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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:
- 12:91218718ae75
- Parent:
- 10:ebb59c1d369e
- Child:
- 13:0479a4f3e997
--- a/stateLib.h Wed Sep 12 12:57:14 2018 +0000
+++ b/stateLib.h Sat Sep 15 00:16:35 2018 +0000
@@ -1,41 +1,74 @@
-#define LIBNUM 10
+#define LIBNUM 18
//(X, Y, θ, speed, angle)
-float state_lib[LIBNUM][6] ={{0, 0.0, 0.0, 0, 90, 0},
+float state_lib[LIBNUM][10] ={{0, 0.0, 0.0, 0, 90, 0},//スタートゾーン
/*
- {0, 1, -90, 0, 87, 0},
- {25, 1, -90, 0, 87, 0},
- {25, 1, 0, 30, 87, 0},
- {0, 1, 0.0, 0, 88, 0}
+ //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},//
*/
-
- {-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
- {-1.825, 25.0, 0.0, 0, 82, 0},//13,y移動
- {-1.825, 25.0, 0.0, 31, 82, 0},//14,下段に発射
- {-1.825, 25.0, 0.0, 0, 88, 0},//15,角度戻す, P上昇
+ /*
+ //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
- {-1.825, 25.0, 0.0, 0, 88, 1},//16,角度変化, 下降&バットマン駆動
- {-1.825, 13.0, 0.0, 0, 84.5, 0},//16,角度変化, 下降&バットマン駆動
- {-1.825, 13.0, 0.0, 31, 84.5, 0},//17,上段に発射
- {-1.825, 0, 0.0, 0, 88, 0},//17,上段に発射
- /*
- {-3.825, 0.0, 0.0, 0, 88, 0},//0, x移動, 角度変化
- {-3.825, 25.0, 0.0, 0, 82, 0},//1,y移動
- {-3.825, 25.0, 0.0, 31, 82, 0},//2,発射
- {-3.825, 0.0, 0.0, 0, 88, 0},//3,y移動,角度戻す, P上昇
+ {-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
+
+ {-2.740, 0.0, 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
+
+ {-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
- {-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
- {-4.825, 25.0, 0.0, 0, 83, 0},//5,y移動
- {-4.825, 25.0, 0.0, 38, 83, 0},//6,発射
- {-4.825, 0.0, 0.0, 0, 88, 0},//7,y移動,角度戻す, P上昇
-
- {-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
- {-5.825, 25.0, 0.0, 0, 85, 0},//9,y移動
- {-5.825, 25.0, 0.0, 47, 85, 0},//10,発射
- {-5.825, 0.0, 0.0, 0, 88, 0},//11,y移動,角度戻す, P上昇
+ {-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
+ /*
+ //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},
*/
- //{0.0, 0.0, 0.0, 0, 88, 1}
-
- {0.0, 0.0, 0.0, 0, 88, 1}//18
+ {0.0, 0.0, 0.0, 0, 90, 0}// 補給, スタートゾーン戻る
};
typedef struct state
@@ -46,4 +79,13 @@
typedef struct elements
{
float x, y , theta;
-}elements;
\ No newline at end of file
+}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