWrite(12, HIGH) ;        // ラッチ信号を出す

  //////////////////////////７４ＨＣ５９５の処理（終わり）///////////////////////////////////////
  //////////////////////////７４ＨＣ１６５の処理///////////////////////////////////////
  //入力IO読み取り
  byte dt ;
  byte dt2 ;
  dt = ShiftIn(16, 17, 15) ;//１個目のＩＣを読む
  ShiftData = dt ;
  //Serial.print("01_");
  //Serial.println(dt, BIN) ;
  dt2 = ShiftIn2(16, 17, 15) ;//２個目のＩＣを読む
  ShiftData = dt2 ;
  //Serial.print("02_");
  //Serial.println(dt2, BIN) ;


  //入力IO_Group1のフラグ化
  ButtonIO_S9 = dt & 0b00000001; //A_1-S9
  ButtonIO_SB = dt & 0b00000010;
  ButtonIO_SB = ButtonIO_SB >> 1; //B_1-SB
  ButtonIO_SC = dt & 0b00000100;
  ButtonIO_SC = ButtonIO_SC >> 2; //C_1-SC
  ButtonIO_SE = dt & 0b00001000;
  ButtonIO_SE = ButtonIO_SE >> 3; //D_1-SE
  ButtonIO_SF = dt & 0b00010000;
  ButtonIO_SF = ButtonIO_SF >> 4; //E_1-SF
  ButtonIO_SD = dt & 0b00100000;
  ButtonIO_SD = ButtonIO_SD >> 5; //F_1-SD
  ButtonIO_SA = dt & 0b01000000;
  ButtonIO_SA = ButtonIO_SA >> 6; //G_1-SA
  ButtonIO_S8 = dt & 0b10000000;
  ButtonIO_S8 = ButtonIO_S8 >> 7; //H_1-S8
  //and処理でマスクをかけた後、ビットシフトして、10判定

  //入力IO_Group2のフラグ化
  ButtonIO_S1 = dt2 & 0b00000001; //A_2-S1
  ButtonIO_S3 = dt2 & 0b00000010;
  ButtonIO_S3 = ButtonIO_S3 >> 1; //B_2-S3
  ButtonIO_S4 = dt2 & 0b00000100;
  ButtonIO_S4 = ButtonIO_S4 >> 2; //C_2-S4
  ButtonIO_S6 = dt2 & 0b00001000;
  ButtonIO_S6 = ButtonIO_S6 >> 3; //D_2-S6
  ButtonIO_S7 = dt2 & 0b00010000;
  ButtonIO_S7 = ButtonIO_S7 >> 4; //E_2-S7
  ButtonIO_S5 = dt2 & 0b00100000;
  ButtonIO_S5 = ButtonIO_S5 >> 5; //F_2-S5
  ButtonIO_S2 = dt2 & 0b01000000;
  ButtonIO_S2 = ButtonIO_S2 >> 6; //G_2-S2
  ButtonIO_S0 = dt2 & 0b10000000;
  ButtonIO_S0 = ButtonIO_S0 >> 7; //H_2-S0
  //and処理でマスクをかけた後、ビットシフトして、10判定
  //////////////////////////７４ＨＣ１６５の処理（おわり）///////////////////////////////////////
  //////////////////////////コントローラーからのスティックによって速度を変える処理///////////////////////////////////////
  Mode_OyaKo = MyMode1_Val;;

  int Myspeed_MigiUe;
  int Myspeed_MigiSita;
  int Myspeed_HidariUe;
  int Myspeed_HidarSita;

  int ZengoBufferValue_L;
  int SayuuBufferValue_L;
  int ZengoBufferValue_R;
  int SayuuBufferValue_R;

  int Zengo_Sayuu_Handan;


  //AnalogINI
  if (PSB_START_Val == 1 ) {
    Analog_L_X_ini_Value = L_sayuu_Val;
    Analog_L_Y_ini_Value = L_Zengo_Val;
    Analog_R_X_ini_Value = R_sayuu_Val;
    Analog_R_Y_ini_Value = R_Zengo_Val;
    AnalogKoutai_L = Analog_L_Y_ini_Value + 25;
    AnalogZensin_L = Analog_L_Y_ini_Value - 25;
    AnalogHidari_L = Analog_L_X_ini_Value - 25;
    AnalogMigi_L = Analog_L_X_ini_Value + 25;
    AnalogKoutai_R = Analog_R_Y_ini_Value + 25;
    AnalogZensin_R = Analog_R_Y_ini_Value - 25;
    AnalogHidari_R = Analog_R_X_ini_Value - 25;
    AnalogMigi_R = Analog_R_X_ini_Value + 25;
    First_Check = 1;
  }
  //left stick
  if (abs(L_Zengo_Val - AnalogKoutai_L) >= abs(AnalogZensin_L - L_Zengo_Val)) {
    ZengoBufferValue_L = abs(L_Zengo_Val - AnalogKoutai_L);
  } else {
    ZengoBufferValue_L = abs(AnalogZensin_L - L_Zengo_Val);
  }
  if (abs(L_sayuu_Val - AnalogMigi_L) >= abs(  AnalogHidari_L - L_sayuu_Val)) {
    SayuuBufferValue_L = abs(L_sayuu_Val - AnalogMigi_L);
  } else {
    SayuuBufferValue_L = abs(AnalogHidari_L - L_sayuu_Val);
  }
  //right stick
  if (abs(R_Zengo_Val - AnalogKoutai_R) >= abs(AnalogZensin_R - R_Zengo_Val)) {
    ZengoBufferValue_R = abs(R_Zengo_Val - AnalogKoutai_R);
  } else {
    ZengoBufferValue_R = abs(AnalogZensin_R - R_Zengo_Val);
  }
  if (abs(R_sayuu_Val - AnalogMigi_R) >= abs(  AnalogHidari_R - R_sayuu_Val)) {
    SayuuBufferValue_R = abs(R_sayuu_Val - AnalogMigi_R);
  } else {
    SayuuBufferValue_R = abs(AnalogHidari_R - R_sayuu_Val);
  }

  //比較

  if (ZengoBufferValue_L >= SayuuBufferValue_L) {
    if (ZengoBufferValue_L >= SayuuBufferValue_R) {
      if (ZengoBufferValue_L >= ZengoBufferValue_R) {
        Zengo_Sayuu_Handan = 1; //L-zengo
      } else {
        Zengo_Sayuu_Handan = 3; //R-zengo
      }
    } else {
      if (SayuuBufferValue_R >= ZengoBufferValue_R) {
        Zengo_Sayuu_Handan = 4; //R-sayuu
      } else {
        Zengo_Sayuu_Handan = 3; //R-zengo
      }
    }
  } else {
    if (SayuuBufferValue_L >= SayuuBufferValue_R) {
      if (SayuuBufferValue_L >= ZengoBufferValue_R) {
        Zengo_Sayuu_Handan = 2; //L-sayuu
      } else {
        Zengo_Sayuu_Handan = 3; //R-zengo
      }
    } else {
      if (SayuuBufferValue_R >= ZengoBufferValue_R) {
        Zengo_Sayuu_Handan = 4; //R-sayuu
      } else {
        Zengo_Sayuu_Handan = 3; //R-zengo
      }
    }
  }
  //////////////////////////コントローラーからのスティックによって速度を変える処理（終わり）///////////////////////////////////////
  //////////////////////////モーターへ指令をする///////////////////////////////////////
  if (First_Check == 1) {//コントローラー未接続防止
    //前進
    if (L_Zengo_Val <= 32 && Zengo_Sayuu_Handan == 1 || R_Zengo_Val <= 32 && Zengo_Sayuu_Handan == 3 ) {
      Mortor05_InputMode = 1;
      Mortor05_TargetSpeed = 30000;
      Mortor06_InputMode = 1;
      Mortor06_TargetSpeed = 30000;
      Mortor07_InputMode = 1;
      Mortor07_TargetSpeed = 30000;
      Mortor08_InputMode = 1;
      Mortor08_TargetSpeed = 30000;
    }  else if (L_Zengo_Val <= 62 && Zengo_Sayuu_Handan == 1 || R_Zengo_Val <= 62 && Zengo_Sayuu_Handan == 3   )  {
      Mortor05_InputMode = 1;
      Mortor05_TargetSpeed = 20000;
      Mortor06_InputMode = 1;
      Mortor06_TargetSpeed = 20000;
      Mortor07_InputMode = 1;
      Mortor07_TargetSpeed = 20000;
      Mortor08_InputMode = 1;
      Mortor08_TargetSpeed = 20000;
    }  else if (L_Zengo_Val <= 112 && Zengo_Sayuu_Handan == 1 || R_Zengo_Val <= 112 && Zengo_Sayuu_Handan == 3  ) {
      Mortor05_InputMode = 1;
      Mortor05_TargetSpeed = 5000;
      Mortor06_InputMode = 1;
      Mortor06_TargetSpeed = 5000;
      Mortor07_InputMode = 1;
      Mortor07_TargetSpeed = 5000;
      Mortor08_InputMode = 1;
      Mortor08_TargetSpeed = 5000;
      //後進
    } else if (L_Zengo_Val >= 236 && Zengo_Sayuu_Handan == 1 || R_Zengo_Val >= 236 && Zengo_Sayuu_Handan == 3  ) {
      Mortor05_InputMode = 2;
      Mortor05_TargetSpeed = 30000;
      Mortor06_InputMode = 2;
      Mortor06_TargetSpeed = 30000;
      Mortor07_InputMode = 2;
      Mortor07_TargetSpeed = 30000;
      Mortor08_InputMode = 2;
      Mortor08_TargetSpeed = 30000;
    } else if (L_Zengo_Val >= 206 && Zengo_Sayuu_Handan == 1 || R_Zengo_Val >= 206 && Zengo_Sayuu_Handan == 3  ) {
      Mortor05_InputMode = 2;
      Mortor05_TargetSpeed = 20000;
      Mortor06_InputMode = 2;
      Mortor06_TargetSpeed = 20000;
      Mortor07_InputMode = 2;
      Mortor07_TargetSpeed = 20000;
      Mortor08_InputMode = 2;
      Mortor08_TargetSpeed = 20000;
    } else if (L_Zengo_Val >= 176  && Zengo_Sayuu_Handan == 1 || R_Zengo_Val >= 176  && Zengo_Sayuu_Handan == 3  ) {
      Mortor05_InputMode = 2;
      Mortor05_TargetSpeed = 5000;
      Mortor06_InputMode = 2;
      Mortor06_TargetSpeed = 5000;
      Mortor07_InputMode = 2;
      Mortor07_TargetSpeed = 5000;
      Mortor08_InputMode = 2;
      Mortor08_TargetSpeed = 5000;

      //yoko1(hidari)
    } else if (L_sayuu_Val <= 32 && Zengo_Sayuu_Handan == 2) {
      Mortor05_InputMode = 1;
      Mortor05_TargetSpeed = 30000;
      Mortor06_InputMode = 1;
      Mortor06_TargetSpeed = 30000;
      Mortor07_InputMode = 2;
      Mortor07_TargetSpeed = 30000;
      Mortor08_InputMode = 2;
      Mortor08_TargetSpeed = 30000;
      //yoko2
    } else if (L_sayuu_Val <= 62 && Zengo_Sayuu_Handan == 2 ) {
      Mortor05_InputMode = 1;
      Mortor05_TargetSpeed = 20000;
      Mortor06_InputMode = 1;
      Mortor06_TargetSpeed = 20000;
      Mortor07_InputMode = 2;
      Mortor07_TargetSpeed = 20000;
      Mortor08_InputMode = 2;
      Mortor08_TargetSpeed = 20000;
      //yoko3
    } else if (L_sayuu_Val <= 102 && Zengo_Sayuu_Handan == 2) {
      Mortor05_InputMode = 1;
      Mortor05_TargetSpeed = 5000;
      Mortor06_InputMode = 1;
      Mortor06_TargetSpeed = 5000;
      Mortor07_InputMode = 2;
      Mortor07_TargetSpeed = 5000;
      Mortor08_InputMode = 2;
      Mortor08_TargetSpeed = 5000;
      //yoko4(Migi)
    } else if (L_sayuu_Val >= 236 && Zengo_Sayuu_Handan == 2) {
      Mortor05_InputMode = 2;
      Mortor05_TargetSpeed = 30000;
      Mortor06_InputMode = 2;
      Mortor06_TargetSpeed = 30000;
      Mortor07_InputMode = 1;
      Mortor07_TargetSpeed = 30000;
      Mortor08_InputMode = 1;
      Mortor08_TargetSpeed = 30000;
      //yoko5
    } else if (L_sayuu_Val >= 206 && Zengo_Sayuu_Handan == 2) {
      Mortor05_InputMode = 2;
      Mortor05_TargetSpeed = 20000;
      Mortor06_InputMode = 2;
      Mortor06_TargetSpeed = 20000;
      Mortor07_InputMode = 1;
      Mortor07_TargetSpeed = 20000;
      Mortor08_InputMode = 1;
      Mortor08_TargetSpeed = 20000;
      //yoko6
    } else if (L_sayuu_Val >= 176 && Zengo_Sayuu_Handan == 2) {
      Mortor05_InputMode = 2;
      Mortor05_TargetSpeed = 5000;
      Mortor06_InputMode = 2;
      Mortor06_TargetSpeed = 5000;
      Mortor07_InputMode = 1;
      Mortor07_TargetSpeed = 5000;
      Mortor08_InputMode = 1;
      Mortor08_TargetSpeed = 5000;
      //yoko13(hidari)
    } else if (PSB_L1_Val == 1 && PSB_R1_Val == 0) {
      Mortor05_InputMode = 1;
      Mortor05_TargetSpeed = 30000;
      Mortor06_InputMode = 2;
      Mortor06_TargetSpeed = 30000;
      Mortor07_InputMode = 2;
      Mortor07_TargetSpeed = 30000;
      Mortor08_InputMode = 1;
      Mortor08_TargetSpeed = 30000;
      //yoko14(Right
    } else if (PSB_L1_Val == 0 && PSB_R1_Val == 1) {
      Mortor05_InputMode = 2;
      Mortor05_TargetSpeed = 30000;
      Mortor06_InputMode = 1;
      Mortor06_TargetSpeed = 30000;
      Mortor07_InputMode = 1;
      Mortor07_TargetSpeed = 30000;
      Mortor08_InputMode = 2;
      Mortor08_TargetSpeed = 30000;
    } else {
      Mortor05_InputMode = 0;
      Mortor06_InputMode = 0;
      Mortor07_InputMode = 0;
      Mortor08_InputMode = 0;
    }
    //コンベア

    if (PSB_TRIANGLE_Val == 1 && PSB_CROSS_Val == 0 ) {
      Mortor02_InputMode = 1;
      Mortor02_TargetSpeed = 30000;
    } else if (PSB_TRIANGLE_Val == 0 && PSB_CROSS_Val == 1 ) {
      Mortor02_InputMode = 2;
      Mortor02_TargetSpeed = 30000;
    } else if (PSB_TRIANGLE_Val == 1 && PSB_CROSS_Val == 1 ) {
      Mortor02_InputMode = 3;
      Mortor02_TargetSpeed = 30000;

    } else if (PSB_TRIANGLE_Val == 0 && PSB_CROSS_Val == 0 ) {
      Mortor02_InputMode = 0;
    }
  }
  //////////////////////////モーターへ指令をする（終わり）///////////////////////////////////////
  //////////////////////////MortorDriver_Mortor01_注意）モーターはゆっくり動作できない。ＯＮ　ＯＦＦのみ///////////////////////////////////////
  Mortor01_BrakeFlag = 0;
  Mortor01_EMGBrakeFlag = 0;
  if (Mortor01_InputMode == 1) {
    if (Mortor01_NowSpeed >= 30000) {
      Mortor01_NowSpeed = 30000;
    } else if (Mortor01_NowSpeed < 0) {
      Mortor01_BrakeFlag = 1;
      Mortor01_NowSpeed = Mortor01_NowSpeed + Mortor01_MortorType * 10;
    } else {
      if (Mortor01_TargetSpeed >= Mortor01_NowSpeed) {
        Mortor01_NowSpeed = Mortor01_NowSpeed + Mortor01_MortorType;//速度インクリメント
      } else {
        Mortor01_NowSpeed = Mortor01_NowSpeed - Mortor01_MortorType * 10;
      }
    }
  } else if (Mortor01_InputMode == 2) {
    if (Mortor01_NowSpeed <= -30000) {
      Mortor01_NowSpeed = -30000;
    } else if (Mortor01_NowSpeed > 0) {
      Mortor01_BrakeFlag = 1;
      Mortor01_NowSpeed = Mortor01_NowSpeed - Mortor01_MortorType * 10;
    } else {
      if (Mortor01_TargetSpeed * -1 <= Mortor01_NowSpeed) {
        Mortor01_NowSpeed = Mortor01_NowSpeed - Mortor01_MortorType;//速度インクリメント
      } else {
        Mortor01_NowSpeed = Mortor01_NowSpeed + Mortor01_MortorType * 10;
      }
    }
  } else if (Mortor01_InputMode == 3) {
    if (Mortor01_NowSpeed < 0) {
      Mortor01_BrakeFlag = 1;
      if (Mortor01_InputMode < -5000) {
        Mortor01_EMGBrakeFlag = 1;
      }
      Mortor01_NowSpeed = Mortor01_NowSpeed + Mortor01_MortorType * 10;
    } else if (Mortor01_NowSpeed > 0) {
      Mortor01_BrakeFlag = 1;
      if (Mortor01_InputMode > 5000) {
        Mortor01_EMGBrakeFlag = 1;
      }
      Mortor01_NowSpeed = Mortor01_NowSpeed - Mortor01_MortorType * 10;
    } else if (Mortor01_NowSpeed == 0) {
      Mortor01_EMGBrakeFlag = 1;
      Mortor01_NowSpeed = 0;
    }
  } else if (Mortor01_InputMode == 0) {
    if (Mortor01_NowSpeed < 0) {
      Mortor01_BrakeFlag = 1;
      Mortor01_NowSpeed = Mortor01_NowSpeed + Mortor01_MortorType * 10;
    } else if (Mortor01_NowSpeed > 0) {
      Mortor01_BrakeFlag = 1;
      Mortor01_NowSpeed = Mortor01_NowSpeed - Mortor01_MortorType * 10;
    } else if (Mortor01_NowSpeed == 0) {
      Mortor01_NowSpeed = 0;
    }
  }
  if (Mortor01_EMGBrakeFlag == 1) {
    Motor_1F = 1;
    Motor_1B = 1;

  } else if (Mortor01_NowSpeed > 1000 && Mortor01_BrakeFlag == 0) {
    Motor_1F = 1;
    Motor_1B = 0;
  } else if (Mortor01_NowSpeed < -1000 && Mortor01_BrakeFlag == 0) {
    Motor_1F = 0;
    Motor_1B = 1;
  } else {
    Motor_1F = 0;
    Motor_1B = 0;
  }
  uint16_t Mortor01_MortorOUT;
  uint16_t Mortor01_Speedbuf;
  Mortor01_MortorOUT = abs(Mortor01_NowSpeed);
  if (Mortor01_MortorOUT <= 1000) {
    digitalWrite(2, LOW);//モーターＯＦＦ
  } else if (Mortor01_MortorOUT >= 29500) {
    digitalWrite(2, HIGH);//モーターＯＮ
  } else {

    Mortor01_Speedbuf = (Mortor01_MortorOUT - 1000) / 150  + 50 ;
    digitalWrite(2, HIGH);//モーターＯＮ

  }
  //////////////////////////MortorDriver_Mortor02_///////////////////////////////////////
  Mortor02_BrakeFlag = 0;
  Mortor02_EMGBrakeFlag = 0;
  if (Mortor02_InputMode == 1) {
    if (Mortor02_NowSpeed >= 30000) {
      Mortor02_NowSpeed = 30000;
    } else if (Mortor02_NowSpeed < 0) {
      Mortor02_BrakeFlag = 1;
      Mortor02_NowSpeed = Mortor02_NowSpeed + Mortor02_MortorType * 10;
    } else {
      if (Mortor02_TargetSpeed >= Mortor02_NowSpeed) {
        Mortor02_NowSpeed = Mortor02_NowSpeed + Mortor02_MortorType;//速度インクリメント
      } else {
        Mortor02_NowSpeed = Mortor02_NowSpeed - Mortor02_MortorType * 10;
      }
    }
  } else if (Mortor02_InputMode == 2) {
    if (Mortor02_NowSpeed <= -30000) {
      Mortor02_NowSpeed = -30000;
    } else if (Mortor02_NowSpeed > 0) {
      Mortor02_BrakeFlag = 1;
      Mortor02_NowSpeed = Mortor02_NowSpeed - Mortor02_MortorType * 10;
    } else {
      if (Mortor02_TargetSpeed * -1 <= Mortor02_NowSpeed) {
        Mortor02_NowSpeed = Mortor02_NowSpeed - Mortor02_MortorType;//速度インクリメント
      } else {
        Mortor02_NowSpeed = Mortor02_NowSpeed + Mortor02_MortorType * 10;
      }
    }
  } else if (Mortor02_InputMode == 3) {
    if (Mortor02_NowSpeed < 0) {
      Mortor02_BrakeFlag = 1;
      if (Mortor02_InputMode < -5000) {
        Mortor02_EMGBrakeFlag = 1;
      }
      Mortor02_NowSpeed = Mortor02_NowSpeed + Mortor02_MortorType * 10;
    } else if (Mortor02_NowSpeed > 0) {
      Mortor02_BrakeFlag = 1;
      if (Mortor02_InputMode > 5000) {
        Mortor02_EMGBrakeFlag = 1;
      }
      Mortor02_NowSpeed = Mortor02_NowSpeed - Mortor02_MortorType * 10;
    } else if (Mortor02_NowSpeed == 0) {
      Mortor02_EMGBrakeFlag = 1;
      Mortor02_NowSpeed = 0;
    }
  } else if (Mortor02_InputMode == 0) {
    if (Mortor02_NowSpeed < 0) {
      Mortor02_BrakeFlag = 1;
      Mortor02_NowSpeed = Mortor02_NowSpeed + Mortor02_MortorType * 10;
    } else if (Mortor02_NowSpeed > 0) {
      Mortor02_BrakeFlag = 1;
      Mortor02_NowSpeed = Mortor02_NowSpeed - Mortor02_MortorType * 10;
    } else if (Mortor02_NowSpeed == 0) {
      Mortor02_NowSpeed = 0;
    }
  }
  if (Mortor02_EMGBrakeFlag == 1) {
    Motor_2F = 1;
    Motor_2B = 1;

  } else if (Mortor02_NowSpeed > 1000 && Mortor02_BrakeFlag == 0) {
    Motor_2F = 1;
    Motor_2B = 0;
  } else if (Mortor02_NowSpeed < -1000 && Mortor02_BrakeFlag == 0) {
    Motor_2F = 0;
    Motor_2B = 1;
  } else {
    Motor_2F = 0;
    Motor_2B = 0;
  }
  uint16_t Mortor02_MortorOUT;
  uint16_t Mortor02_Speedbuf;
  Mortor02_MortorOUT = abs(Mortor02_NowSpeed);
  if (Mortor02_MortorOUT <= 1000) {
    analogWrite(3, 0);//ここでモーターの速度を決める
  } else if (Mortor02_MortorOUT >= 29500) {
    analogWrite(3, 255);//ここでモーターの速度を決める
  } else {

    Mortor02_Speedbuf = (Mortor02_MortorOUT - 1000) / 150  + 50 ;
    analogWrite(3, Mortor02_Speedbuf);//ここでモーターの速度を決める

  }
  //////////////////////////MortorDriver_Mortor03_注意）モーターはゆっくり動作できない。ＯＮ　ＯＦＦのみ///////////////////////////////////////
  Mortor03_BrakeFlag = 0;
  Mortor03_EMGBrakeFlag = 0;
  if (Mortor03_InputMode == 1) {
    if (Mortor03_NowSpeed >= 30000) {
      Mortor03_NowSpeed = 30000;
    } else if (Mortor03_NowSpeed < 0) {
      Mortor03_BrakeFlag = 1;
      Mortor03_NowSpeed = Mortor03_NowSpeed + Mortor03_MortorType * 10;
    } else {
      if (Mortor03_TargetSpeed >= Mortor03_NowSpeed) {
        Mortor03_NowSpeed = Mortor03_NowSpeed + Mortor03_MortorType;//速度インクリメント
      } else {
        Mortor03_NowSpeed = Mortor03_NowSpeed - Mortor03_MortorType * 10;
      }
    }
  } else if (Mortor03_InputMode == 2) {
    if (Mortor03_NowSpeed <= -30000) {
      Mortor03_NowSpeed = -30000;
    } else if (Mortor03_NowSpeed > 0) {
      Mortor03_BrakeFlag = 1;
      Mortor03_NowSpeed = Mortor03_NowSpeed - Mortor03_MortorType * 10;
    } else {
      if (Mortor03_TargetSpeed * -1 <= Mortor03_NowSpeed) {
        Mortor03_NowSpeed = Mortor03_NowSpeed - Mortor03_MortorType;//速度インクリメント
      } else {
        Mortor03_NowSpeed = Mortor03_NowSpeed + Mortor03_MortorType * 10;
      }
    }
  } else if (Mortor03_InputMode == 3) {
    if (Mortor03_NowSpeed < 0) {
      Mortor03_BrakeFlag = 1;
      if (Mortor03_InputMode < -5000) {
        Mortor03_EMGBrakeFlag = 1;
      }
      Mortor03_NowSpeed = Mortor03_NowSpeed + Mortor03_MortorType * 10;
    } else if (Mortor03_NowSpeed > 0) {
      Mortor03_BrakeFlag = 1;
      if (Mortor03_InputMode > 5000) {
        Mortor03_EMGBrakeFlag = 1;
      }
      Mortor03_NowSpeed = Mortor03_NowSpeed - Mortor03_MortorType * 10;
    } else if (Mortor03_NowSpeed == 0) {
      Mortor03_EMGBrakeFlag = 1;
      Mortor03_NowSpeed = 0;
    }
  } else if (Mortor03_InputMode == 0) {
    if (Mortor03_NowSpeed < 0) {
      Mortor03_BrakeFlag = 1;
      Mortor03_NowSpeed = Mortor03_NowSpeed + Mortor03_MortorType * 10;
    } else if (Mortor03_NowSpeed > 0) {
      Mortor03_BrakeFlag = 1;
      Mortor03_NowSpeed = Mortor03_NowSpeed - Mortor03_MortorType * 10;
    } else if (Mortor03_NowSpeed == 0) {
      Mortor03_NowSpeed = 0;
    }
  }
  if (Mortor03_EMGBrakeFlag == 1) {
    Motor_3F = 1;
    Motor_3B = 1;

  } else if (Mortor03_NowSpeed > 1000 && Mortor03_BrakeFlag == 0) {
    Motor_3F = 1;
    Motor_3B = 0;
  } else if (Mortor03_NowSpeed < -1000 && Mortor03_BrakeFlag == 0) {
    Motor_3F = 0;
    Motor_3B = 1;
  } else {
    Motor_3F = 0;
    Motor_3B = 0;
  }
  uint16_t Mortor03_MortorOUT;
  uint16_t Mortor03_Speedbuf;
  Mortor03_MortorOUT = abs(Mortor03_NowSpeed);
  if (Mortor03_MortorOUT <= 1000) {
    digitalWrite(4, LOW);//モーターＯＦＦ
  } else if (Mortor03_MortorOUT >= 29500) {
    digitalWrite(4, HIGH);//モーターＯＮ
  } else {

    Mortor03_Speedbuf = (Mortor03_MortorOUT - 1000) / 150  + 50 ;
    digitalWrite(4, HIGH);//モーターＯＮ

  }
  //////////////////////////MortorDriver_Mortor04_///////////////////////////////////////
  Mortor04_BrakeFlag = 0;
  Mortor04_EMGBrakeFlag = 0;
  if (Mortor04_InputMode == 1) {
    if (Mortor04_NowSpeed >= 30000) {
      Mortor04_NowSpeed = 30000;
    } else if (Mortor04_NowSpeed < 0) {
      Mortor04_BrakeFlag = 1;
      Mortor04_NowSpeed = Mortor04_NowSpeed + Mortor04_MortorType * 10;
    } else {
      if (Mortor04_TargetSpeed >= Mortor04_NowSpeed) {
        Mortor04_NowSpeed = Mortor04_NowSpeed + Mortor04_MortorType;//速度インクリメント
      } else {
        Mortor04_NowSpeed = Mortor04_NowSpeed - Mortor04_MortorType * 10;
      }
    }
  } else if (Mortor04_InputMode == 2) {
    if (Mortor04_NowSpeed <= -30000) {
      Mortor04_NowSpeed = -30000;
    } else if (Mortor04_NowSpeed > 0) {
      Mortor04_BrakeFlag = 1;
      Mortor04_NowSpeed = Mortor04_NowSpeed - Mortor04_MortorType * 10;
    } else {
      if (Mortor04_TargetSpeed * -1 <= Mortor04_NowSpeed) {
        Mortor04_NowSpeed = Mortor04_NowSpeed - Mortor04_MortorType;//速度インクリメント
      } else {
        Mortor04_NowSpeed = Mortor04_NowSpeed + Mortor04_MortorType * 10;
      }
    }
  } else if (Mortor04_InputMode == 3) {
    if (Mortor04_NowSpeed < 0) {
      Mortor04_BrakeFlag = 1;
      if (Mortor04_InputMode < -5000) {
        Mortor04_EMGBrakeFlag = 1;
      }
      Mortor04_NowSpeed = Mortor04_NowSpeed + Mortor04_MortorType * 10;
    } else if (Mortor04_NowSpeed > 0) {
      Mortor04_BrakeFlag = 1;
      if (Mortor04_InputMode > 5000) {
        Mortor04_EMGBrakeFlag = 1;
      }
      Mortor04_NowSpeed = Mortor04_NowSpeed - Mortor04_MortorType * 10;
    } else if (Mortor04_NowSpeed == 0) {
      Mortor04_EMGBrakeFlag = 1;
      Mortor04_NowSpeed = 0;
    }
  } else if (Mortor04_InputMode == 0) {
    if (Mortor04_NowSpeed < 0) {
      Mortor04_BrakeFlag = 1;
      Mortor04_NowSpeed = Mortor04_NowSpeed + Mortor04_MortorType * 10;
    } else if (Mortor04_NowSpeed > 0) {
      Mortor04_BrakeFlag = 1;
      Mortor04_NowSpeed = Mortor04_NowSpeed - Mortor04_MortorType * 10;
    } else if (Mortor04_NowSpeed == 0) {
      Mortor04_NowSpeed = 0;
    }
  }
  if (Mortor04_EMGBrakeFlag == 1) {
    Motor_4F = 1;
    Motor_4B = 1;

  } else if (Mortor04_NowSpeed > 1000 && Mortor04_BrakeFlag == 0) {
    Motor_4F = 1;
    Motor_4B = 0;
  } else if (Mortor04_NowSpeed < -1000 && Mortor04_BrakeFlag == 0) {
    Motor_4F = 0;
    Motor_4B = 1;
  } else {
    Motor_4F = 0;
    Motor_4B = 0;
  }
  uint16_t Mortor04_MortorOUT;
  uint16_t Mortor04_Speedbuf;
  Mortor04_MortorOUT = abs(Mortor04_NowSpeed);
  if (Mortor04_MortorOUT <= 1000) {
    analogWrite(5, 0);//ここでモーターの速度を決める
  } else if (Mortor04_MortorOUT >= 29500) {
    analogWrite(5, 255);//ここでモーターの速度を決める
  } else {

    Mortor04_Speedbuf = (Mortor04_MortorOUT - 1000) / 150  + 50 ;
    analogWrite(5, Mortor04_Speedbuf);//ここでモーターの速度を決める

  }

  //////////////////////////MortorDriver_Mortor05_///////////////////////////////////////
  Mortor05_BrakeFlag = 0;
  Mortor05_EMGBrakeFlag = 0;
  if (Mortor05_InputMode == 1) {
    if (Mortor05_NowSpeed >= 30000) {
      Mortor05_NowSpeed = 30000;
    } else if (Mortor05_NowSpeed < 0) {
      Mortor05_BrakeFlag = 1;
      Mortor05_NowSpeed = Mortor05_NowSpeed + Mortor05_MortorType * 10;
    } else {
      if (Mortor05_TargetSpeed >= Mortor05_NowSpeed) {
        Mortor05_NowSpeed = Mortor05_NowSpeed + Mortor05_MortorType;//速度インクリメント
      } else {
        Mortor05_NowSpeed = Mortor05_NowSpeed - Mortor05_MortorType * 10;
      }
    }
  } else if (Mortor05_InputMode == 2) {
    if (Mortor05_NowSpeed <= -30000) {
      Mortor05_NowSpeed = -30000;
    } else if (Mortor05_NowSpeed > 0) {
      Mortor05_BrakeFlag = 1;
      Mortor05_NowSpeed = Mortor05_NowSpeed - Mortor05_MortorType * 10;
    } else {
      if (Mortor05_TargetSpeed * -1 <= Mortor05_NowSpeed) {
        Mortor05_NowSpeed = Mortor05_NowSpeed - Mortor05_MortorType;//速度インクリメント
      } else {
        Mortor05_NowSpeed = Mortor05_NowSpeed + Mortor05_MortorType * 10;
      }
    }
  } else if (Mortor05_InputMode == 3) {
    if (Mortor05_NowSpeed < 0) {
      Mortor05_BrakeFlag = 1;
      if (Mortor05_InputMode < -5000) {
        Mortor05_EMGBrakeFlag = 1;
      }
      Mortor05_NowSpeed = Mortor05_NowSpeed + Mortor05_MortorType * 10;
    } else if (Mortor05_NowSpeed > 0) {
      Mortor05_BrakeFlag = 1;
      if (Mortor05_InputMode > 5000) {
        Mortor05_EMGBrakeFlag = 1;
      }
      Mortor05_NowSpeed = Mortor05_NowSpeed - Mortor05_MortorType * 10;
    } else if (Mortor05_NowSpeed == 0) {
      Mortor05_EMGBrakeFlag = 1;
      Mortor05_NowSpeed = 0;
    }
  } else if (Mortor05_InputMode == 0) {
    if (Mortor05_NowSpeed < 0) {
      Mortor05_BrakeFlag = 1;
      Mortor05_NowSpeed = Mortor05_NowSpeed + Mortor05_MortorType * 10;
    } else if (Mortor05_NowSpeed > 0) {
      Mortor05_BrakeFlag = 1;
      Mortor05_NowSpeed = Mortor05_NowSpeed - Mortor05_MortorType * 10;
    } else if (Mortor05_NowSpeed == 0) {
      Mortor05_NowSpeed = 0;
    }
  }
  if (Mortor05_EMGBrakeFlag == 1) {
    Motor_5F = 1;
    Motor_5B = 1;

  } else if (Mortor05_NowSpeed > 1000 && Mortor05_BrakeFlag == 0) {
    Motor_5F = 1;
    Motor_5B = 0;
  } else if (Mortor05_NowSpeed < -1000 && Mortor05_BrakeFlag == 0) {
    Motor_5F = 0;
    Motor_5B = 1;
  } else {
    Motor_5F = 0;
    Motor_5B = 0;
  }
  uint16_t Mortor05_MortorOUT;
  uint16_t Mortor05_Speedbuf;
  Mortor05_MortorOUT = abs(Mortor05_NowSpeed);
  if (Mortor05_MortorOUT <= 1000) {
    analogWrite(6, 0);//ここでモーターの速度を決める
  } else if (Mortor05_MortorOUT >= 29500) {
    analogWrite(6, 255);//ここでモーターの速度を決める
  } else {

    Mortor05_Speedbuf = (Mortor05_MortorOUT - 1000) / 150  + 50 ;
    analogWrite(6, Mortor05_Speedbuf);//ここでモーターの速度を決める

  }

  //////////////////////////MortorDriver_Mortor06_///////////////////////////////////////
  Mortor06_BrakeFlag = 0;
  Mortor06_EMGBrakeFlag = 0;
  if (Mortor06_InputMode == 1) {
    if (Mortor06_NowSpeed >= 30000) {
      Mortor06_NowSpeed = 30000;
    } else if (Mortor06_NowSpeed < 0) {
      Mortor06_BrakeFlag = 1;
      Mortor06_NowSpeed = Mortor06_NowSpeed + Mortor06_MortorType * 10;
    } else {
      if (Mortor06_TargetSpeed >= Mortor06_NowSpeed) {
        Mortor06_NowSpeed = Mortor06_NowSpeed + Mortor06_MortorType;//速度インクリメント
      } else {
        Mortor06_NowSpeed = Mortor06_NowSpeed - Mortor06_MortorType * 10;
      }
    }
  } else if (Mortor06_InputMode == 2) {
    if (Mortor06_NowSpeed <= -30000) {
      Mortor06_NowSpeed = -30000;
    } else if (Mortor06_NowSpeed > 0) {
      Mortor06_BrakeFlag = 1;
      Mortor06_NowSpeed = Mortor06_NowSpeed - Mortor06_MortorType * 10;
    } else {
      if (Mortor06_TargetSpeed * -1 <= Mortor06_NowSpeed) {
        Mortor06_NowSpeed = Mortor06_NowSpeed - Mortor06_MortorType;//速度インクリメント
      } else {
        Mortor06_NowSpeed = Mortor06_NowSpeed + Mortor06_MortorType * 10;
      }
    }
  } else if (Mortor06_InputMode == 3) {
    if (Mortor06_NowSpeed < 0) {
      Mortor06_BrakeFlag = 1;
      if (Mortor06_InputMode < -5000) {
        Mortor06_EMGBrakeFlag = 1;
      }
      Mortor06_NowSpeed = Mortor06_NowSpeed + Mortor06_MortorType * 10;
    } else if (Mortor06_NowSpeed > 0) {
      Mortor06_BrakeFlag = 1;
      if (Mortor06_InputMode > 5000) {
        Mortor06_EMGBrakeFlag = 1;
      }
      Mortor06_NowSpeed = Mortor06_NowSpeed - Mortor06_MortorType * 10;
    } else if (Mortor06_NowSpeed == 0) {
      Mortor06_EMGBrakeFlag = 1;
      Mortor06_NowSpeed = 0;
    }
  } else if (Mortor06_InputMode == 0) {
    if (Mortor06_NowSpeed < 0) {
      Mortor06_BrakeFlag = 1;
      Mortor06_NowSpeed = Mortor06_NowSpeed + Mortor06_MortorType * 10;
    } else if (Mortor06_NowSpeed > 0) {
      Mortor06_BrakeFlag = 1;
      Mortor06_NowSpeed = Mortor06_NowSpeed - Mortor06_MortorType * 10;
    } else if (Mortor06_NowSpeed == 0) {
      Mortor06_NowSpeed = 0;
    }
  }
  if (Mortor06_EMGBrakeFlag == 1) {
    Motor_6F = 1;
    Motor_6B = 1;

  } else if (Mortor06_NowSpeed > 1000 && Mortor06_BrakeFlag == 0) {
    Motor_6F = 1;
    Motor_6B = 0;
  } else if (Mortor06_NowSpeed < -1000 && Mortor06_BrakeFlag == 0) {
    Motor_6F = 0;
    Motor_6B = 1;
  } else {
    Motor_6F = 0;
    Motor_6B = 0;
  }
  uint16_t Mortor06_MortorOUT;
  uint16_t Mortor06_Speedbuf;
  Mortor06_MortorOUT = abs(Mortor06_NowSpeed);
  if (Mortor06_MortorOUT <= 1000) {
    analogWrite(9, 0);//ここでモーターの速度を決める
  } else if (Mortor06_MortorOUT >= 29500) {
    analogWrite(9, 255);//ここでモーターの速度を決める
  } else {

    Mortor06_Speedbuf = (Mortor06_MortorOUT - 1000) / 150 + 50 ;
    analogWrite(9, Mortor06_Speedbuf);//ここでモーターの速度を決める

  }

  //////////////////////////MortorDriver_Mortor07_///////////////////////////////////////
  Mortor07_BrakeFlag = 0;
  Mortor07_EMGBrakeFlag = 0;
  if (Mortor07_InputMode == 1) {
    if (Mortor07_NowSpeed >= 30000) {
      Mortor07_NowSpeed = 30000;
    } else if (Mortor07_NowSpeed < 0) {
      Mortor07_BrakeFlag = 1;
      Mortor07_NowSpeed = Mortor07_NowSpeed + Mortor07_MortorType * 10;
    } else {
      if (Mortor07_TargetSpeed >= Mortor07_NowSpeed) {
        Mortor07_NowSpeed = Mortor07_NowSpeed + Mortor07_MortorType;//速度インクリメント
      } else {
        Mortor07_NowSpeed = Mortor07_NowSpeed - Mortor07_MortorType * 10;
      }
    }
  } else if (Mortor07_InputMode == 2) {
    if (Mortor07_NowSpeed <= -30000) {
      Mortor07_NowSpeed = -30000;
    } else if (Mortor07_NowSpeed > 0) {
      Mortor07_BrakeFlag = 1;
      Mortor07_NowSpeed = Mortor07_NowSpeed - Mortor07_MortorType * 10;
    } else {
      if (Mortor07_TargetSpeed * -1 <= Mortor07_NowSpeed) {
        Mortor07_NowSpeed = Mortor07_NowSpeed - Mortor07_MortorType;//速度インクリメント
      } else {
        Mortor07_NowSpeed = Mortor07_NowSpeed + Mortor07_MortorType * 10;
      }
    }
  } else if (Mortor07_InputMode == 3) {
    if (Mortor07_NowSpeed < 0) {
      Mortor07_BrakeFlag = 1;
      if (Mortor07_InputMode < -5000) {
        Mortor07_EMGBrakeFlag = 1;
      }
      Mortor07_NowSpeed = Mortor07_NowSpeed + Mortor07_MortorType * 10;
    } else if (Mortor07_NowSpeed > 0) {
      Mortor07_BrakeFlag = 1;
      if (Mortor07_InputMode > 5000) {
        Mortor07_EMGBrakeFlag = 1;
      }
      Mortor07_NowSpeed = Mortor07_NowSpeed - Mortor07_MortorType * 10;
    } else if (Mortor07_NowSpeed == 0) {
      Mortor07_EMGBrakeFlag = 1;
      Mortor07_NowSpeed = 0;
    }
  } else if (Mortor07_InputMode == 0) {
    if (Mortor07_NowSpeed < 0) {
      Mortor07_BrakeFlag = 1;
      Mortor07_NowSpeed = Mortor07_NowSpeed + Mortor07_MortorType * 10;
    } else if (Mortor07_NowSpeed > 0) {
      Mortor07_BrakeFlag = 1;
      Mortor07_NowSpeed = Mortor07_NowSpeed - Mortor07_MortorType * 10;
    } else if (Mortor07_NowSpeed == 0) {
      Mortor07_NowSpeed = 0;
    }
  }
  if (Mortor07_EMGBrakeFlag == 1) {
    Motor_7F = 1;
    Motor_7B = 1;

  } else if (Mortor07_NowSpeed > 1000 && Mortor07_BrakeFlag == 0) {
    Motor_7F = 1;
    Motor_7B = 0;
  } else if (Mortor07_NowSpeed < -1000 && Mortor07_BrakeFlag == 0) {
    Motor_7F = 0;
    Motor_7B = 1;
  } else {
    Motor_7F = 0;
    Motor_7B = 0;
  }
  uint16_t Mortor07_MortorOUT;
  uint16_t Mortor07_Speedbuf;
  Mortor07_MortorOUT = abs(Mortor07_NowSpeed);
  if (Mortor07_MortorOUT <= 1000) {
    analogWrite(11, 0);//ここでモーターの速度を決める
  } else if (Mortor07_MortorOUT >= 29500) {
    analogWrite(11, 255);//ここでモーターの速度を決める
  } else {

    Mortor07_Speedbuf = (Mortor07_MortorOUT - 1000) / 150 + 50 ;
    analogWrite(11, Mortor07_Speedbuf);//ここでモーターの速度を決める

  }

  //////////////////////////MortorDriver_Mortor08_///////////////////////////////////////
  Mortor08_BrakeFlag = 0;
  Mortor08_EMGBrakeFlag = 0;
  if (Mortor08_InputMode == 1) {
    if (Mortor08_NowSpeed >= 30000) {
      Mortor08_NowSpeed = 30000;
    } else if (Mortor08_NowSpeed < 0) {
      Mortor08_BrakeFlag = 1;
      Mortor08_NowSpeed = Mortor08_NowSpeed + Mortor08_MortorType * 10;
    } else {
      if (Mortor08_TargetSpeed >= Mortor08_NowSpeed) {
        Mortor08_NowSpeed = Mortor08_NowSpeed + Mortor08_MortorType;//速度インクリメント
      } else {
        Mortor08_NowSpeed = Mortor08_NowSpeed - Mortor08_MortorType * 10;
      }
    }
  } else if (Mortor08_InputMode == 2) {
    if (Mortor08_NowSpeed <= -30000) {
      Mortor08_NowSpeed = -30000;
    } else if (Mortor08_NowSpeed > 0) {
      Mortor08_BrakeFlag = 1;
      Mortor08_NowSpeed = Mortor08_NowSpeed - Mortor08_MortorType * 10;
    } else {
      if (Mortor08_TargetSpeed * -1 <= Mortor08_NowSpeed) {
        Mortor08_NowSpeed = Mortor08_NowSpeed - Mortor08_MortorType;//速度インクリメント
      } else {
        Mortor08_NowSpeed = Mortor08_NowSpeed + Mortor08_MortorType * 10;
      }
    }
  } else if (Mortor08_InputMode == 3) {
    if (Mortor08_NowSpeed < 0) {
      Mortor08_BrakeFlag = 1;
      if (Mortor08_InputMode < -5000) {
        Mortor08_EMGBrakeFlag = 1;
      }
      Mortor08_NowSpeed = Mortor08_NowSpeed + Mortor08_MortorType * 10;
    } else if (Mortor08_NowSpeed > 0) {
      Mortor08_BrakeFlag = 1;
      if (Mortor08_InputMode > 5000) {
        Mortor08_EMGBrakeFlag = 1;
      }
      Mortor08_NowSpeed = Mortor08_NowSpeed - Mortor08_MortorType * 10;
    } else if (Mortor08_NowSpeed == 0) {
      Mortor08_EMGBrakeFlag = 1;
      Mortor08_NowSpeed = 0;
    }
  } else if (Mortor08_InputMode == 0) {
    if (Mortor08_NowSpeed < 0) {
      Mortor08_BrakeFlag = 1;
      Mortor08_NowSpeed = Mortor08_NowSpeed + Mortor08_MortorType * 10;
    } else if (Mortor08_NowSpeed > 0) {
      Mortor08_BrakeFlag = 1;
      Mortor08_NowSpeed = Mortor08_NowSpeed - Mortor08_MortorType * 10;
    } else if (Mortor08_NowSpeed == 0) {
      Mortor08_NowSpeed = 0;
    }
  }
  if (Mortor08_EMGBrakeFlag == 1) {
    Motor_8F = 1;
    Motor_8B = 1;

  } else if (Mortor08_NowSpeed > 1000 && Mortor08_BrakeFlag == 0) {
    Motor_8F = 1;
    Motor_8B = 0;
  } else if (Mortor08_NowSpeed < -1000 && Mortor08_BrakeFlag == 0) {
    Motor_8F = 0;
    Motor_8B = 1;
  } else {
    Motor_8F = 0;
    Motor_8B = 0;
  }
  uint16_t Mortor08_MortorOUT;
  uint16_t Mortor08_Speedbuf;
  Mortor08_MortorOUT = abs(Mortor08_NowSpeed);
  if (Mortor08_MortorOUT <= 1000) {
    analogWrite(10, 0);//ここでモーターの速度を決める
  } else if (Mortor08_MortorOUT >= 29500) {
    analogWrite(10, 255);//ここでモーターの速度を決める
  } else {

    Mortor08_Speedbuf = (Mortor08_MortorOUT - 1000) / 150 + 50 ;
    analogWrite(10, Mortor08_Speedbuf);//ここでモーターの速度を決める

  }
  //時間計測（通常は使わない）
  /*
    if(ScanCount>1000){
    unsigned long Nowtime;//「time」をunsigned longで変数宣言
    Nowtime = millis();//プログラム実行からの経過時間(ms)をtimeに返す

    Serial.println(Nowtime-Beftime);
    Beftime=Nowtime;
    ScanCount=0;
    }
    ScanCount=ScanCount+1;
  */
  //時間計測（通常は使わない）

  //////////////////////////プログラムメイン（終わり）///////////////////////////////////////
}