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

Fork of AR_MastarNode by MEC-B

stateLib.h@17:1409cdfb6043, 2018-09-25 (annotated)

Committer:
TanakaTarou
Date:
Tue Sep 25 08:53:56 2018 +0000
Revision:
17:1409cdfb6043
Parent:
16:621f04b15f86 
9/25  changeZone???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaTarou 17:1409cdfb6043 1 #define LIBNUM 44
soyooo 9:ce5a1315fe0d 2 //(X, Y, θ, speed, angle)
TanakaTarou 17:1409cdfb6043 3 #define NEUTRAL 0
TanakaTarou 17:1409cdfb6043 4 #define A1 1
TanakaTarou 17:1409cdfb6043 5 #define A2 2
TanakaTarou 17:1409cdfb6043 6 #define A3 3
TanakaTarou 17:1409cdfb6043 7 #define B1 4
TanakaTarou 17:1409cdfb6043 8 #define B2 5
TanakaTarou 17:1409cdfb6043 9 #define C1 6
TanakaTarou 17:1409cdfb6043 10 #define C2 7
TanakaTarou 17:1409cdfb6043 11 #define C3 8
TanakaTarou 17:1409cdfb6043 12
TanakaTarou 17:1409cdfb6043 13 float state_lib[LIBNUM][10] ={{0.0, 0.0, 0, NEUTRAL, 0},//スタートゾーン
soyooo 9:ce5a1315fe0d 14 /*
TanakaTarou 13:0479a4f3e997 15 //2段テーブル1周
TanakaTarou 13:0479a4f3e997 16 {-1.740, 1.5, 0, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 17 {-1.740, 20, 0, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 18 {-1.740, 20, 0, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 19 {-1.740, 1.5, 0, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 20 {-2.740, 1.5, -45, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 21 {-2.740, 2.5, -90, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 22 {20, 2.5, -90, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 23 {20, 2.5, -90, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 24 {-2.740, 2.5, -90, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 25 {-2.740, 3.5, -135, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 26 {-1.740, 3.5, -180, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 27 {-1.740, -20, -180, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 28 {-1.740, -20, -180, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 29 {-1.740, 3.5, -180, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 30 {-0.740, 3.5, -225, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 31 {-0.740, 2.5, -270, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 32 {-20, 2.5, -270, 0, 90, 0},// USS
TanakaTarou 13:0479a4f3e997 33 {-20, 2.5, -270, 0, 90, 0},// 発射
TanakaTarou 13:0479a4f3e997 34 {-0.740, 2.5, -270, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 35 {-0.740, 1.5, -270, 0, 90, 0},//
TanakaTarou 13:0479a4f3e997 36 */
TanakaTarou 15:ae2043fde152 37
TanakaTarou 13:0479a4f3e997 38 //2段テーブル下段のみ
TanakaTarou 17:1409cdfb6043 39 {-1.740, 1.5, 0, B1, 0},// x移動, 角度変化
TanakaTarou 17:1409cdfb6043 40 {-1.740, 20.0, 0, B1, 0},// y移動
TanakaTarou 17:1409cdfb6043 41 {-1.740, 20.0, 0, B1, 1},// 下段に発射
TanakaTarou 17:1409cdfb6043 42 {-1.740, 1.5, 0, B1, 0},// 4
TanakaTarou 15:ae2043fde152 43
TanakaTarou 13:0479a4f3e997 44 //2段テーブル上段のみ
TanakaTarou 17:1409cdfb6043 45 {-1.740, 1.5, 0, B2, 0},// x移動, 角度変化
TanakaTarou 17:1409cdfb6043 46 {-1.740, 13.0, 0, B2, 0},// USS
TanakaTarou 17:1409cdfb6043 47 {-1.740, 13.0, 0, B2, 1},// 上段に発射
TanakaTarou 17:1409cdfb6043 48 {-1.740, 1.5, 0, B2, 0},// 8
TanakaTarou 15:ae2043fde152 49
TanakaTarou 12:91218718ae75 50 //2段テーブル上・下
TanakaTarou 17:1409cdfb6043 51 {-1.740, 1.5, 0, B1, 0},// x移動, 角度変化
TanakaTarou 17:1409cdfb6043 52 {-1.740, 25.0, 0, B1, 0},// y移動
TanakaTarou 17:1409cdfb6043 53 {-1.740, 20.0, 0, B1, 1},// 下段に発射
TanakaTarou 17:1409cdfb6043 54 {-1.740, 20.0, 0, B1, 0},// 12 角度戻る
soyooo 9:ce5a1315fe0d 55
TanakaTarou 17:1409cdfb6043 56 {-1.740, 20.0, 0, B2, 0},// 補給
TanakaTarou 17:1409cdfb6043 57 {-1.740, 13.0, 0, B2, 0},// 角度変化
TanakaTarou 17:1409cdfb6043 58 {-1.740, 13.0, 0, B2, 1},// 上段に発射
TanakaTarou 17:1409cdfb6043 59 {-1.740, 1.5, 0, B2, 0},// 16 角度変化
TanakaTarou 12:91218718ae75 60
TanakaTarou 17:1409cdfb6043 61 {-2.740, 0.0, 0, NEUTRAL, 0},// 17
TanakaTarou 14:8334c241bb0a 62
TanakaTarou 13:0479a4f3e997 63 //移動テーブル ノーマル
TanakaTarou 17:1409cdfb6043 64 {-3.740, 0.0, 0, C1, 0},// x移動, 補給
TanakaTarou 17:1409cdfb6043 65 {-3.740, 20.0, 0, C1, 0},// y移動, 角度変化
TanakaTarou 17:1409cdfb6043 66 {-3.740, 20.0, 0, C1, 1},// 発射
TanakaTarou 17:1409cdfb6043 67 {-3.740, 0.0, 0, C1, 0},// 21 y戻る, 角度戻る
TanakaTarou 13:0479a4f3e997 68
TanakaTarou 17:1409cdfb6043 69 {-4.740, 0.0, 0, C2, 0},// x移動, 補給
TanakaTarou 17:1409cdfb6043 70 {-4.740, 20.0, 0, C2, 0},// y移動, 角度変化
TanakaTarou 17:1409cdfb6043 71 {-4.740, 20.0, 0, C2, 1},// 発射
TanakaTarou 17:1409cdfb6043 72 {-4.740, 0.0, 0, C2, 0},// 25 y戻る, 角度戻る
TanakaTarou 12:91218718ae75 73
TanakaTarou 17:1409cdfb6043 74 {-5.740, 0.0, 0, C3, 0},// x移動, 補給
TanakaTarou 17:1409cdfb6043 75 {-5.740, 20.0, 0, C3, 0},// y移動, 角度変化
TanakaTarou 17:1409cdfb6043 76 {-5.740, 20.0, 0, C3, 1},// 発射
TanakaTarou 17:1409cdfb6043 77 {-5.740, 0.0, 0, C3, 0},// 29 y戻る, 角度戻る
TanakaTarou 14:8334c241bb0a 78
TanakaTarou 14:8334c241bb0a 79 /*
TanakaTarou 13:0479a4f3e997 80 //移動テーブル アクティブムーブ
TanakaTarou 13:0479a4f3e997 81 {-3.740, 0.0, 0, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 82 {-3.740, 25.0, 0, 0, 82, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 83 {-3.740, 25.0, 0, 0, 82, 0},// 発射
soyooo 9:ce5a1315fe0d 84
TanakaTarou 13:0479a4f3e997 85 {-4.740, 2.0, 180, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 86 {-4.740, -25.0, 180, 0, 83, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 87 {-4.740, -25.0, 180, 0, 83, 0},// 発射
TanakaTarou 13:0479a4f3e997 88
TanakaTarou 13:0479a4f3e997 89 {-5.740, 2.0, 0, 0, 90, 0},// x移動, 補給
TanakaTarou 13:0479a4f3e997 90 {-5.740, 25.0, 0, 0, 85, 0},// y移動, 角度変化
TanakaTarou 13:0479a4f3e997 91 {-5.740, 25.0, 0, 0, 85, 0},// 発射
TanakaTarou 13:0479a4f3e997 92 {-5.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 14:8334c241bb0a 93 */
TanakaTarou 15:ae2043fde152 94
TanakaTarou 12:91218718ae75 95 //固定テーブル
TanakaTarou 17:1409cdfb6043 96 {-0.3, 1.5, -90, A1, 0},
TanakaTarou 17:1409cdfb6043 97 {25, 1.5, -90, A1, 0},
TanakaTarou 17:1409cdfb6043 98 {25, 1.5, -90, A1, 1},// 発射
TanakaTarou 17:1409cdfb6043 99 {-0.8, 1.5, -90, A1, 0},// 33
TanakaTarou 13:0479a4f3e997 100
TanakaTarou 17:1409cdfb6043 101 {-0.8, 2.5, -90, A2, 0},
TanakaTarou 17:1409cdfb6043 102 {25, 2.5, -90, A2, 0},
TanakaTarou 17:1409cdfb6043 103 {25, 2.5, -90, A2, 1},// 発射
TanakaTarou 17:1409cdfb6043 104 {-0.8, 2.5, -90, A2, 0},// 37
TanakaTarou 15:ae2043fde152 105
TanakaTarou 17:1409cdfb6043 106 {-0.8, 3.5, -90, A3, 0},
TanakaTarou 17:1409cdfb6043 107 {25, 3.5, -90, A3, 0},
TanakaTarou 17:1409cdfb6043 108 {25, 3.5, -90, A3, 1},// 発射
TanakaTarou 17:1409cdfb6043 109 {-0.8, 3.5, -90, A3, 0},// 41
TanakaTarou 15:ae2043fde152 110
TanakaTarou 17:1409cdfb6043 111 {-0.8, 1.5, 0, NEUTRAL, 0},// 42
TanakaTarou 13:0479a4f3e997 112
TanakaTarou 15:ae2043fde152 113 {0.0, 0.0, 0, 9, 0}// 補給, スタートゾーン戻る
soyooo 9:ce5a1315fe0d 114 };
soyooo 9:ce5a1315fe0d 115
TanakaTarou 15:ae2043fde152 116
TanakaTarou 15:ae2043fde152 117 float A_1[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 118 {0, 84, 0},
TanakaTarou 15:ae2043fde152 119 {28, 84, 0},
TanakaTarou 15:ae2043fde152 120 {0, 90, 0},
TanakaTarou 15:ae2043fde152 121 };
TanakaTarou 15:ae2043fde152 122
TanakaTarou 15:ae2043fde152 123 float A_2[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 124 {0, 84, 0},
TanakaTarou 15:ae2043fde152 125 {28, 84, 0},
TanakaTarou 15:ae2043fde152 126 {0, 90, 0},
TanakaTarou 15:ae2043fde152 127 };
TanakaTarou 15:ae2043fde152 128
TanakaTarou 15:ae2043fde152 129 float A_3[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 130 {0, 84, 0},
TanakaTarou 15:ae2043fde152 131 {28, 84, 0},
TanakaTarou 15:ae2043fde152 132 {0, 90, 0},
TanakaTarou 15:ae2043fde152 133 };
TanakaTarou 15:ae2043fde152 134
TanakaTarou 15:ae2043fde152 135 float B_1[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 136 {0, 82.5, 0},
TanakaTarou 15:ae2043fde152 137 {31, 82.5, 0},
TanakaTarou 15:ae2043fde152 138 {0, 90, 0},
TanakaTarou 15:ae2043fde152 139 };
TanakaTarou 15:ae2043fde152 140
TanakaTarou 15:ae2043fde152 141 float B_2[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 142 {0, 84.8, 0},
TanakaTarou 15:ae2043fde152 143 {58, 84.8, 0},
TanakaTarou 15:ae2043fde152 144 {0, 90, 0},
TanakaTarou 15:ae2043fde152 145 };
TanakaTarou 15:ae2043fde152 146
TanakaTarou 15:ae2043fde152 147 float C_1[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 148 {0, 82.5, 0},
TanakaTarou 15:ae2043fde152 149 {33, 82.5, 0},
TanakaTarou 15:ae2043fde152 150 {0, 90, 0},
TanakaTarou 15:ae2043fde152 151 };
TanakaTarou 15:ae2043fde152 152
TanakaTarou 15:ae2043fde152 153 float C_2[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 154 {0, 83.5, 0},
TanakaTarou 15:ae2043fde152 155 {40, 83.5, 0},
TanakaTarou 15:ae2043fde152 156 {0, 90, 0},
TanakaTarou 15:ae2043fde152 157 };
TanakaTarou 15:ae2043fde152 158
TanakaTarou 15:ae2043fde152 159 float C_3[4][3] = {{0, 90, 1},
TanakaTarou 15:ae2043fde152 160 {0, 85.5, 0},
TanakaTarou 15:ae2043fde152 161 {44, 85.5, 0},
TanakaTarou 15:ae2043fde152 162 {0, 90, 0},
TanakaTarou 15:ae2043fde152 163 };
TanakaTarou 15:ae2043fde152 164
TanakaTarou 15:ae2043fde152 165 float state_tops[4][3];
TanakaTarou 15:ae2043fde152 166
soyooo 9:ce5a1315fe0d 167 typedef struct state
soyooo 9:ce5a1315fe0d 168 {
soyooo 9:ce5a1315fe0d 169 float x, y , theta, shoot, angle, supply;
soyooo 9:ce5a1315fe0d 170 }state;
soyooo 9:ce5a1315fe0d 171
soyooo 9:ce5a1315fe0d 172 typedef struct elements
soyooo 9:ce5a1315fe0d 173 {
soyooo 9:ce5a1315fe0d 174 float x, y , theta;
TanakaTarou 17:1409cdfb6043 175 }elements;