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

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stateLib.h@12:91218718ae75, 2018-09-15 (annotated)

Committer:
TanakaTarou
Date:
Sat Sep 15 00:16:35 2018 +0000
Revision:
12:91218718ae75
Parent:
10:ebb59c1d369e
Child:
13:0479a4f3e997
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaTarou 12:91218718ae75 1 #define LIBNUM 18
soyooo 9:ce5a1315fe0d 2 //(X, Y, θ, speed, angle)
TanakaTarou 12:91218718ae75 3 float state_lib[LIBNUM][10] ={{0, 0.0, 0.0, 0, 90, 0},//スタートゾーン
soyooo 9:ce5a1315fe0d 4 /*
TanakaTarou 12:91218718ae75 5 //2段テーブル1周(移動のみ)
TanakaTarou 12:91218718ae75 6 {-1.740, 1.5, 0.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 7 {-1.740, 20, 0.0, 0, 90, 0},// USS
TanakaTarou 12:91218718ae75 8 {-1.740, 20, 0.0, 0, 90, 0},// 発射
TanakaTarou 12:91218718ae75 9 {-1.740, 1.5, 0.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 10 {-0.740, 1.5, 45.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 11 {-0.740, 2.5, 90.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 12 {-20, 2.5, 90.0, 0, 90, 0},// USS
TanakaTarou 12:91218718ae75 13 {-20, 2.5, 90.0, 0, 90, 0},// 発射
TanakaTarou 12:91218718ae75 14 {-0.740, 2.5, 90.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 15 {-0.740, 3.5, 135.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 16 {-1.740, 3.5, 180.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 17 {-1.740, -20, 180.0, 0, 90, 0},// USS
TanakaTarou 12:91218718ae75 18 {-1.740, -20, 180.0, 0, 90, 0},// 発射
TanakaTarou 12:91218718ae75 19 {-1.740, 3.5, 180.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 20 {-2.740, 3.5, 225.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 21 {-2.740, 2.5, 270.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 22 {20, 2.5, 270.0, 0, 90, 0},// USS
TanakaTarou 12:91218718ae75 23 {20, 2.5, 270.0, 0, 90, 0},// 発射
TanakaTarou 12:91218718ae75 24 {-2.740, 2.5, 270.0, 0, 90, 0},//
TanakaTarou 12:91218718ae75 25 {-2.740, 1.5, 270.0, 0, 90, 0},//
soyooo 9:ce5a1315fe0d 26 */
TanakaTarou 12:91218718ae75 27 /*
TanakaTarou 12:91218718ae75 28 //2段テーブル上・下
TanakaTarou 12:91218718ae75 29 {-1.740, 1.5, 0.0, 0, 82, 0},// x移動, 角度変化
TanakaTarou 12:91218718ae75 30 {-1.740, 25.0, 0.0, 0, 82, 0},// y移動
TanakaTarou 12:91218718ae75 31 {-1.740, 20.0, 0.0, 0, 82, 0},// 下段に発射
TanakaTarou 12:91218718ae75 32 {-1.740, 20.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
soyooo 9:ce5a1315fe0d 33
TanakaTarou 12:91218718ae75 34 {-1.740, 25.0, 0.0, 0, 90, 0},// 補給
TanakaTarou 12:91218718ae75 35 {-1.740, 13.0, 0.0, 0, 85, 0},// 角度変化
TanakaTarou 12:91218718ae75 36 {-1.740, 13.0, 0.0, 0, 85, 0},// 上段に発射
TanakaTarou 12:91218718ae75 37 {-1.740, 0, 0.0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 12:91218718ae75 38
TanakaTarou 12:91218718ae75 39 {-2.740, 0.0, 0.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 40 */
TanakaTarou 12:91218718ae75 41 //移動テーブル
TanakaTarou 12:91218718ae75 42 {-3.740, 0.0, 0.0, 0, 90, 0},// x移動, 補給
TanakaTarou 12:91218718ae75 43 {-3.740, 25.0, 0.0, 0, 82, 0},// y移動, 角度変化
TanakaTarou 12:91218718ae75 44 {-3.740, 25.0, 0.0, 0, 82, 0},// 発射
TanakaTarou 12:91218718ae75 45 //{-3.740, 0.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 12:91218718ae75 46
TanakaTarou 12:91218718ae75 47 {-4.740, 2.0, 180.0, 0, 90, 0},// x移動, 補給
TanakaTarou 12:91218718ae75 48 {-4.740, -25.0, 180.0, 0, 83, 0},// y移動, 角度変化
TanakaTarou 12:91218718ae75 49 {-4.740, -25.0, 180.0, 0, 83, 0},// 発射
TanakaTarou 12:91218718ae75 50 //{-4.740, 0.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
soyooo 9:ce5a1315fe0d 51
TanakaTarou 12:91218718ae75 52 {-5.740, 2.0, 0.0, 0, 90, 0},// x移動, 補給
TanakaTarou 12:91218718ae75 53 {-5.740, 25.0, 0.0, 0, 85, 0},// y移動, 角度変化
TanakaTarou 12:91218718ae75 54 {-5.740, 25.0, 0.0, 0, 85, 0},// 発射
TanakaTarou 12:91218718ae75 55 {-5.740, 0.0, 0.0, 0, 90, 0},// y戻る, 角度戻る
TanakaTarou 12:91218718ae75 56 /*
TanakaTarou 12:91218718ae75 57 //固定テーブル
TanakaTarou 12:91218718ae75 58 {-0.3, 1.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 59 {25, 1.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 60 {25, 1.5, -90.0, 0, 90, 0},// 発射
TanakaTarou 12:91218718ae75 61 {-0.8, 1.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 62 {-0.8, 2.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 63 {25, 2.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 64 {25, 2.5, -90.0, 0, 90, 0},// 発射
TanakaTarou 12:91218718ae75 65 {-0.8, 3.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 66 {25, 3.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 67 {25, 3.5, -90.0, 0, 90, 0},// 発射
TanakaTarou 12:91218718ae75 68 {-0.8, 3.5, -90.0, 0, 90, 0},
TanakaTarou 12:91218718ae75 69 {-0.8, 1.5, 0.0, 0, 90, 0},
soyooo 9:ce5a1315fe0d 70 */
TanakaTarou 12:91218718ae75 71 {0.0, 0.0, 0.0, 0, 90, 0}// 補給, スタートゾーン戻る
soyooo 9:ce5a1315fe0d 72 };
soyooo 9:ce5a1315fe0d 73
soyooo 9:ce5a1315fe0d 74 typedef struct state
soyooo 9:ce5a1315fe0d 75 {
soyooo 9:ce5a1315fe0d 76 float x, y , theta, shoot, angle, supply;
soyooo 9:ce5a1315fe0d 77 }state;
soyooo 9:ce5a1315fe0d 78
soyooo 9:ce5a1315fe0d 79 typedef struct elements
soyooo 9:ce5a1315fe0d 80 {
soyooo 9:ce5a1315fe0d 81 float x, y , theta;
TanakaTarou 12:91218718ae75 82 }elements;
TanakaTarou 12:91218718ae75 83
TanakaTarou 12:91218718ae75 84 void changeToBlueZone()
TanakaTarou 12:91218718ae75 85 {
TanakaTarou 12:91218718ae75 86 for(int i = 0; i < LIBNUM; i++)
TanakaTarou 12:91218718ae75 87 {
TanakaTarou 12:91218718ae75 88 state_lib[i][0] *= -1;
TanakaTarou 12:91218718ae75 89 state_lib[i][2] *= -1;
TanakaTarou 12:91218718ae75 90 }
TanakaTarou 12:91218718ae75 91 }