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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:
- 21:4912835805a8
- Parent:
- 20:1957c67ab740
- Child:
- 24:91ecfbbf23ee
diff -r 1957c67ab740 -r 4912835805a8 stateLib.h
--- a/stateLib.h Sun Oct 07 08:10:13 2018 +0000
+++ b/stateLib.h Wed Oct 10 12:11:50 2018 +0000
@@ -9,19 +9,19 @@
#define C1 6
#define C2 7
#define C3 8
-/*
-#define B_x 1.740f
+
+#define B_x 1.840f
#define B_y 1.5f
-#define e_posi 2.740f
-#define C1_x 3.740f
-#define C2_x 4.740f
-#define C3_x 5.740f
-#define A_x 0.8f
+#define e_posi 2.840f
+#define C1_x 3.840f
+#define C2_x 4.840f
+#define C3_x 5.840f
+#define A_x 0.9f
#define A1_y 1.5f
#define A2_y 2.5f
#define A3_y 3.5f
#define A_yow 90.0f
-*/
+/*
#define B_x 0.3f
#define B_y 0.3f
#define e_posi 0.4f
@@ -33,12 +33,12 @@
#define A2_y 0.4f
#define A3_y 0.6f
#define A_yow 90.0f
-
+*/
float state_lib[LIBNUM][5] ={{0.0, 0.0, 0, NEUTRAL, 0},//スタートゾーン
{B_x, B_y, 0, B1, 0},
- {B_x, 20.0, 0, B1, 0},
- {B_x, 20.0, 0, B1, 1},
+ {B_x, 13.0, 0, B1, 0},
+ {B_x, 13.0, 0, B1, 1},
{B_x, B_y, 0, B1, 0},//4
{B_x, B_y, 0, B2, 0},
@@ -46,36 +46,36 @@
{B_x, 13.0, 0, B2, 1},
{B_x, B_y, 0, B2, 0},//8
- {B_x, B_y, 0, B1, 0},
- {B_x, 20.0, 0, B1, 0},
- {B_x, 20.0, 0, B1, 1},
- {B_x, 20.0, 0, B1, 0},//12
-
- {B_x, 20.0, 0, B2, 0},
+ {B_x, B_y, 0, B2, 0},
{B_x, 13.0, 0, B2, 0},
{B_x, 13.0, 0, B2, 1},
- {B_x, B_y, 0, B2, 0},//16
+ {B_x, 13.0, 0, B2, 0},//12
+
+ {B_x, 13.0, 0, B1, 0},
+ {B_x, 13.0, 0, B1, 0},
+ {B_x, 13.0, 0, B1, 1},
+ {B_x, B_y, 0, B1, 0},//16
{e_posi, 0.0, 0, NEUTRAL, 0},//17
{C1_x, 0.0, 0, C1, 0},
- {C1_x, 16.0, 0, C1, 0},
- {C1_x, 16.0, 0, C1, 1},
+ {C1_x, 20.0, 0, C1, 0},
+ {C1_x, 20.0, 0, C1, 1},
{C1_x, 0.0, 0, C1, 0},//21
{C2_x, 0.0, 0, C2, 0},
- {C2_x, 16.0, 0, C2, 0},
- {C2_x, 16.0, 0, C2, 1},
+ {C2_x, 20.0, 0, C2, 0},
+ {C2_x, 20.0, 0, C2, 1},
{C2_x, 0.0, 0, C2, 0},//25
{C3_x, 0.0, 0, C3, 0},
- {C3_x, 16.0, 0, C3, 0},
- {C3_x, 16.0, 0, C3, 1},
+ {C3_x, 20.0, 0, C3, 0},
+ {C3_x, 20.0, 0, C3, 1},
{C3_x, 0.0, 0, C3, 0},//29
{e_posi, 0.0, 0, NEUTRAL, 0},//30
- {0.3, A1_y, A_yow, A1, 0},
+ {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
@@ -110,18 +110,18 @@
topsPara para_NEUTRAL = {0, 90};
-/*
+
topsPara para_A1 = {18, 83};
-topsPara para_A2 = {24, 83};
+topsPara para_A2 = {26, 83.5};
topsPara para_A3 = {18, 83};
-topsPara para_B1 = {32, 84.5};
+topsPara para_B1 = {32, 85.5};
topsPara para_B2 = {58, 84.8};
-topsPara para_C1 = {32, 84.5};
-topsPara para_C2 = {38, 85.5};
-topsPara para_C3 = {44, 87.0};
-*/
+topsPara para_C1 = {32, 84.0};
+topsPara para_C2 = {40, 85.0};
+topsPara para_C3 = {46, 86.3};
+/*
topsPara para_A1 = {0, 84};
topsPara para_A2 = {0, 84};
topsPara para_A3 = {0, 84};
@@ -132,7 +132,7 @@
topsPara para_C1 = {0, 82.5};
topsPara para_C2 = {0, 83.5};
topsPara para_C3 = {0, 85.5};
-
+*/
topsPara para_lib[9] =
{
para_NEUTRAL,