MEC-B
/
AR_MastarNode_copy
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Dependencies: DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed
Fork of
AR_MastarNode
by 
MEC-B
Diff: stateLib.h
- Revision:
- 13:0479a4f3e997
- Parent:
- 12:91218718ae75
- Child:
- 14:8334c241bb0a
- Child:
- 18:268ab2ab0b2a
--- a/stateLib.h Sat Sep 15 00:16:35 2018 +0000
+++ b/stateLib.h Sat Sep 15 06:48:13 2018 +0000
@@ -1,74 +1,104 @@
#define LIBNUM 18
//(X, Y, θ, speed, angle)
-float state_lib[LIBNUM][10] ={{0, 0.0, 0.0, 0, 90, 0},//スタートゾーン
+float state_lib[LIBNUM][10] ={{0.0, 0.0, 0, 0, 90, 0},//スタートゾーン
/*
- //2段テーブル1周(移動のみ)
- {-1.740, 1.5, 0.0, 0, 90, 0},//
- {-1.740, 20, 0.0, 0, 90, 0},// USS
- {-1.740, 20, 0.0, 0, 90, 0},// 発射
- {-1.740, 1.5, 0.0, 0, 90, 0},//
- {-0.740, 1.5, 45.0, 0, 90, 0},//
- {-0.740, 2.5, 90.0, 0, 90, 0},//
- {-20, 2.5, 90.0, 0, 90, 0},// USS
- {-20, 2.5, 90.0, 0, 90, 0},// 発射
- {-0.740, 2.5, 90.0, 0, 90, 0},//
- {-0.740, 3.5, 135.0, 0, 90, 0},//
- {-1.740, 3.5, 180.0, 0, 90, 0},//
- {-1.740, -20, 180.0, 0, 90, 0},// USS
- {-1.740, -20, 180.0, 0, 90, 0},// 発射
- {-1.740, 3.5, 180.0, 0, 90, 0},//
- {-2.740, 3.5, 225.0, 0, 90, 0},//
- {-2.740, 2.5, 270.0, 0, 90, 0},//
- {20, 2.5, 270.0, 0, 90, 0},// USS
- {20, 2.5, 270.0, 0, 90, 0},// 発射
- {-2.740, 2.5, 270.0, 0, 90, 0},//
- {-2.740, 1.5, 270.0, 0, 90, 0},//
+ //2段テーブル1周
+ {-1.740, 1.5, 0, 0, 90, 0},//
+ {-1.740, 20, 0, 0, 90, 0},// USS
+ {-1.740, 20, 0, 0, 90, 0},// 発射
+ {-1.740, 1.5, 0, 0, 90, 0},//
+ {-2.740, 1.5, -45, 0, 90, 0},//
+ {-2.740, 2.5, -90, 0, 90, 0},//
+ {20, 2.5, -90, 0, 90, 0},// USS
+ {20, 2.5, -90, 0, 90, 0},// 発射
+ {-2.740, 2.5, -90, 0, 90, 0},//
+ {-2.740, 3.5, -135, 0, 90, 0},//
+ {-1.740, 3.5, -180, 0, 90, 0},//
+ {-1.740, -20, -180, 0, 90, 0},// USS
+ {-1.740, -20, -180, 0, 90, 0},// 発射
+ {-1.740, 3.5, -180, 0, 90, 0},//
+ {-0.740, 3.5, -225, 0, 90, 0},//
+ {-0.740, 2.5, -270, 0, 90, 0},//
+ {-20, 2.5, -270, 0, 90, 0},// USS
+ {-20, 2.5, -270, 0, 90, 0},// 発射
+ {-0.740, 2.5, -270, 0, 90, 0},//
+ {-0.740, 1.5, -270, 0, 90, 0},//
+ */
+ /*
+ //2段テーブル下段のみ
+ {-1.740, 1.5, 0, 0, 82, 0},// x移動, 角度変化
+ {-1.740, 25.0, 0, 0, 82, 0},// y移動
+ {-1.740, 20.0, 0, 0, 82, 0},// 下段に発射
+ */
+ /*
+ //2段テーブル上段のみ
+ {-1.740, 1.5, 0, 0, 85, 0},// x移動, 角度変化
+ {-1.740, 13.0, 0, 0, 85, 0},// USS
+ {-1.740, 13.0, 0, 0, 85, 0},// 上段に発射
*/
/*
//2段テーブル上・下
- {-1.740, 1.5, 0.0, 0, 82, 0},// x移動, 角度変化
- {-1.740, 25.0, 0.0, 0, 82, 0},// y移動
- {-1.740, 20.0, 0.0, 0, 82, 0},// 下段に発射
- {-1.740, 20.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
+ {-1.740, 1.5, 0, 0, 82, 0},// x移動, 角度変化
+ {-1.740, 25.0, 0, 0, 82, 0},// y移動
+ {-1.740, 20.0, 0, 0, 82, 0},// 下段に発射
+ {-1.740, 20.0, 0, 0, 90, 0},// y戻る, 角度戻る
- {-1.740, 25.0, 0.0, 0, 90, 0},// 補給
- {-1.740, 13.0, 0.0, 0, 85, 0},// 角度変化
- {-1.740, 13.0, 0.0, 0, 85, 0},// 上段に発射
- {-1.740, 0, 0.0, 0, 90, 0},// y戻る, 角度戻る
+ {-1.740, 25.0, 0, 0, 90, 0},// 補給
+ {-1.740, 13.0, 0, 0, 85, 0},// 角度変化
+ {-1.740, 13.0, 0, 0, 85, 0},// 上段に発射
- {-2.740, 0.0, 0.0, 0, 90, 0},
+ {-2.740, 0.0, 0, 0, 90, 0},
*/
- //移動テーブル
- {-3.740, 0.0, 0.0, 0, 90, 0},// x移動, 補給
- {-3.740, 25.0, 0.0, 0, 82, 0},// y移動, 角度変化
- {-3.740, 25.0, 0.0, 0, 82, 0},// 発射
- //{-3.740, 0.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
+ /*
+ //移動テーブル ノーマル
+ {-3.740, 0.0, 0, 0, 90, 0},// x移動, 補給
+ {-3.740, 25.0, 0, 0, 82, 0},// y移動, 角度変化
+ {-3.740, 25.0, 0, 0, 82, 0},// 発射
+ {-3.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
+
+ {-4.740, 2.0, 180, 0, 90, 0},// x移動, 補給
+ {-4.740, -25.0, 180, 0, 83, 0},// y移動, 角度変化
+ {-4.740, -25.0, 180, 0, 83, 0},// 発射
+ {-4.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
- {-4.740, 2.0, 180.0, 0, 90, 0},// x移動, 補給
- {-4.740, -25.0, 180.0, 0, 83, 0},// y移動, 角度変化
- {-4.740, -25.0, 180.0, 0, 83, 0},// 発射
- //{-4.740, 0.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
+ {-5.740, 2.0, 0, 0, 90, 0},// x移動, 補給
+ {-5.740, 25.0, 0, 0, 85, 0},// y移動, 角度変化
+ {-5.740, 25.0, 0, 0, 85, 0},// 発射
+ {-5.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
+ */
+ //移動テーブル アクティブムーブ
+ {-3.740, 0.0, 0, 0, 90, 0},// x移動, 補給
+ {-3.740, 25.0, 0, 0, 82, 0},// y移動, 角度変化
+ {-3.740, 25.0, 0, 0, 82, 0},// 発射
- {-5.740, 2.0, 0.0, 0, 90, 0},// x移動, 補給
- {-5.740, 25.0, 0.0, 0, 85, 0},// y移動, 角度変化
- {-5.740, 25.0, 0.0, 0, 85, 0},// 発射
- {-5.740, 0.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
+ {-4.740, 2.0, 180, 0, 90, 0},// x移動, 補給
+ {-4.740, -25.0, 180, 0, 83, 0},// y移動, 角度変化
+ {-4.740, -25.0, 180, 0, 83, 0},// 発射
+
+ {-5.740, 2.0, 0, 0, 90, 0},// x移動, 補給
+ {-5.740, 25.0, 0, 0, 85, 0},// y移動, 角度変化
+ {-5.740, 25.0, 0, 0, 85, 0},// 発射
+ {-5.740, 0.0, 0, 0, 90, 0},// y戻る, 角度戻る
/*
//固定テーブル
- {-0.3, 1.5, -90.0, 0, 90, 0},
- {25, 1.5, -90.0, 0, 90, 0},
- {25, 1.5, -90.0, 0, 90, 0},// 発射
- {-0.8, 1.5, -90.0, 0, 90, 0},
- {-0.8, 2.5, -90.0, 0, 90, 0},
- {25, 2.5, -90.0, 0, 90, 0},
- {25, 2.5, -90.0, 0, 90, 0},// 発射
- {-0.8, 3.5, -90.0, 0, 90, 0},
- {25, 3.5, -90.0, 0, 90, 0},
- {25, 3.5, -90.0, 0, 90, 0},// 発射
- {-0.8, 3.5, -90.0, 0, 90, 0},
- {-0.8, 1.5, 0.0, 0, 90, 0},
+ {-0.3, 1.5, -90, 0, 90, 0},
+ {25, 1.5, -90, 0, 90, 0},
+ {25, 1.5, -90, 0, 90, 0},// 発射
+
+ {-0.8, 1.5, -90, 0, 90, 0},
+
+ {-0.8, 2.5, -90, 0, 90, 0},
+ {25, 2.5, -90, 0, 90, 0},
+ {25, 2.5, -90, 0, 90, 0},// 発射
+
+ {-0.8, 3.5, -90, 0, 90, 0},
+ {25, 3.5, -90, 0, 90, 0},
+ {25, 3.5, -90, 0, 90, 0},// 発射
+ {-0.8, 3.5, -90, 0, 90, 0},
+
+ {-0.8, 1.5, 0, 0, 90, 0},
*/
- {0.0, 0.0, 0.0, 0, 90, 0}// 補給, スタートゾーン戻る
+ {0.0, 0.0, 0, 0, 90, 0}// 補給, スタートゾーン戻る
};
typedef struct state