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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:
- 20:1957c67ab740
- Parent:
- 19:bdb503dd1e8c
- Child:
- 21:4912835805a8
diff -r bdb503dd1e8c -r 1957c67ab740 stateLib.h
--- a/stateLib.h Wed Oct 03 08:10:17 2018 +0000
+++ b/stateLib.h Sun Oct 07 08:10:13 2018 +0000
@@ -9,7 +9,6 @@
#define C1 6
#define C2 7
#define C3 8
-
/*
#define B_x 1.740f
#define B_y 1.5f
@@ -21,7 +20,7 @@
#define A1_y 1.5f
#define A2_y 2.5f
#define A3_y 3.5f
-#define A_yow -90.0f
+#define A_yow 90.0f
*/
#define B_x 0.3f
#define B_y 0.3f
@@ -60,35 +59,35 @@
{e_posi, 0.0, 0, NEUTRAL, 0},//17
{C1_x, 0.0, 0, C1, 0},
- {C1_x, 20.0, 0, C1, 0},
- {C1_x, 20.0, 0, C1, 1},
+ {C1_x, 16.0, 0, C1, 0},
+ {C1_x, 16.0, 0, C1, 1},
{C1_x, 0.0, 0, C1, 0},//21
{C2_x, 0.0, 0, C2, 0},
- {C2_x, 20.0, 0, C2, 0},
- {C2_x, 20.0, 0, C2, 1},
+ {C2_x, 16.0, 0, C2, 0},
+ {C2_x, 16.0, 0, C2, 1},
{C2_x, 0.0, 0, C2, 0},//25
{C3_x, 0.0, 0, C3, 0},
- {C3_x, 20.0, 0, C3, 0},
- {C3_x, 20.0, 0, C3, 1},
+ {C3_x, 16.0, 0, C3, 0},
+ {C3_x, 16.0, 0, C3, 1},
{C3_x, 0.0, 0, C3, 0},//29
{e_posi, 0.0, 0, NEUTRAL, 0},//30
- {0.1, A1_y, A_yow, A1, 0},
- {-25, A1_y, A_yow, A1, 0},
- {-25, A1_y, A_yow, A1, 1},
+ {0.3, A1_y, A_yow, A1, 0},
+ {-17, A1_y, A_yow, A1, 0},
+ {-17, A1_y, A_yow, A1, 1},
{A_x, A1_y, A_yow, A1, 0},//34
{A_x, A2_y, A_yow, A2, 0},
- {-25, A2_y, A_yow, A2, 0},
- {-25, A2_y, A_yow, A2, 1},
+ {-17, A2_y, A_yow, A2, 0},
+ {-17, A2_y, A_yow, A2, 1},
{A_x, A2_y, A_yow, A2, 0},//38
{A_x, A3_y, A_yow, A3, 0},
- {-25, A3_y, A_yow, A3, 0},
- {-25, A3_y, A_yow, A3, 1},
+ {-17, A3_y, A_yow, A3, 0},
+ {-17, A3_y, A_yow, A3, 1},
{A_x, A3_y, A_yow, A3, 0},//42
{A_x, A1_y, 0, NEUTRAL, 0},// 43
@@ -112,27 +111,27 @@
topsPara para_NEUTRAL = {0, 90};
/*
-topsPara para_A1 = {28, 84};
-topsPara para_A2 = {28, 84};
-topsPara para_A3 = {28, 84};
+topsPara para_A1 = {18, 83};
+topsPara para_A2 = {24, 83};
+topsPara para_A3 = {18, 83};
-topsPara para_B1 = {31, 82.5};
+topsPara para_B1 = {32, 84.5};
topsPara para_B2 = {58, 84.8};
-topsPara para_C1 = {33, 82.5};
-topsPara para_C2 = {40, 83.5};
-topsPara para_C3 = {44, 85.5};
+topsPara para_C1 = {32, 84.5};
+topsPara para_C2 = {38, 85.5};
+topsPara para_C3 = {44, 87.0};
*/
-topsPara para_A1 = {15, 84};
-topsPara para_A2 = {15, 84};
-topsPara para_A3 = {15, 84};
+topsPara para_A1 = {0, 84};
+topsPara para_A2 = {0, 84};
+topsPara para_A3 = {0, 84};
-topsPara para_B1 = {15, 82.5};
-topsPara para_B2 = {15, 84.8};
+topsPara para_B1 = {0, 82.5};
+topsPara para_B2 = {0, 84.8};
-topsPara para_C1 = {15, 82.5};
-topsPara para_C2 = {15, 83.5};
-topsPara para_C3 = {15, 85.5};
+topsPara para_C1 = {0, 82.5};
+topsPara para_C2 = {0, 83.5};
+topsPara para_C3 = {0, 85.5};
topsPara para_lib[9] =
{