MEC-B / Mbed 2 deprecated AR_MastarNode_copy

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

stateLib.h

Committer:
soyooo
Date:
2018-09-11
Revision:
10:ebb59c1d369e
Parent:
9:ce5a1315fe0d
Child:
12:91218718ae75

File content as of revision 10:ebb59c1d369e:

#define LIBNUM 10
//(X, Y, θ, speed, angle)
float state_lib[LIBNUM][6] ={{0, 0.0,  0.0,    0,  90, 0},
                         /*
                         {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}
                         */
                         
                         {-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
                         
                         {-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
                         
                         {-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
                         */
                         //{0.0, 0.0, 0.0, 0, 88, 1}
                         
                         {0.0, 0.0, 0.0, 0, 88, 1}//18
                        };

typedef struct state
{
    float x, y , theta, shoot, angle, supply;
}state;

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