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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:
- 25:0176b8d3d042
- Parent:
- 24:91ecfbbf23ee
- Child:
- 26:322309c42aa4
diff -r 91ecfbbf23ee -r 0176b8d3d042 stateLib.h
--- a/stateLib.h Fri Oct 12 08:40:01 2018 +0000
+++ b/stateLib.h Fri Oct 19 08:41:06 2018 +0000
@@ -9,12 +9,12 @@
#define C1 6
#define C2 7
#define C3 8
-
+/*
#define B_x_1 0.840f
#define B_x_2 1.840f
#define B_x_3 2.840f
-#define B_x_s1 1.7695f
-#define B_x_s3 1.9105f
+#define B_x_s1 1.804f
+#define B_x_s3 1.876f
#define B_y_1 1.5f
#define B_y_2 2.5f
#define B_y_3 3.5f
@@ -29,6 +29,26 @@
#define A2_y 2.5f
#define A3_y 3.5f
#define A_yow 90.0f
+*/
+#define B_x_1 0.420f
+#define B_x_2 0.920f
+#define B_x_3 1.420f
+#define B_x_s1 0.920f
+#define B_x_s3 0.920f
+#define B_y_1 0.75f
+#define B_y_2 1.25f
+#define B_y_3 1.75f
+#define B_y_s1 1.25f
+#define B_y_s3 1.25f
+#define e_posi 1.420f
+#define C1_x 1.920f
+#define C2_x 2.420f
+#define C3_x 2.920f
+#define A_x 0.45f
+#define A1_y 0.75f
+#define A2_y 1.25f
+#define A3_y 1.75f
+#define A_yow 90.0f
float state_lib[LIBNUM][5] ={{0.0, 0.0, 0, NEUTRAL, 0},//スタートゾーン
@@ -91,10 +111,10 @@
{B_x_s1, B_y_1, 0, B2, 0},
{B_x_s1, 103.0, 0, B2, 0},
{B_x_s1, 103.0, 0, B2, 1},//B2手前 手前
- {B_x_s1, B_y_1, 0, B2, 0},
+ {B_x_s1, 103.0, 0, B2, 0},
{B_x_2, 103.0, 0, B2, 0},
{B_x_2, 103.0, 0, B2, 1},//B2手前 真ん中
- {B_x_2, B_y_1, 0, B2, 0},
+ {B_x_2, 103.0, 0, B2, 0},
{B_x_s3, 103.0, 0, B2, 0},
{B_x_s3, 103.0, 0, B2, 1},//B2手前 奥
{B_x_s3, B_y_1, 0, B2, 0},//53