YKNCT
Ver Tikutaikai
Dependencies: mbed SBDBT BNO055 YKNCT_MD YKNCT_I2C
Diff: target.h
- Revision:
- 0:c527a14d991a
- Child:
- 1:fa3652aca312
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/target.h Tue Oct 12 03:57:59 2021 +0000
@@ -0,0 +1,61 @@
+#include <main.h>
+
+/* 目標地点数 */
+const int TargetMAX = 51;
+
+/* 目標座標 X,Y,Theta,Time(ms) ジャグ機構 竿射出 リボンオプション*/
+const COORDINATE Target[TargetMAX] = {
+ {-2000, -2000, 180, 0, 0, 0, 0},
+ {-2000, -2000, 180, 16000, 0, 0, 0},
+ {-2000, -2000, 180, 24000, 1, 0, 0},
+ {-2000, -2000, 180, 29000, 1, 0, 0},
+ {-2000, -2000, 180, 31000, 0, 0, 0},
+ {-1500, -2000, 180, 32125, 0, 0, 0},
+ {1500, -2000, 180, 38875, 1, 0, 0},
+ {2000, -2000, 180, 40000, 0, 0, 0},
+ {2000, 0, 180, 46000, 0, 0, 0},
+ { 600, 2000, 180, 49000, 0, 0, 0},
+ { 600, 2000, 180, 54000, 0, 0, 1},
+ { 600, 2000, 180, 56000, 0, 0, 2},
+ {2000, 0, 60, 60000, 0, 0, 2},
+ {2000, -2000, 135, 63600, 0, 0, 2},
+ {2000, -2000, 135, 64900, 0, 0, 2},
+ {2000, -2000, 225, 67600, 0, 0, 2},
+ {2000, -2000, 225, 68900, 0, 0, 2},
+ {2000, -2000, 135, 71600, 0, 0, 2},
+ {2000, -2000, 135, 72900, 0, 0, 2},
+ {2000, -2000, 225, 75600, 0, 0, 2},
+ {2000, -2000, 225, 76900, 0, 0, 2},
+ {2000, 0, 360, 80000, 0, 0, 2},
+ { 2000 * cos(16 / 8.0 * PI), 2000 * sin(16 / 8.0 * PI), 360 + RAD_TO_DEG(0 / 8.0 * PI), 81000 + 29000 * 0 / 24, 0, 0, 2},
+ { 2000 * cos(15 / 8.0 * PI), 2000 * sin(15 / 8.0 * PI), 360 + RAD_TO_DEG(-1 / 8.0 * PI), 81000 + 29000 * 1 / 24, 0, 0, 2 },
+ { 2000 * cos(14 / 8.0 * PI), 2000 * sin(14 / 8.0 * PI), 360 + RAD_TO_DEG(-2 / 8.0 * PI), 81000 + 29000 * 2 / 24, 0, 0, 2 },
+ { 2000 * cos(13 / 8.0 * PI), 2000 * sin(13 / 8.0 * PI), 360 + RAD_TO_DEG(-3 / 8.0 * PI), 81000 + 29000 * 3 / 24, 0, 0, 2 },
+ { 2000 * cos(12 / 8.0 * PI), 2000 * sin(12 / 8.0 * PI), 360 + RAD_TO_DEG(-4 / 8.0 * PI), 81000 + 29000 * 4 / 24, 0, 0, 2 },
+ { 2000 * cos(11 / 8.0 * PI), 2000 * sin(11 / 8.0 * PI), 360 + RAD_TO_DEG(-5 / 8.0 * PI), 81000 + 29000 * 5 / 24, 0, 0, 2 },
+ { 2000 * cos(10 / 8.0 * PI), 2000 * sin(10 / 8.0 * PI), 360 + RAD_TO_DEG(-6 / 8.0 * PI), 81000 + 29000 * 6 / 24, 0, 0, 2 },
+ { 2000 * cos(9 / 8.0 * PI), 2000 * sin(9 / 8.0 * PI), 360 + RAD_TO_DEG(-7 / 8.0 * PI), 81000 + 29000 * 7 / 24, 0, 0, 2 },
+ { 2000 * cos(8 / 8.0 * PI), 2000 * sin(8 / 8.0 * PI), 360 + RAD_TO_DEG(-8 / 8.0 * PI), 81000 + 29000 * 8 / 24, 0, 0, 2 },
+ { 2000 * cos(7 / 8.0 * PI), 2000 * sin(7 / 8.0 * PI), 360 + RAD_TO_DEG(-9 / 8.0 * PI), 81000 + 29000 * 9 / 24, 0, 0, 2 },
+ { 2000 * cos(6 / 8.0 * PI), 2000 * sin(6 / 8.0 * PI), 360 + RAD_TO_DEG(-10 / 8.0 * PI), 81000 + 29000 * 10 / 24, 0, 0, 2 },
+ { 2000 * cos(5 / 8.0 * PI), 2000 * sin(5 / 8.0 * PI), 360 + RAD_TO_DEG(-11 / 8.0 * PI), 81000 + 29000 * 11 / 24, 0, 0, 2 },
+ { 2000 * cos(4 / 8.0 * PI), 2000 * sin(4 / 8.0 * PI), 360 + RAD_TO_DEG(-12 / 8.0 * PI), 81000 + 29000 * 12 / 24, 0, 0, 2 },
+ { 2000 * cos(3 / 8.0 * PI), 2000 * sin(3 / 8.0 * PI), 360 + RAD_TO_DEG(-13 / 8.0 * PI), 81000 + 29000 * 13 / 24, 0, 0, 2 },
+ { 2000 * cos(2 / 8.0 * PI), 2000 * sin(2 / 8.0 * PI), 360 + RAD_TO_DEG(-14 / 8.0 * PI), 81000 + 29000 * 14 / 24, 0, 0, 2 },
+ { 2000 * cos(1 / 8.0 * PI), 2000 * sin(1 / 8.0 * PI), 360 + RAD_TO_DEG(-15 / 8.0 * PI), 81000 + 29000 * 15 / 24, 0, 0, 2 },
+ { 2000 * cos(0 / 8.0 * PI), 2000 * sin(0 / 8.0 * PI), 360 + RAD_TO_DEG(-16 / 8.0 * PI), 81000 + 29000 * 16 / 24, 0, 0, 2 },
+ { 2000 * cos(-1 / 8.0 * PI), 2000 * sin(-1 / 8.0 * PI), 360 + RAD_TO_DEG(-17 / 8.0 * PI), 81000 + 29000 * 17 / 24, 0, 0, 2 },
+ { 2000 * cos(-2 / 8.0 * PI), 2000 * sin(-2 / 8.0 * PI), 360 + RAD_TO_DEG(-18 / 8.0 * PI), 81000 + 29000 * 18 / 24, 0, 0, 2 },
+ { 2000 * cos(-3 / 8.0 * PI), 2000 * sin(-3 / 8.0 * PI), 360 + RAD_TO_DEG(-19 / 8.0 * PI), 81000 + 29000 * 19 / 24, 0, 0, 2 },
+ { 2000 * cos(-4 / 8.0 * PI), 2000 * sin(-4 / 8.0 * PI), 360 + RAD_TO_DEG(-20 / 8.0 * PI), 81000 + 29000 * 20 / 24, 0, 0, 2 },
+ { 2000 * cos(-5 / 8.0 * PI), 2000 * sin(-5 / 8.0 * PI), 360 + RAD_TO_DEG(-21 / 8.0 * PI), 81000 + 29000 * 21 / 24, 0, 0, 2 },
+ { 2000 * cos(-6 / 8.0 * PI), 2000 * sin(-6 / 8.0 * PI), 360 + RAD_TO_DEG(-22 / 8.0 * PI), 81000 + 29000 * 22 / 24, 0, 0, 2 },
+ { 2000 * cos(-7 / 8.0 * PI), 2000 * sin(-7 / 8.0 * PI), 360 + RAD_TO_DEG(-23 / 8.0 * PI), 81000 + 29000 * 23 / 24, 0, 0, 2 },
+ { 2000 * cos(-8 / 8.0 * PI), 2000 * sin(-8 / 8.0 * PI), 360 + RAD_TO_DEG(-24 / 8.0 * PI), 81000 + 29000 * 24 / 24, 0, 0, 2 },
+ {-2000, -2000, -45, 115000, 0, 0, 2},//-2000 2000 945
+ {-2000, -2000, -45, 115700, 0, 0, 2},
+ {-2000, -2000, -45, 118000, 0, 1, 2},
+ {-2000, -2000, -180, 120000, 0, 0, 2},
+};
+extern const COORDINATE Target[TargetMAX];
+extern const int TargetMAX;
\ No newline at end of file