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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:
- 18:268ab2ab0b2a
- Parent:
- 13:0479a4f3e997
- Child:
- 19:bdb503dd1e8c
--- a/stateLib.h Sat Sep 15 06:48:13 2018 +0000
+++ b/stateLib.h Thu Sep 27 05:28:37 2018 +0000
@@ -1,105 +1,74 @@
-#define LIBNUM 18
+#define LIBNUM 12
//(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
- /*
- //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, 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, 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, 90, 0},
- */
- /*
- //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
-
- {-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
-
- {-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, 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, 90, 0}// 補給, スタートゾーン戻る
- };
+#define NEUTRAL 0
+#define A1 1
+#define A2 2
+#define A3 3
+#define B1 4
+#define B2 5
+#define C1 6
+#define C2 7
+#define C3 8
+
+float state_lib[LIBNUM][10] ={{0.0, 0.0, 0, NEUTRAL, 0},//スタートゾーン
+ {0.1, 0.0, 0, A1, 0},
+ {0.1, 0.0, 0, A1, 1},
+ {0.1, 0.0, 0, B1, 0},
+ {0.1, 0.0, 0, B1, 1},
+ {0.1, 0.0, 0, B2, 0},
+ {0.1, 0.0, 0, B2, 1},
+ {0.1, 0.0, 0, C1, 0},
+ {0.1, 0.0, 0, C1, 1},
+ {0.1, 0.0, 0, C2, 0},
+ {0.1, 0.0, 0, C2, 1},
+ {0.0, 0.0, 0, NEUTRAL, 0}// 補給, スタートゾーン戻る
+ };
+
+float tops_lib[4][3] =
+{
+ { 0, 90, 0},
+ { 0, 90, 1},
+ { 0, 90, 0},
+ { 0, 90, 0}
+};
+
+typedef struct topsPara
+{
+ float vel, angle;
+}topsPara;
+
+topsPara para_NEUTRAL = {0, 90};
+
+topsPara para_A1 = {0, 84};
+topsPara para_A2 = {28, 84};
+topsPara para_A3 = {28, 84};
+/*
+topsPara para_B1 = {31, 82.5};
+topsPara para_B2 = {58, 84.8};
+
+topsPara para_C1 = {33, 82.5};
+topsPara para_C2 = {40, 83.5};
+*/
+topsPara para_B1 = {0, 82.5};
+topsPara para_B2 = {0, 84.8};
+
+topsPara para_C1 = {0, 82.5};
+topsPara para_C2 = {0, 83.5};
+
+topsPara para_C3 = {44, 85.5};
+
+topsPara para_lib[9] =
+{
+ para_NEUTRAL,
+ para_A1,
+ para_A2,
+ para_A3,
+ para_B1,
+ para_B2,
+ para_C1,
+ para_C2,
+ para_C3
+};
typedef struct state
{
@@ -109,13 +78,4 @@
typedef struct elements
{
float x, y , theta;
-}elements;
-
-void changeToBlueZone()
-{
- for(int i = 0; i < LIBNUM; i++)
- {
- state_lib[i][0] *= -1;
- state_lib[i][2] *= -1;
- }
-}
\ No newline at end of file
+}elements;
\ No newline at end of file