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:
- 30:0e6f5ed45445
- Parent:
- 29:ec1a10c7c4c8
- Child:
- 32:952bf02857f8
--- a/stateLib.h Thu Oct 25 13:46:50 2018 +0000
+++ b/stateLib.h Wed Nov 07 13:50:24 2018 +0000
@@ -1,27 +1,31 @@
-#define LIBNUM 68
+#define LIBNUM 86
#define NEUTRAL 0
#define A1 1
#define A2 2
#define A3 3
#define B1 4
-#define B2 5
-#define B2_a 6
-#define B2_b 7
-#define C1 8
-#define C2 9
-#define C3 10
+#define B1_a 5
+#define B1_b 6
+#define B2 7
+#define B2_a 8
+#define B2_b 9
+#define B2_c 10
+#define C1 11
+#define C2 12
+#define C3 13
#define B_x_1 0.840f
#define B_x_2 1.840f
#define B_x_3 2.840f
#define B_x_s1 1.750f
#define B_x_s3 1.930f
+#define B_x_s4 1.795f
+#define B_x_s5 1.885f
#define B_y_1 1.5f
#define B_y_2 2.5f
#define B_y_3 3.5f
-#define B_y_s1 2.4295f
-#define B_y_s3 2.5705f
+#define B_uss 105.0f
#define e_posi 2.840f
#define C1_x 3.840f
#define C2_x 4.840f
@@ -35,117 +39,137 @@
#define B_x_1 0.280f
#define B_x_2 0.613f
#define B_x_3 0.947f
-#define B_x_s1 0.613f
-#define B_x_s3 0.613f
+#define B_x_s1 0.513f
+#define B_x_s3 0.713f
#define B_y_1 0.5f
#define B_y_2 0.833f
#define B_y_3 1.167f
-#define B_y_s1 0.833f
-#define B_y_s3 0.833f
+#define B_uss 105.0f
#define e_posi 0.947f
#define C1_x 1.28f
-#define C2_x 1.28f //1.613f
-#define C3_x 1.28f //1.947f
+#define C2_x 1.613f
+#define C3_x 1.947f
#define A_x 0.3f
#define A1_y 0.5f
#define A2_y 0.833f
#define A3_y 1.167f
#define A_yow 90.0f
*/
+
float state_lib[LIBNUM][5] ={{0.0, 0.0, 0, NEUTRAL, 0},//スタートゾーン
- {B_x_1, B_y_2, -90, B2, 0},
- {105.0, B_y_2, -90, B2, 0},
- {105.0, B_y_2, -90, B2, 1},
+ {B_x_1, B_y_2, -90, B2, 0},//手前側面単発
+ {B_uss, B_y_2, -90, B2, 0},
+ {B_uss, B_y_2, -90, B2, 1},
{B_x_1, B_y_1, -90, B2, 0},//4
- {B_x_2, 0, 0, B2, 0},
- {B_x_3, B_y_2, 90, B2, 0},
- {-105, B_y_2, 90, B2, 0},
- {-105, B_y_2, 90, B2, 1},
- {B_x_3, B_y_1, 0, B2, 0},//9
+ {B_x_2, 0, 0, B2, 0},//奥側面単発
+ {B_x_3, B_y_2, 90, B2, 0},
+ {-B_uss, B_y_2, 90, B2, 0},
+ {-B_uss, B_y_2, 90, B2, 1},
+ {B_x_3, B_y_1, 0, B2, 0},//9
- {B_x_s1, B_y_1, 0, B2_a, 0},
- {B_x_s1, 105.0, 0, B2_a, 0},
- {B_x_s1, 105.0, 0, B2_a, 1},//B2手前 手前
- {B_x_2, 105.0, 0, B2_a, 0},
- {B_x_2, 105.0, 0, B2_a, 1},//B2手前 真ん中
- {B_x_s3, 105.0, 0, B2_a, 0},
- {B_x_s3, 105.0, 0, B2_a, 1},//B2手前 奥 16
+ {B_x_s1, B_y_1, 0, B1_b, 0},//B1 7発
+ {B_x_s1, B_uss, 0, B1_b, 0},
+ {B_x_s1, B_uss, 0, B1_b, 1},
+ {B_x_2, B_uss, 0, B1_b, 0},
+ {B_x_2, B_uss, 0, B1_b, 1},
+ {B_x_s3, B_uss, 0, B1_b, 0},
+ {B_x_s3, B_uss, 0, B1_b, 1},//16
- {B_x_s1, B_y_1, 0, B2_b, 0},
- {B_x_s1, 105.0, 0, B2_b, 0},
- {B_x_s1, 105.0, 0, B2_b, 1},//B2手前 手前
- {B_x_2, 105.0, 0, B2_b, 0},
- {B_x_2, 105.0, 0, B2_b, 1},//B2手前 真ん中
- {B_x_s3, 105.0, 0, B2_b, 0},
- {B_x_s3, 105.0, 0, B2_b, 1},//B2手前 奥 23
+ {B_x_s1, B_y_1, 0, B1_a, 0},
+ {B_x_s1, B_uss, 0, B1_a, 0},
+ {B_x_s1, B_uss, 0, B1_a, 1},
+ {B_x_2, B_uss, 0, B1_a, 0},
+ {B_x_2, B_uss, 0, B1_a, 1},
+ {B_x_s3, B_uss, 0, B1_a, 0},
+ {B_x_s3, B_uss, 0, B1_a, 1},//23
- {B_x_2, B_y_1, 0, B1, 0},
- {B_x_2, 105.0, 0, B1, 0},
- {B_x_2, 105.0, 0, B1, 1},
- {B_x_2, B_y_1, 0, B1, 0},//27
+ {B_x_s4, B_y_1, 0, B2_c, 0},//B2 奥5発
+ {B_x_s4, B_uss, 0, B2_c, 0},
+ {B_x_s4, B_uss, 0, B2_c, 1},
+ {B_x_s5, B_uss, 0, B2_c, 0},
+ {B_x_s5, B_uss, 0, B2_c, 1},
+ {B_x_s1, B_uss, 0, B2_b, 0},
+ {B_x_s1, B_uss, 0, B2_b, 1},
+ {B_x_2, B_uss, 0, B2_b, 0},
+ {B_x_2, B_uss, 0, B2_b, 1},
+ {B_x_s3, B_uss, 0, B2_b, 0},
+ {B_x_s3, B_uss, 0, B2_b, 1},//34
- {B_x_2, B_y_1, 0, B2, 0},
- {B_x_2, 105.0, 0, B2, 0},
- {B_x_2, 105.0, 0, B2, 1},
- {B_x_2, B_y_1, 0, B2, 0},//31
+ {B_x_s1, B_y_1, 0, B2_a, 0},//B2 真ん中3発
+ {B_x_s1, B_uss, 0, B2_a, 0},
+ {B_x_s1, B_uss, 0, B2_a, 1},
+ {B_x_2, B_uss, 0, B2_a, 0},
+ {B_x_2, B_uss, 0, B2_a, 1},
+ {B_x_s3, B_uss, 0, B2_a, 0},
+ {B_x_s3, B_uss, 0, B2_a, 1},//41
- {B_x_2, B_y_1, 0, B2, 0},
- {B_x_2, 105.0, 0, B2, 0},
- {B_x_2, 105.0, 0, B2, 1},
- {B_x_2, 105.0, 0, B2, 0},//35
+ {B_x_s4, B_uss, 0, B2, 0},//B2 手前2発
+ {B_x_s4, B_uss, 0, B2, 1},
+ {B_x_s5, B_uss, 0, B2, 0},
+ {B_x_s5, B_uss, 0, B2, 1},//45
- {B_x_2, 105.0, 0, B1, 0},
- {B_x_2, 105.0, 0, B1, 0},
- {B_x_2, 105.0, 0, B1, 1},
- {B_x_2, B_y_1, 0, B1, 0},//39
+ {B_x_2, B_y_1, 0, B1, 0},//B1単発
+ {B_x_2, B_uss, 0, B1, 0},
+ {B_x_2, B_uss, 0, B1, 1},//48
+
+ {B_x_2, B_y_1, 0, B2, 0},//B2単発
+ {B_x_2, B_uss, 0, B2, 0},
+ {B_x_2, B_uss, 0, B2, 1},//51
- {e_posi, 0.0, 0, NEUTRAL, 0},//40
+ {B_x_2, B_y_1, 0, B2, 0},//B1・B2連続射出
+ {B_x_2, B_uss, 0, B2, 0},
+ {B_x_2, B_uss, 0, B2, 1},
+ {B_x_2, B_uss, 0, B1, 0},
+ {B_x_2, B_uss, 0, B1, 0},
+ {B_x_2, B_uss, 0, B1, 1},//57
+
+ {e_posi, 0.0, 0, NEUTRAL, 0},//58
{C1_x, 0.0, 0, C1, 0},
{C1_x, 20.0, 0, C1, 0},
{C1_x, 20.0, 0, C1, 1},
- {C1_x, 0.0, 0, C1, 0},//44
+ {C1_x, 0.0, 0, C1, 0},//62
{C2_x, 0.0, 0, C2, 0},
{C2_x, 20.0, 0, C2, 0},
{C2_x, 20.0, 0, C2, 1},
- {C2_x, 0.0, 0, C2, 0},//48
+ {C2_x, 0.0, 0, C2, 0},//66
{C3_x, 0.0, 0, C3, 0},
{C3_x, 20.0, 0, C3, 0},
{C3_x, 20.0, 0, C3, 1},
- {C3_x, 0.0, 0, C3, 0},//52
+ {C3_x, 0.0, 0, C3, 0},//70
- {e_posi, 0.0, 0, NEUTRAL, 0},//53
+ {e_posi, 0.0, 0, NEUTRAL, 0},//71
{0.3, A1_y, A_yow, A1, 0},
{-17, A1_y, A_yow, A1, 0},
{-17, A1_y, A_yow, A1, 1},
- {A_x, A1_y, A_yow, A1, 0},//57
+ {A_x, A1_y, A_yow, A1, 0},//75
{A_x, A2_y, A_yow, A2, 0},
{-17, A2_y, A_yow, A2, 0},
{-17, A2_y, A_yow, A2, 1},
- {A_x, A2_y, A_yow, A2, 0},//61
+ {A_x, A2_y, A_yow, A2, 0},//79
{A_x, A3_y, A_yow, A3, 0},
{-17, A3_y, A_yow, A3, 0},
{-17, A3_y, A_yow, A3, 1},
- {A_x, A3_y, A_yow, A3, 0},//65
+ {A_x, A3_y, A_yow, A3, 0},//83
- {A_x, A1_y, 0, NEUTRAL, 0},// 66
+ {A_x, A1_y, 0, NEUTRAL, 0},//84
{0.0, 0.0, 0, NEUTRAL, 0}// 補給, スタートゾーン戻る
};
float tops_lib[4][3] =
{
- { 0, 89.5, 0},
- { 0, 89.5, 1},
- { 0, 89.5, 0},
- { 0, 89.5, 0}
+ { 0, 89.6, 0},
+ { 0, 89.6, 1},
+ { 0, 89.6, 0},
+ { 0, 89.6, 0}
};
typedef struct topsPara
@@ -153,43 +177,55 @@
float vel, angle;
}topsPara;
-topsPara para_NEUTRAL = {0, 89.5};
+topsPara para_NEUTRAL = {0, 89.6};
topsPara para_A1 = {18, 83};
topsPara para_A2 = {26, 83.5};
topsPara para_A3 = {18, 83};
-topsPara para_B1 = {32, 85.5};
-topsPara para_B2 = {58, 84.8};
-topsPara para_B2_a = {58, 84.8};
-topsPara para_B2_b = {58, 83.8};
+topsPara para_B1 = {32, 85.2};
+topsPara para_B1_a = {35, 84.5};
+topsPara para_B1_b = {38, 83.8};
-topsPara para_C1 = {33, 84.0};
-topsPara para_C2 = {41, 85.0};
-topsPara para_C3 = {47, 86.1};
+topsPara para_B2 = {58, 85.0};
+topsPara para_B2_a = {58, 84.4};
+topsPara para_B2_b = {58, 83.9};
+topsPara para_B2_c = {58, 83.5};
+
+topsPara para_C1 = {34, 84.2};
+topsPara para_C2 = {41, 85.2};
+topsPara para_C3 = {48, 86.0};
/*
topsPara para_A1 = {0, 83};
topsPara para_A2 = {0, 83.5};
topsPara para_A3 = {0, 83};
-topsPara para_B1 = {0, 85.5};
-topsPara para_B2 = {0, 84.8};
-topsPara para_B2_b = {0, 83.8};
+topsPara para_B1 = {0, 85.2};
+topsPara para_B1_a = {0, 84.5};
+topsPara para_B1_b = {0, 83.8};
-topsPara para_C1 = {0, 84.0};
-topsPara para_C2 = {0, 85.0};
-topsPara para_C3 = {0, 86.1};
+topsPara para_B2 = {0, 85.0};
+topsPara para_B2_a = {0, 84.4};
+topsPara para_B2_b = {0, 83.9};
+topsPara para_B2_c = {0, 83.5};
+
+topsPara para_C1 = {0, 84.2};
+topsPara para_C2 = {0, 85.2};
+topsPara para_C3 = {0, 86.0};
*/
-topsPara para_lib[11] =
+topsPara para_lib[14] =
{
para_NEUTRAL,
para_A1,
para_A2,
para_A3,
para_B1,
+ para_B1_a,
+ para_B1_b,
para_B2,
para_B2_a,
para_B2_b,
+ para_B2_c,
para_C1,
para_C2,
para_C3