ichinoseki_Bteam_2019 / Mbed 2 deprecated 2019_AR_Itsuki

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Dependencies:   IMU mbed Odometer PID MDD RotaryEncoder UART Mycan DriveConroller

Diff: stateLib.h

Revision:
1:0f33a68d1390
Parent:
0:56a2c0ed99c5
--- a/stateLib.h	Mon Oct 21 14:25:38 2019 +0000
+++ b/stateLib.h	Sun Jan 12 08:12:42 2020 +0000
@@ -4,6 +4,7 @@
 #define BF_NUM 24
 #define SQ_NUM 9
 #define SF_NUM 21
+#define SBQ_NUM 25
 #define TEST_NUM 6
 #define TOPSNUM 5
 
@@ -36,7 +37,7 @@
 #define BF_x_4 3.445f   //決勝４つ目
 
 #define B_y_1 3.700f   //バスタオルラインの位置
-#define B_y_2 4.350f   //バスタオルかける直前
+#define B_y_2 4.250f   //バスタオルかける直前
 #define B_y_3 4.800f   //バスタオルかける時
 
 #define S_x_1 1.830f   //シーツをかける時
@@ -206,6 +207,40 @@
     {0.00, 0.00, 0.0, -1, 0, 2},
 };
 
+float SBQ_lib[30][6] = 
+{
+    {0.00, 0.00, 0.0, -1, 0, 2},
+    
+    {0.00,   S_y_1, 0.0, -1, Sheets,     0},
+    {BQ_x_2, S_y_1, 0.0, -1, Sheets,     0},
+    {BQ_x_2, S_y_2, 0.0, -1, Sheets,     0},
+    {BQ_x_2, S_y_2, 0.0, -1, Sheets,     1},
+    {BQ_x_2, S_y_1, 0.0, -1, Sheets,     0},
+    {0.00,   S_y_1, 0.0, -1, BathTowel,  0},
+    
+    {0.00,   B_y_1, 0.0, -1, BathTowel,  0},
+//ここから
+    {BF_x_2, B_y_1, 0.0, -1, BathTowel,  0},
+    {BF_x_2, B_y_3, 0.0, -1, BathTowel,  0},
+    {BF_x_2, B_y_3, 0.0, -1, BathTowel,  1},
+    {BF_x_2, B_y_1, 0.0, -1, BathTowel,  0},
+    {BF_x_3, B_y_1, 0.0, -1, BathTowel,  0},
+    {BF_x_3, B_y_2, 0.0, -1, BathTowel,  0},
+    {BF_x_3, B_y_3, 0.0, -1, BathTowel,  0},
+    {BF_x_3, B_y_3, 0.0, -1, BathTowel,  1},
+    {BF_x_3, B_y_1, 0.0, -1, BathTowel,  0},
+//ここまで変更箇所
+    {BQ_x_3, B_y_1, 0.0, -1, BathTowel,  0},
+    {BQ_x_3, B_y_2, 0.0, -1, BathTowel,  0},
+    {BQ_x_3, B_y_3, 0.0, -1, BathTowel,  0},
+    {BQ_x_3, B_y_3, 0.0, -1, BathTowel,  1},
+    {BQ_x_3, B_y_1, 0.0, -1, BathTowel,  0},
+    {0.00,   B_y_1, 0.0, -1, NEUTRAL,    2},
+    
+    {0.00, 0.35, 0.0, -1, 0, 2},
+    {0.00, 0.00, 0.0, -1, 0, 2},
+};
+
 float Test_lib[SF_NUM][6] = 
 {
     {0.00, 0.00, 0.0, -1, NEUTRAL,     2},