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Dependencies: DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed
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Diff: stateLib.h
- Revision:
- 27:ac970a07ef47
- Parent:
- 26:322309c42aa4
- Child:
- 28:f3d000638fe1
diff -r 322309c42aa4 -r ac970a07ef47 stateLib.h --- a/stateLib.h Tue Oct 23 14:14:06 2018 +0000 +++ b/stateLib.h Wed Oct 24 13:10:12 2018 +0000 @@ -6,10 +6,11 @@ #define A3 3 #define B1 4 #define B2 5 -#define B2_b 6 -#define C1 7 -#define C2 8 -#define C3 9 +#define B2_a 6 +#define B2_b 7 +#define C1 8 +#define C2 9 +#define C3 10 #define B_x_1 0.840f #define B_x_2 1.840f @@ -109,13 +110,13 @@ {A_x, A1_y, 0, NEUTRAL, 0},// 43 - {B_x_s1, B_y_1, 0, B2, 0}, - {B_x_s1, 105.0, 0, B2, 0}, - {B_x_s1, 105.0, 0, B2, 1},//B2手前 手前 - {B_x_2, 105.0, 0, B2, 0}, - {B_x_2, 105.0, 0, B2, 1},//B2手前 真ん中 - {B_x_s3, 105.0, 0, B2, 0}, - {B_x_s3, 105.0, 0, B2, 1},//B2手前 奥 50 + {B_x_s1, B_y_1, 0, B2_a, 0}, + {B_x_s1, 105.0, 0, B2_a, 0}, + {B_x_s1, 105.0, 0, B2_a, 1},//B2手前 手前 + {B_x_2, 105.0, 0, B2_a, 0}, + {B_x_2, 105.0, 0, B2_a, 1},//B2手前 真ん中 + {B_x_s3, 105.0, 0, B2_a, 0}, + {B_x_s3, 105.0, 0, B2_a, 1},//B2手前 奥 50 {B_x_1, B_y_2, -90, B2, 0}, {105.0, B_y_2, -90, B2, 0}, @@ -153,19 +154,20 @@ }topsPara; topsPara para_NEUTRAL = {0, 89.5}; -/* + topsPara para_A1 = {18, 83}; topsPara para_A2 = {26, 83.5}; topsPara para_A3 = {18, 83}; topsPara para_B1 = {32, 85.5}; topsPara para_B2 = {58, 84.8}; -topsPara para_B2_b = {58, 83.8}; +topsPara para_B2_a = {58, 84.8}; +topsPara para_B2_b = {58, 84.0}; topsPara para_C1 = {33, 84.0}; topsPara para_C2 = {41, 85.0}; topsPara para_C3 = {47, 86.1}; -*/ +/* topsPara para_A1 = {0, 83}; topsPara para_A2 = {0, 83.5}; topsPara para_A3 = {0, 83}; @@ -177,8 +179,8 @@ topsPara para_C1 = {0, 84.0}; topsPara para_C2 = {0, 85.0}; topsPara para_C3 = {0, 86.1}; - -topsPara para_lib[10] = +*/ +topsPara para_lib[11] = { para_NEUTRAL, para_A1, @@ -186,6 +188,7 @@ para_A3, para_B1, para_B2, + para_B2_a, para_B2_b, para_C1, para_C2,