Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed
Fork of
AR_MastarNode
by 
MEC-B
Diff: stateLib.h
- Revision:
- 28:f3d000638fe1
- Parent:
- 27:ac970a07ef47
- Child:
- 29:ec1a10c7c4c8
--- a/stateLib.h Wed Oct 24 13:10:12 2018 +0000
+++ b/stateLib.h Thu Oct 25 09:44:41 2018 +0000
@@ -54,61 +54,36 @@
*/
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_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, 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},//4
+ {B_x_2, B_y_1, 0, B1, 0},//13
{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},//8
+ {B_x_2, B_y_1, 0, B2, 0},//17
{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},//12
+ {B_x_2, 105.0, 0, B2, 0},//21
{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},//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
-
- {0.3, 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},//34
-
- {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},//38
-
- {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},//42
-
- {A_x, A1_y, 0, NEUTRAL, 0},// 43
+ {B_x_2, B_y_1, 0, B1, 0},//25
{B_x_s1, B_y_1, 0, B2_a, 0},
{B_x_s1, 105.0, 0, B2_a, 0},
@@ -116,12 +91,7 @@
{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},
- {105.0, B_y_2, -90, B2, 1},
- {B_x_1, B_y_1, -90, B2, 0},//54
+ {B_x_s3, 105.0, 0, B2_a, 1},//B2手前 奥 32
{B_x_s1, B_y_1, 0, B2_b, 0},
{B_x_s1, 105.0, 0, B2_b, 0},
@@ -129,13 +99,43 @@
{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 61
+ {B_x_s3, 105.0, 0, B2_b, 1},//B2手前 奥 39
+
+ {e_posi, 0.0, 0, NEUTRAL, 0},//40
+
+ {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
+
+ {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
+
+ {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
- {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},//66
+ {e_posi, 0.0, 0, NEUTRAL, 0},//53
+
+ {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, 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, 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, A1_y, 0, NEUTRAL, 0},// 66
{0.0, 0.0, 0, NEUTRAL, 0}// 補給, スタートゾーン戻る
};
@@ -162,7 +162,7 @@
topsPara para_B1 = {32, 85.5};
topsPara para_B2 = {58, 84.8};
topsPara para_B2_a = {58, 84.8};
-topsPara para_B2_b = {58, 84.0};
+topsPara para_B2_b = {58, 83.8};
topsPara para_C1 = {33, 84.0};
topsPara para_C2 = {41, 85.0};