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Dependencies:   DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed

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stateLib.h@13:0479a4f3e997, 2018-09-15 (annotated)

Committer:
TanakaTarou
Date:
Sat Sep 15 06:48:13 2018 +0000
Revision:
13:0479a4f3e997
Parent:
12:91218718ae75
Child:
14:8334c241bb0a
Child:
18:268ab2ab0b2a
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaTarou 12:91218718ae75 1 #define LIBNUM 18
soyooo 9:ce5a1315fe0d 2 //(X, Y, θ, speed, angle)
TanakaTarou 13:0479a4f3e997 3 float state_lib[LIBNUM][10] ={{0.0, 0.0, 0, 0, 90, 0},//スタートゾーン
soyooo 9:ce5a1315fe0d 4 /*
TanakaTarou 13:0479a4f3e997 5 //2段テーブル1周
TanakaTarou 13:0479a4f3e997 6 {-1.740, 1.5, 0, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 7 {-1.740, 20, 0, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 8 {-1.740, 20, 0, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 9 {-1.740, 1.5, 0, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 10 {-2.740, 1.5, -45, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 11 {-2.740, 2.5, -90, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 12 {20, 2.5, -90, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 13 {20, 2.5, -90, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 14 {-2.740, 2.5, -90, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 15 {-2.740, 3.5, -135, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 16 {-1.740, 3.5, -180, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 17 {-1.740, -20, -180, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 18 {-1.740, -20, -180, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 19 {-1.740, 3.5, -180, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 20 {-0.740, 3.5, -225, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 21 {-0.740, 2.5, -270, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 22 {-20, 2.5, -270, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 23 {-20, 2.5, -270, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 24 {-0.740, 2.5, -270, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 25 {-0.740, 1.5, -270, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 26 */
TanakaTarou 13:0479a4f3e997 27 /*
TanakaTarou 13:0479a4f3e997 28 //2段テーブル下段のみ
TanakaTarou 13:0479a4f3e997 29 {-1.740, 1.5, 0, 0, 82, 0},// x移動, 角度変化
TanakaTarou 13:0479a4f3e997 30 {-1.740, 25.0, 0, 0, 82, 0},// y移動
TanakaTarou 13:0479a4f3e997 31 {-1.740, 20.0, 0, 0, 82, 0},// 下段に発射
TanakaTarou 13:0479a4f3e997 32 */
TanakaTarou 13:0479a4f3e997 33 /*
TanakaTarou 13:0479a4f3e997 34 //2段テーブル上段のみ
TanakaTarou 13:0479a4f3e997 35 {-1.740, 1.5, 0, 0, 85, 0},// x移動, 角度変化
TanakaTarou 13:0479a4f3e997 36 {-1.740, 13.0, 0, 0, 85, 0},// USS
TanakaTarou 13:0479a4f3e997 37 {-1.740, 13.0, 0, 0, 85, 0},// 上段に発射
soyooo 9:ce5a1315fe0d 38 */
TanakaTarou 12:91218718ae75 39 /*
TanakaTarou 12:91218718ae75 40 //2段テーブル上・下
TanakaTarou 13:0479a4f3e997 41 {-1.740, 1.5, 0, 0, 82, 0},// x移動, 角度変化
TanakaTarou 13:0479a4f3e997 42 {-1.740, 25.0, 0, 0, 82, 0},// y移動
TanakaTarou 13:0479a4f3e997 43 {-1.740, 20.0, 0, 0, 82, 0},// 下段に発射
TanakaTarou 13:0479a4f3e997 44 {-1.740, 20.0, 0, 0, 90, 0},// y戻る, 角度戻る
soyooo 9:ce5a1315fe0d 45
TanakaTarou 13:0479a4f3e997 46 {-1.740, 25.0, 0, 0, 90, 0},// 補給
TanakaTarou 13:0479a4f3e997 47 {-1.740, 13.0, 0, 0, 85, 0},// 角度変化
TanakaTarou 13:0479a4f3e997 48 {-1.740, 13.0, 0, 0, 85, 0},// 上段に発射
TanakaTarou 12:91218718ae75 49
TanakaTarou 13:0479a4f3e997 50 {-2.740, 0.0, 0, 0, 90, 0},
TanakaTarou 12:91218718ae75 51 */
TanakaTarou 13:0479a4f3e997 52 /*
TanakaTarou 13:0479a4f3e997 53 //移動テーブル ノーマル
TanakaTarou 13:0479a4f3e997 54 {-3.740, 0.0, 0, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 55 {-3.740, 25.0, 0, 0, 82, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 56 {-3.740, 25.0, 0, 0, 82, 0},// 発射
TanakaTarou 13:0479a4f3e997 57 {-3.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 13:0479a4f3e997 58
TanakaTarou 13:0479a4f3e997 59 {-4.740, 2.0, 180, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 60 {-4.740, -25.0, 180, 0, 83, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 61 {-4.740, -25.0, 180, 0, 83, 0},// 発射
TanakaTarou 13:0479a4f3e997 62 {-4.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 12:91218718ae75 63
TanakaTarou 13:0479a4f3e997 64 {-5.740, 2.0, 0, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 65 {-5.740, 25.0, 0, 0, 85, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 66 {-5.740, 25.0, 0, 0, 85, 0},// 発射
TanakaTarou 13:0479a4f3e997 67 {-5.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 13:0479a4f3e997 68 */
TanakaTarou 13:0479a4f3e997 69 //移動テーブル アクティブムーブ
TanakaTarou 13:0479a4f3e997 70 {-3.740, 0.0, 0, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 71 {-3.740, 25.0, 0, 0, 82, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 72 {-3.740, 25.0, 0, 0, 82, 0},// 発射
soyooo 9:ce5a1315fe0d 73
TanakaTarou 13:0479a4f3e997 74 {-4.740, 2.0, 180, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 75 {-4.740, -25.0, 180, 0, 83, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 76 {-4.740, -25.0, 180, 0, 83, 0},// 発射
TanakaTarou 13:0479a4f3e997 77
TanakaTarou 13:0479a4f3e997 78 {-5.740, 2.0, 0, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 79 {-5.740, 25.0, 0, 0, 85, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 80 {-5.740, 25.0, 0, 0, 85, 0},// 発射
TanakaTarou 13:0479a4f3e997 81 {-5.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 12:91218718ae75 82 /*
TanakaTarou 12:91218718ae75 83 //固定テーブル
TanakaTarou 13:0479a4f3e997 84 {-0.3, 1.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 85 {25, 1.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 86 {25, 1.5, -90, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 87
TanakaTarou 13:0479a4f3e997 88 {-0.8, 1.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 89
TanakaTarou 13:0479a4f3e997 90 {-0.8, 2.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 91 {25, 2.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 92 {25, 2.5, -90, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 93
TanakaTarou 13:0479a4f3e997 94 {-0.8, 3.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 95 {25, 3.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 96 {25, 3.5, -90, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 97 {-0.8, 3.5, -90, 0, 90, 0},
TanakaTarou 13:0479a4f3e997 98
TanakaTarou 13:0479a4f3e997 99 {-0.8, 1.5, 0, 0, 90, 0},
soyooo 9:ce5a1315fe0d 100 */
TanakaTarou 13:0479a4f3e997 101 {0.0, 0.0, 0, 0, 90, 0}// 補給, スタートゾーン戻る
soyooo 9:ce5a1315fe0d 102 };
soyooo 9:ce5a1315fe0d 103
soyooo 9:ce5a1315fe0d 104 typedef struct state
soyooo 9:ce5a1315fe0d 105 {
soyooo 9:ce5a1315fe0d 106 float x, y , theta, shoot, angle, supply;
soyooo 9:ce5a1315fe0d 107 }state;
soyooo 9:ce5a1315fe0d 108
soyooo 9:ce5a1315fe0d 109 typedef struct elements
soyooo 9:ce5a1315fe0d 110 {
soyooo 9:ce5a1315fe0d 111 float x, y , theta;
TanakaTarou 12:91218718ae75 112 }elements;
TanakaTarou 12:91218718ae75 113
TanakaTarou 12:91218718ae75 114 void changeToBlueZone()
TanakaTarou 12:91218718ae75 115 {
TanakaTarou 12:91218718ae75 116 for(int i = 0; i < LIBNUM; i++)
TanakaTarou 12:91218718ae75 117 {
TanakaTarou 12:91218718ae75 118 state_lib[i][0] *= -1;
TanakaTarou 12:91218718ae75 119 state_lib[i][2] *= -1;
TanakaTarou 12:91218718ae75 120 }
TanakaTarou 12:91218718ae75 121 }