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

Fork of AR_MastarNode by MEC-B

stateLib.h@9:ce5a1315fe0d, 2018-08-26 (annotated)

Committer:
soyooo
Date:
Sun Aug 26 09:07:19 2018 +0000
Revision:
9:ce5a1315fe0d
Child:
10:ebb59c1d369e
???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soyooo 9:ce5a1315fe0d 1 #define LIBNUM 10
soyooo 9:ce5a1315fe0d 2 //(X, Y, θ, speed, angle)
soyooo 9:ce5a1315fe0d 3 float state_lib[LIBNUM][6] ={{0, 0.0, 0.0, 0, 90, 0},
soyooo 9:ce5a1315fe0d 4 /*
soyooo 9:ce5a1315fe0d 5 {0, 1, -90, 0, 87, 0},
soyooo 9:ce5a1315fe0d 6 {25, 1, -90, 0, 87, 0},
soyooo 9:ce5a1315fe0d 7 {25, 1, 0, 30, 87, 0},
soyooo 9:ce5a1315fe0d 8 {0, 1, 0.0, 0, 88, 0}
soyooo 9:ce5a1315fe0d 9 */
soyooo 9:ce5a1315fe0d 10
soyooo 9:ce5a1315fe0d 11 {-1.825, 0.0, 0.0, 0, 88, 1},//12,x移動, 角度変化, 下降&バットマン駆動
soyooo 9:ce5a1315fe0d 12 {-1.825, 25.0, 0.0, 0, 82, 0},//13,y移動
soyooo 9:ce5a1315fe0d 13 {-1.825, 25.0, 0.0, 31, 82, 0},//14,下段に発射
soyooo 9:ce5a1315fe0d 14 {-1.825, 25.0, 0.0, 0, 88, 0},//15,角度戻す, P上昇
soyooo 9:ce5a1315fe0d 15
soyooo 9:ce5a1315fe0d 16 {-1.825, 0, 0.0, 0, 88, 1},//16,角度変化, 下降&バットマン駆動
soyooo 9:ce5a1315fe0d 17 {-1.825, 13.0, 0.0, 0, 84.5, 0},//16,角度変化, 下降&バットマン駆動
soyooo 9:ce5a1315fe0d 18 {-1.825, 13.0, 0.0, 31, 84.5, 0},//17,上段に発射
soyooo 9:ce5a1315fe0d 19 {-1.825, 0, 0.0, 0, 88, 0},//17,上段に発射
soyooo 9:ce5a1315fe0d 20 /*
soyooo 9:ce5a1315fe0d 21 {-3.825, 0.0, 0.0, 0, 88, 0},//0, x移動, 角度変化
soyooo 9:ce5a1315fe0d 22 {-3.825, 25.0, 0.0, 0, 82, 0},//1,y移動
soyooo 9:ce5a1315fe0d 23 {-3.825, 25.0, 0.0, 31, 82, 0},//2,発射
soyooo 9:ce5a1315fe0d 24 {-3.825, 0.0, 0.0, 0, 88, 0},//3,y移動,角度戻す, P上昇
soyooo 9:ce5a1315fe0d 25
soyooo 9:ce5a1315fe0d 26 {-4.825, 0.0, 0.0, 0, 88, 1},//4, x移動, 角度変化, 下降&バットマン駆動
soyooo 9:ce5a1315fe0d 27 {-4.825, 25.0, 0.0, 0, 83, 0},//5,y移動
soyooo 9:ce5a1315fe0d 28 {-4.825, 25.0, 0.0, 38, 83, 0},//6,発射
soyooo 9:ce5a1315fe0d 29 {-4.825, 0.0, 0.0, 0, 88, 0},//7,y移動,角度戻す, P上昇
soyooo 9:ce5a1315fe0d 30
soyooo 9:ce5a1315fe0d 31 {-5.825, 0.0, 0.0, 0, 88, 1},//8,x移動, 角度変化, 下降&バットマン駆動
soyooo 9:ce5a1315fe0d 32 {-5.825, 25.0, 0.0, 0, 85, 0},//9,y移動
soyooo 9:ce5a1315fe0d 33 {-5.825, 25.0, 0.0, 47, 85, 0},//10,発射
soyooo 9:ce5a1315fe0d 34 {-5.825, 0.0, 0.0, 0, 88, 0},//11,y移動,角度戻す, P上昇
soyooo 9:ce5a1315fe0d 35 */
soyooo 9:ce5a1315fe0d 36 //{0.0, 0.0, 0.0, 0, 88, 1}
soyooo 9:ce5a1315fe0d 37
soyooo 9:ce5a1315fe0d 38 {0.0, 0.0, 0.0, 0, 88, 1}//18
soyooo 9:ce5a1315fe0d 39 };
soyooo 9:ce5a1315fe0d 40
soyooo 9:ce5a1315fe0d 41 typedef struct state
soyooo 9:ce5a1315fe0d 42 {
soyooo 9:ce5a1315fe0d 43 float x, y , theta, shoot, angle, supply;
soyooo 9:ce5a1315fe0d 44 }state;
soyooo 9:ce5a1315fe0d 45
soyooo 9:ce5a1315fe0d 46 typedef struct elements
soyooo 9:ce5a1315fe0d 47 {
soyooo 9:ce5a1315fe0d 48 float x, y , theta;
soyooo 9:ce5a1315fe0d 49 }elements;