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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:
- 27:ac970a07ef47
- Parent:
- 26:322309c42aa4
- Child:
- 28:f3d000638fe1
--- a/stateLib.h Tue Oct 23 14:14:06 2018 +0000
+++ b/stateLib.h Wed Oct 24 13:10:12 2018 +0000
@@ -6,10 +6,11 @@
#define A3 3
#define B1 4
#define B2 5
-#define B2_b 6
-#define C1 7
-#define C2 8
-#define C3 9
+#define B2_a 6
+#define B2_b 7
+#define C1 8
+#define C2 9
+#define C3 10
#define B_x_1 0.840f
#define B_x_2 1.840f
@@ -109,13 +110,13 @@
{A_x, A1_y, 0, NEUTRAL, 0},// 43
- {B_x_s1, B_y_1, 0, B2, 0},
- {B_x_s1, 105.0, 0, B2, 0},
- {B_x_s1, 105.0, 0, B2, 1},//B2手前 手前
- {B_x_2, 105.0, 0, B2, 0},
- {B_x_2, 105.0, 0, B2, 1},//B2手前 真ん中
- {B_x_s3, 105.0, 0, B2, 0},
- {B_x_s3, 105.0, 0, B2, 1},//B2手前 奥 50
+ {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 50
{B_x_1, B_y_2, -90, B2, 0},
{105.0, B_y_2, -90, B2, 0},
@@ -153,19 +154,20 @@
}topsPara;
topsPara para_NEUTRAL = {0, 89.5};
-/*
+
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_b = {58, 83.8};
+topsPara para_B2_a = {58, 84.8};
+topsPara para_B2_b = {58, 84.0};
topsPara para_C1 = {33, 84.0};
topsPara para_C2 = {41, 85.0};
topsPara para_C3 = {47, 86.1};
-*/
+/*
topsPara para_A1 = {0, 83};
topsPara para_A2 = {0, 83.5};
topsPara para_A3 = {0, 83};
@@ -177,8 +179,8 @@
topsPara para_C1 = {0, 84.0};
topsPara para_C2 = {0, 85.0};
topsPara para_C3 = {0, 86.1};
-
-topsPara para_lib[10] =
+*/
+topsPara para_lib[11] =
{
para_NEUTRAL,
para_A1,
@@ -186,6 +188,7 @@
para_A3,
para_B1,
para_B2,
+ para_B2_a,
para_B2_b,
para_C1,
para_C2,