Revision 2:58d7debaed1f, committed 2015-10-14
- Comitter:
- inst
- Date:
- Wed Oct 14 05:50:26 2015 +0000
- Parent:
- 1:e541c8ebe96b
- Child:
- 3:56ad82f5f780
- Commit message:
Changed in this revision
--- a/Command.cpp Fri Aug 21 04:51:05 2015 +0000
+++ b/Command.cpp Wed Oct 14 05:50:26 2015 +0000
@@ -1,47 +1,112 @@
#include "Command.h"
+#include "Math.h"
+#include "Shooter.h"
+#include "Steering.h"
+#include "XBee.h"
-const float Command::mPositionSetOfShooting[] = {
- 0.5f,
- 0.5f,
- 0.5f
-};
+// 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::mAngleSetOfShooting[] = {
- 0.5f,
- 0.5f,
- 0.5f
+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
};
+const float Command::mMaxAngle_deg = 46.0f;
+const float Command::mMinAngle_deg = 2.0f;
-Command::Command( ActionType action, float moveDirection_rad, float moveDuty, float roll, bool isShootable, AimTargetType target ){
- mActionType = action;
- mMoveDirection_rad = moveDirection_rad;
- mMoveDuty = moveDuty;
- mRollCoeff = roll;
- mIsShootable = isShootable;
- setAimStateByTargetType( target );
+Command::Command(){
+ mSteeringActionType = Steering::STOP;
+ mMoveDirection_rad = gPI * 0.5f;
+ mMoveDuty = 0.5f;
+ mRollCoeff = 0.0f;
+ mShootingAngle_deg = 0.0f;
+ mAngleAdjust_deg = 0.0f;
+ mShooterPosition = 0.0f;
+ mIsShooting = false;
+ mIsSupplying = false;
+
+ setAimStateAndAimParam( ShootingSystem::AIM_OWN_POLE );
}
-void Command::setAimStateByTargetType( AimTargetType target ){
- switch ( target ){
- case NONE:
+Command::Command( Steering::ActionType steeringAction,
+ ShootingSystem::AimState aimState,
+ float moveDirection_rad, float angleAdjust_deg,
+ float moveDuty, float roll, bool isSupplying ){
+
+ mSteeringActionType = steeringAction;
+ mMoveDirection_rad = moveDirection_rad;
+ mShootingAngle_deg = 0.0f;
+ mAngleAdjust_deg = angleAdjust_deg;
+ mMoveDuty = moveDuty;
+ mRollCoeff = roll;
+ mIsShooting = ( mSteeringActionType == Steering::SHOOT );
+ mIsSupplying = isSupplying;
+
+ setAimStateAndAimParam( aimState );
+}
+
+void Command::setAimStateAndAimParam( ShootingSystem::AimState aimState ){
+ mAimState = aimState;
+
+ switch ( mAimState ){
+ case ShootingSystem::AIM_OWN_POLE:
+ mShootingAngle_deg = mShootingAngleTable[ OWN_POLE_ID ] + mAngleAdjust_deg;
+ mShootVoltage = Shooter::WORKING_8V;
+ //mShooterPosition = 1.0f;
+ mShooterPosition = 0.780392f;
+ break;
+
+ case ShootingSystem::AIM_CENTER_MIDDLE_POLE:
+ mShootingAngle_deg = mShootingAngleTable[ CENTER_MIDDLE_POLE_ID ] + mAngleAdjust_deg;
+ mShootVoltage = Shooter::WORKING_12V;
+ mShooterPosition = 0.305882f;
+ break;
+
+ 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 OWN_POLE:
- mPositionOfShooting = mPositionSetOfShooting[ OWN_POLE_ID ];
- mAngleOfShooting = mAngleSetOfShooting[ OWN_POLE_ID ];
- break;
-
- case CENTER_POLE:
- mPositionOfShooting = mPositionSetOfShooting[ CENTER_POLE_ID ];
- mAngleOfShooting = mAngleSetOfShooting[ CENTER_POLE_ID ];
- break;
-
- case ENEMYS_POLE:
- mPositionOfShooting = mPositionSetOfShooting[ ENEMYS_POLE_ID ];
- mAngleOfShooting = mAngleSetOfShooting[ ENEMYS_POLE_ID ];
+ case ShootingSystem::AIM_ENEMYS_POLE:
+ mShootingAngle_deg = mShootingAngleTable[ ENEMYS_POLE_ID ] + mAngleAdjust_deg;
+ mShootVoltage = Shooter::WORKING_12V;
+ //mShooterPosition = 0.0f;
+ mShooterPosition = 0.305882f;
break;
default:
break;
}
+
+ if ( mShootingAngle_deg > mMaxAngle_deg ){
+ mShootingAngle_deg = mMaxAngle_deg;
+ XBee::setAngleAdjust_deg( mAngleAdjust_deg - XBee::mAngleAdjustTable[ XBee::INCREMENT ] );
+ }
+ if ( mShootingAngle_deg < mMinAngle_deg ){
+ mShootingAngle_deg = mMinAngle_deg;
+ XBee::setAngleAdjust_deg( mAngleAdjust_deg - XBee::mAngleAdjustTable[ XBee::DECREMENT ] );
+ }
}
--- a/Command.h Fri Aug 21 04:51:05 2015 +0000
+++ b/Command.h Wed Oct 14 05:50:26 2015 +0000
@@ -1,34 +1,29 @@
#ifndef INCLUDED_COMMAND_H
#define INCLUDED_COMMAND_H
+#include "Steering.h"
+#include "Shooter.h"
+#include "ShootingSystem.h"
+
class Command{
public:
- enum ActionType{
- STOP = 0x00,
- MOVE = 0x10,
- ROLL = 0x20,
- ABS_ROLL = 0x30,
- WAIT_SERVO = 0xFF // 通信で送られて来ることはないデータ
- };
-
- enum AimTargetType{
- NONE = 0x0,
- OWN_POLE = 0x4,
- CENTER_POLE = 0x8,
- ENEMYS_POLE = 0xC
- };
-
enum ShotTargetID{
OWN_POLE_ID,
- CENTER_POLE_ID,
+ CENTER_MIDDLE_POLE_ID,
+ CENTER_SIDE_POLE_ID,
ENEMYS_POLE_ID
};
- Command( ActionType action, float moveDirection_rad, float moveDuty, float roll, bool isShootabl, AimTargetType target );
+ Command();
+ Command( Steering::ActionType steeringAction,
+ ShootingSystem::AimState aimState,
+ float moveDirection_rad, float angleAdjust_deg,
+ float moveDuty, float roll, bool isSupplying );
- void setActionType( ActionType action ){
- mActionType = action;
+ void setSteeringActionType( Steering::ActionType action ){
+ mSteeringActionType = action;
}
+ void setAimStateAndAimParam( ShootingSystem::AimState aimState );
void setMoveDirection_rad( float moveDirection_rad ){
mMoveDirection_rad = moveDirection_rad;
}
@@ -38,16 +33,21 @@
void setRollCoeff( float rollCoeff ){
mRollCoeff = rollCoeff;
}
- void setAimStateByTargetType( AimTargetType target );
- void setPositionOfShooting( float position ){
- mPositionOfShooting = position;
+ void setAngleOfShooting( float angle ){
+ mShootingAngle_deg = angle;
}
- void setAngleOfShooting( float angle ){
- mAngleOfShooting = angle;
+ void setAngleAdjust_deg( float angle_deg ){
+ mAngleAdjust_deg = angle_deg;
+ }
+ void setShooterPosition( float pos ){
+ mShooterPosition = pos;
}
- ActionType getActionType(){
- return mActionType;
+ Steering::ActionType getSteeringActionType(){
+ return mSteeringActionType;
+ }
+ ShootingSystem::AimState getAimState(){
+ return mAimState;
}
float getMoveDirection_rad(){
return mMoveDirection_rad;
@@ -58,27 +58,48 @@
float getRollCoeff(){
return mRollCoeff;
}
- float getPositionOfShooting(){
- return mPositionOfShooting;
+ float getShootingAngleAnalog(){
+ return angleToAnalog( mShootingAngle_deg );
+ }
+ Shooter::ActionType getShootVoltage(){
+ return mShootVoltage;
+ }
+ float getAngleAdjust_deg(){
+ return mAngleAdjust_deg;
}
- float getAngleOfShooting(){
- return mAngleOfShooting;
+ float getShooterPosition(){
+ return mShooterPosition;
}
- bool isShootable(){
- return mIsShootable;
+ bool isShooting(){
+ return mIsShooting;
+ }
+ bool isSupplying(){
+ return mIsSupplying;
}
private:
- static const float mPositionSetOfShooting[];
- static const float mAngleSetOfShooting[];
+ float angleToAnalog( float angle_deg ){
+ return mAngleToAnalogCoeffA * angle_deg + mAngleToAnalogCoeffB;
+ }
+
+ static const float mShootingAngleTable[];
+ static const float mAngleToAnalogCoeffA;
+ static const float mAngleToAnalogCoeffB;
+ static const float mMaxAngle_deg;
+ static const float mMinAngle_deg;
+ static const float mShooterPositionTable[];
- ActionType mActionType;
+ Steering::ActionType mSteeringActionType;
+ Shooter::ActionType mShootVoltage;
+ ShootingSystem::AimState mAimState;
float mMoveDirection_rad;
float mMoveDuty;
float mRollCoeff;
- float mPositionOfShooting;
- float mAngleOfShooting;
- bool mIsShootable;
+ float mShootingAngle_deg;
+ float mAngleAdjust_deg;
+ float mShooterPosition;
+ bool mIsShooting;
+ bool mIsSupplying;
};
#endif
tarou yamada