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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:
- 17:1409cdfb6043
- Parent:
- 16:621f04b15f86
diff -r 621f04b15f86 -r 1409cdfb6043 stateLib.h
--- a/stateLib.h Mon Sep 24 08:03:55 2018 +0000
+++ b/stateLib.h Tue Sep 25 08:53:56 2018 +0000
@@ -1,6 +1,16 @@
-#define LIBNUM 43
+#define LIBNUM 44
//(X, Y, θ, speed, angle)
-float state_lib[LIBNUM][10] ={{0.0, 0.0, 0, 0, 0},//スタートゾーン
+#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
/*
//2段テーブル1周
{-1.740, 1.5, 0, 0, 90, 0},//
@@ -26,45 +36,45 @@
*/
//2段テーブル下段のみ
- {-1.740, 1.5, 0, 4, 0},// x移動, 角度変化
- {-1.740, 20.0, 0, 4, 0},// y移動
- {-1.740, 20.0, 0, 4, 1},// 下段に発射
- {-1.740, 1.5, 0, 4, 0},// 4
+ {-1.740, 1.5, 0, B1, 0},// x移動, 角度変化
+ {-1.740, 20.0, 0, B1, 0},// y移動
+ {-1.740, 20.0, 0, B1, 1},// 下段に発射
+ {-1.740, 1.5, 0, B1, 0},// 4
//2段テーブル上段のみ
- {-1.740, 1.5, 0, 5, 0},// x移動, 角度変化
- {-1.740, 13.0, 0, 5, 0},// USS
- {-1.740, 13.0, 0, 5, 1},// 上段に発射
- {-1.740, 1.5, 0, 5, 0},// 8
+ {-1.740, 1.5, 0, B2, 0},// x移動, 角度変化
+ {-1.740, 13.0, 0, B2, 0},// USS
+ {-1.740, 13.0, 0, B2, 1},// 上段に発射
+ {-1.740, 1.5, 0, B2, 0},// 8
//2段テーブル上・下
- {-1.740, 1.5, 0, 4, 0},// x移動, 角度変化
- {-1.740, 25.0, 0, 4, 0},// y移動
- {-1.740, 20.0, 0, 4, 1},// 下段に発射
- {-1.740, 20.0, 0, 4, 0},// 12 角度戻る
+ {-1.740, 1.5, 0, B1, 0},// x移動, 角度変化
+ {-1.740, 25.0, 0, B1, 0},// y移動
+ {-1.740, 20.0, 0, B1, 1},// 下段に発射
+ {-1.740, 20.0, 0, B1, 0},// 12 角度戻る
- {-1.740, 20.0, 0, 5, 0},// 補給
- {-1.740, 13.0, 0, 5, 0},// 角度変化
- {-1.740, 13.0, 0, 5, 1},// 上段に発射
- {-1.740, 1.5, 0, 5, 0},// 16 角度変化
+ {-1.740, 20.0, 0, B2, 0},// 補給
+ {-1.740, 13.0, 0, B2, 0},// 角度変化
+ {-1.740, 13.0, 0, B2, 1},// 上段に発射
+ {-1.740, 1.5, 0, B2, 0},// 16 角度変化
- {-2.740, 0.0, 0, 0, 0},// 17
+ {-2.740, 0.0, 0, NEUTRAL, 0},// 17
//移動テーブル ノーマル
- {-3.740, 0.0, 0, 6, 0},// x移動, 補給
- {-3.740, 20.0, 0, 6, 0},// y移動, 角度変化
- {-3.740, 20.0, 0, 6, 1},// 発射
- {-3.740, 0.0, 0, 6, 0},// 21 y戻る, 角度戻る
+ {-3.740, 0.0, 0, C1, 0},// x移動, 補給
+ {-3.740, 20.0, 0, C1, 0},// y移動, 角度変化
+ {-3.740, 20.0, 0, C1, 1},// 発射
+ {-3.740, 0.0, 0, C1, 0},// 21 y戻る, 角度戻る
- {-4.740, 0.0, 0, 7, 0},// x移動, 補給
- {-4.740, 20.0, 0, 7, 0},// y移動, 角度変化
- {-4.740, 20.0, 0, 7, 1},// 発射
- {-4.740, 0.0, 0, 7, 0},// 25 y戻る, 角度戻る
+ {-4.740, 0.0, 0, C2, 0},// x移動, 補給
+ {-4.740, 20.0, 0, C2, 0},// y移動, 角度変化
+ {-4.740, 20.0, 0, C2, 1},// 発射
+ {-4.740, 0.0, 0, C2, 0},// 25 y戻る, 角度戻る
- {-5.740, 0.0, 0, 8, 0},// x移動, 補給
- {-5.740, 20.0, 0, 8, 0},// y移動, 角度変化
- {-5.740, 20.0, 0, 8, 1},// 発射
- {-5.740, 0.0, 0, 8, 0},// 29 y戻る, 角度戻る
+ {-5.740, 0.0, 0, C3, 0},// x移動, 補給
+ {-5.740, 20.0, 0, C3, 0},// y移動, 角度変化
+ {-5.740, 20.0, 0, C3, 1},// 発射
+ {-5.740, 0.0, 0, C3, 0},// 29 y戻る, 角度戻る
/*
//移動テーブル アクティブムーブ
@@ -83,22 +93,22 @@
*/
//固定テーブル
- {-0.3, 1.5, -90, 1, 0},
- {25, 1.5, -90, 1, 0},
- {25, 1.5, -90, 1, 1},// 発射
- {-0.8, 1.5, -90, 1, 0},// 33
+ {-0.3, 1.5, -90, A1, 0},
+ {25, 1.5, -90, A1, 0},
+ {25, 1.5, -90, A1, 1},// 発射
+ {-0.8, 1.5, -90, A1, 0},// 33
- {-0.8, 2.5, -90, 2, 0},
- {25, 2.5, -90, 2, 0},
- {25, 2.5, -90, 2, 1},// 発射
- {-0.8, 2.5, -90, 2, 0},// 37
+ {-0.8, 2.5, -90, A2, 0},
+ {25, 2.5, -90, A2, 0},
+ {25, 2.5, -90, A2, 1},// 発射
+ {-0.8, 2.5, -90, A2, 0},// 37
- {-0.8, 3.5, -90, 3, 0},
- {25, 3.5, -90, 3, 0},
- {25, 3.5, -90, 3, 1},// 発射
- {-0.8, 3.5, -90, 3, 0},// 41
+ {-0.8, 3.5, -90, A3, 0},
+ {25, 3.5, -90, A3, 0},
+ {25, 3.5, -90, A3, 1},// 発射
+ {-0.8, 3.5, -90, A3, 0},// 41
- {-0.8, 1.5, 0, 0, 0},// 42
+ {-0.8, 1.5, 0, NEUTRAL, 0},// 42
{0.0, 0.0, 0, 9, 0}// 補給, スタートゾーン戻る
};
@@ -162,13 +172,4 @@
typedef struct elements
{
float x, y , theta;
-}elements;
-
-void changeToBlueZone()
-{
- for(int i = 0; i < LIBNUM; i++)
- {
- state_lib[i][0] *= -1;
- state_lib[i][2] *= -1;
- }
-}
\ No newline at end of file
+}elements;
\ No newline at end of file