MEC-B / Mbed 2 deprecated AR_MastarNode_copy

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

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

Fork of AR_MastarNode by MEC-B

stateLib.h@18:268ab2ab0b2a, 2018-09-27 (annotated)

Committer:
soyooo
Date:
Thu Sep 27 05:28:37 2018 +0000
Revision:
18:268ab2ab0b2a
Parent:
13:0479a4f3e997
Child:
19:bdb503dd1e8c
tops_lib;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soyooo 18:268ab2ab0b2a 1 #define LIBNUM 12
soyooo 9:ce5a1315fe0d 2 //(X, Y, θ, speed, angle)
soyooo 18:268ab2ab0b2a 3 #define NEUTRAL 0
soyooo 18:268ab2ab0b2a 4 #define A1 1
soyooo 18:268ab2ab0b2a 5 #define A2 2
soyooo 18:268ab2ab0b2a 6 #define A3 3
soyooo 18:268ab2ab0b2a 7 #define B1 4
soyooo 18:268ab2ab0b2a 8 #define B2 5
soyooo 18:268ab2ab0b2a 9 #define C1 6
soyooo 18:268ab2ab0b2a 10 #define C2 7
soyooo 18:268ab2ab0b2a 11 #define C3 8
soyooo 18:268ab2ab0b2a 12
soyooo 18:268ab2ab0b2a 13 float state_lib[LIBNUM][10] ={{0.0, 0.0, 0, NEUTRAL, 0},//スタートゾーン
soyooo 18:268ab2ab0b2a 14 {0.1, 0.0, 0, A1, 0},
soyooo 18:268ab2ab0b2a 15 {0.1, 0.0, 0, A1, 1},
soyooo 18:268ab2ab0b2a 16 {0.1, 0.0, 0, B1, 0},
soyooo 18:268ab2ab0b2a 17 {0.1, 0.0, 0, B1, 1},
soyooo 18:268ab2ab0b2a 18 {0.1, 0.0, 0, B2, 0},
soyooo 18:268ab2ab0b2a 19 {0.1, 0.0, 0, B2, 1},
soyooo 18:268ab2ab0b2a 20 {0.1, 0.0, 0, C1, 0},
soyooo 18:268ab2ab0b2a 21 {0.1, 0.0, 0, C1, 1},
soyooo 18:268ab2ab0b2a 22 {0.1, 0.0, 0, C2, 0},
soyooo 18:268ab2ab0b2a 23 {0.1, 0.0, 0, C2, 1},
soyooo 18:268ab2ab0b2a 24 {0.0, 0.0, 0, NEUTRAL, 0}// 補給, スタートゾーン戻る
soyooo 18:268ab2ab0b2a 25 };
soyooo 18:268ab2ab0b2a 26
soyooo 18:268ab2ab0b2a 27 float tops_lib[4][3] =
soyooo 18:268ab2ab0b2a 28 {
soyooo 18:268ab2ab0b2a 29 { 0, 90, 0},
soyooo 18:268ab2ab0b2a 30 { 0, 90, 1},
soyooo 18:268ab2ab0b2a 31 { 0, 90, 0},
soyooo 18:268ab2ab0b2a 32 { 0, 90, 0}
soyooo 18:268ab2ab0b2a 33 };
soyooo 18:268ab2ab0b2a 34
soyooo 18:268ab2ab0b2a 35 typedef struct topsPara
soyooo 18:268ab2ab0b2a 36 {
soyooo 18:268ab2ab0b2a 37 float vel, angle;
soyooo 18:268ab2ab0b2a 38 }topsPara;
soyooo 18:268ab2ab0b2a 39
soyooo 18:268ab2ab0b2a 40 topsPara para_NEUTRAL = {0, 90};
soyooo 18:268ab2ab0b2a 41
soyooo 18:268ab2ab0b2a 42 topsPara para_A1 = {0, 84};
soyooo 18:268ab2ab0b2a 43 topsPara para_A2 = {28, 84};
soyooo 18:268ab2ab0b2a 44 topsPara para_A3 = {28, 84};
soyooo 18:268ab2ab0b2a 45 /*
soyooo 18:268ab2ab0b2a 46 topsPara para_B1 = {31, 82.5};
soyooo 18:268ab2ab0b2a 47 topsPara para_B2 = {58, 84.8};
soyooo 18:268ab2ab0b2a 48
soyooo 18:268ab2ab0b2a 49 topsPara para_C1 = {33, 82.5};
soyooo 18:268ab2ab0b2a 50 topsPara para_C2 = {40, 83.5};
soyooo 18:268ab2ab0b2a 51 */
soyooo 18:268ab2ab0b2a 52 topsPara para_B1 = {0, 82.5};
soyooo 18:268ab2ab0b2a 53 topsPara para_B2 = {0, 84.8};
soyooo 18:268ab2ab0b2a 54
soyooo 18:268ab2ab0b2a 55 topsPara para_C1 = {0, 82.5};
soyooo 18:268ab2ab0b2a 56 topsPara para_C2 = {0, 83.5};
soyooo 18:268ab2ab0b2a 57
soyooo 18:268ab2ab0b2a 58 topsPara para_C3 = {44, 85.5};
soyooo 18:268ab2ab0b2a 59
soyooo 18:268ab2ab0b2a 60 topsPara para_lib[9] =
soyooo 18:268ab2ab0b2a 61 {
soyooo 18:268ab2ab0b2a 62 para_NEUTRAL,
soyooo 18:268ab2ab0b2a 63 para_A1,
soyooo 18:268ab2ab0b2a 64 para_A2,
soyooo 18:268ab2ab0b2a 65 para_A3,
soyooo 18:268ab2ab0b2a 66 para_B1,
soyooo 18:268ab2ab0b2a 67 para_B2,
soyooo 18:268ab2ab0b2a 68 para_C1,
soyooo 18:268ab2ab0b2a 69 para_C2,
soyooo 18:268ab2ab0b2a 70 para_C3
soyooo 18:268ab2ab0b2a 71 };
soyooo 9:ce5a1315fe0d 72
soyooo 9:ce5a1315fe0d 73 typedef struct state
soyooo 9:ce5a1315fe0d 74 {
soyooo 9:ce5a1315fe0d 75 float x, y , theta, shoot, angle, supply;
soyooo 9:ce5a1315fe0d 76 }state;
soyooo 9:ce5a1315fe0d 77
soyooo 9:ce5a1315fe0d 78 typedef struct elements
soyooo 9:ce5a1315fe0d 79 {
soyooo 9:ce5a1315fe0d 80 float x, y , theta;
soyooo 18:268ab2ab0b2a 81 }elements;