tarou yamada / Command

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API Documentation at this revision

Revision 3:56ad82f5f780, committed 2015-11-13

Comitter:
inst
Date:
Fri Nov 13 08:15:43 2015 +0000
Parent:
2:58d7debaed1f
Commit message:

Changed in this revision

Command.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 58d7debaed1f -r 56ad82f5f780 Command.cpp
--- a/Command.cpp	Wed Oct 14 05:50:26 2015 +0000
+++ b/Command.cpp	Fri Nov 13 08:15:43 2015 +0000
@@ -5,31 +5,14 @@
 #include "XBee.h"
 
 // angle to analog
-/*
-const float Command::mAngleToAnalogCoeffA = -0.01584967;
-const float Command::mAngleToAnalogCoeffB =  0.788235;
-*/
 const float Command::mAngleToAnalogCoeffA = -0.016122;
 const float Command::mAngleToAnalogCoeffB =  0.800000;
 
 const float Command::mShootingAngleTable[] = {
-    //4.0f,   // OWN_POLE
-    //16.0f,   // OWN_POLE
-    22.0f - 6.0f,
-    //16.0f,
-    
-    //30.0f,   // CENTER_MIDDLE_POLE
-    36.0f - 6.0f,
-    //24.0f,   // CENTER_MIDDLE_POLE
-    
-    //36.0f,   // CENTER_SIDE_POLE
-    30.0f - 6.0f,
-    //46.0f,
-    
-    //10.0f    // ENEMYS_POLE
-    //10.0f - 6.0f,
-    16.0f - 6.0f,
-    //24.0f
+    22.0f - 6.0f,   // OWN_POLE
+    36.0f - 6.0f,   // CENTER_MIDDLE_POLE
+    30.0f - 6.0f,   // CENTER_SIDE_POLE
+    16.0f - 6.0f    // ENEMYS_POLE
 };
 const float Command::mMaxAngle_deg = 46.0f;
 const float Command::mMinAngle_deg =  2.0f;
@@ -72,7 +55,6 @@
         case ShootingSystem::AIM_OWN_POLE:
             mShootingAngle_deg  = mShootingAngleTable[ OWN_POLE_ID ] + mAngleAdjust_deg;
             mShootVoltage       = Shooter::WORKING_8V;
-            //mShooterPosition    = 1.0f;
             mShooterPosition    = 0.780392f;
             break;
         
@@ -84,16 +66,13 @@
         
         case ShootingSystem::AIM_CENTER_SIDE_POLE:
             mShootingAngle_deg  = mShootingAngleTable[ CENTER_SIDE_POLE_ID ] + mAngleAdjust_deg;
-            //mShootVoltage       = Shooter::WORKING_12V;
             mShootVoltage       = Shooter::WORKING_12V;
-            //mShooterPosition    = 1.0f;
             mShooterPosition    = 0.780392f;
             break;
             
         case ShootingSystem::AIM_ENEMYS_POLE:
             mShootingAngle_deg  = mShootingAngleTable[ ENEMYS_POLE_ID ] + mAngleAdjust_deg;
             mShootVoltage       = Shooter::WORKING_12V;
-            //mShooterPosition    = 0.0f;
             mShooterPosition    = 0.305882f;
             break;