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Dependencies:   DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed

Fork of AR_MastarNode by MEC-B

stateLib.h

Committer:
soyooo
Date:
2018-09-27
Revision:
18:268ab2ab0b2a
Parent:
13:0479a4f3e997
Child:
19:bdb503dd1e8c

File content as of revision 18:268ab2ab0b2a:

#define LIBNUM 12
//(X, Y, θ, speed, angle)
#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
{
    float x, y , theta, shoot, angle, supply;
}state;

typedef struct elements
{
    float x, y , theta;
}elements;