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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:
- 19:bdb503dd1e8c
- Parent:
- 18:268ab2ab0b2a
- Child:
- 20:1957c67ab740
--- a/stateLib.h Thu Sep 27 05:28:37 2018 +0000
+++ b/stateLib.h Wed Oct 03 08:10:17 2018 +0000
@@ -1,4 +1,4 @@
-#define LIBNUM 12
+#define LIBNUM 45
//(X, Y, θ, speed, angle)
#define NEUTRAL 0
#define A1 1
@@ -10,17 +10,89 @@
#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},
+/*
+#define B_x 1.740f
+#define B_y 1.5f
+#define e_posi 2.740f
+#define C1_x 3.740f
+#define C2_x 4.740f
+#define C3_x 5.740f
+#define A_x 0.8f
+#define A1_y 1.5f
+#define A2_y 2.5f
+#define A3_y 3.5f
+#define A_yow -90.0f
+*/
+#define B_x 0.3f
+#define B_y 0.3f
+#define e_posi 0.4f
+#define C1_x 0.5f
+#define C2_x 0.7f
+#define C3_x 0.9f
+#define A_x 0.2f
+#define A1_y 0.2f
+#define A2_y 0.4f
+#define A3_y 0.6f
+#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, B_y, 0, B1, 0},
+ {B_x, 20.0, 0, B1, 0},
+ {B_x, 20.0, 0, B1, 1},
+ {B_x, B_y, 0, B1, 0},//4
+
+ {B_x, B_y, 0, B2, 0},
+ {B_x, 13.0, 0, B2, 0},
+ {B_x, 13.0, 0, B2, 1},
+ {B_x, B_y, 0, B2, 0},//8
+
+ {B_x, B_y, 0, B1, 0},
+ {B_x, 20.0, 0, B1, 0},
+ {B_x, 20.0, 0, B1, 1},
+ {B_x, 20.0, 0, B1, 0},//12
+
+ {B_x, 20.0, 0, B2, 0},
+ {B_x, 13.0, 0, B2, 0},
+ {B_x, 13.0, 0, B2, 1},
+ {B_x, B_y, 0, B2, 0},//16
+
+ {e_posi, 0.0, 0, NEUTRAL, 0},//17
+
+ {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},//21
+
+ {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},//25
+
+ {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},//29
+
+ {e_posi, 0.0, 0, NEUTRAL, 0},//30
+
+ {0.1, A1_y, A_yow, A1, 0},
+ {-25, A1_y, A_yow, A1, 0},
+ {-25, A1_y, A_yow, A1, 1},
+ {A_x, A1_y, A_yow, A1, 0},//34
+
+ {A_x, A2_y, A_yow, A2, 0},
+ {-25, A2_y, A_yow, A2, 0},
+ {-25, A2_y, A_yow, A2, 1},
+ {A_x, A2_y, A_yow, A2, 0},//38
+
+ {A_x, A3_y, A_yow, A3, 0},
+ {-25, A3_y, A_yow, A3, 0},
+ {-25, A3_y, A_yow, A3, 1},
+ {A_x, A3_y, A_yow, A3, 0},//42
+
+ {A_x, A1_y, 0, NEUTRAL, 0},// 43
+
{0.0, 0.0, 0, NEUTRAL, 0}// 補給, スタートゾーン戻る
};
@@ -39,23 +111,28 @@
topsPara para_NEUTRAL = {0, 90};
-topsPara para_A1 = {0, 84};
+/*
+topsPara para_A1 = {28, 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_C3 = {44, 85.5};
*/
-topsPara para_B1 = {0, 82.5};
-topsPara para_B2 = {0, 84.8};
+topsPara para_A1 = {15, 84};
+topsPara para_A2 = {15, 84};
+topsPara para_A3 = {15, 84};
-topsPara para_C1 = {0, 82.5};
-topsPara para_C2 = {0, 83.5};
+topsPara para_B1 = {15, 82.5};
+topsPara para_B2 = {15, 84.8};
-topsPara para_C3 = {44, 85.5};
+topsPara para_C1 = {15, 82.5};
+topsPara para_C2 = {15, 83.5};
+topsPara para_C3 = {15, 85.5};
topsPara para_lib[9] =
{