yusuke takahashi / Mbed 2 deprecated TurnShoot

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Dependencies:   mbed

main.cpp@0:271c83fbca24, 2013-03-07 (annotated)

Committer:
yusuke_robocup
Date:
Thu Mar 07 04:56:37 2013 +0000
Revision:
0:271c83fbca24
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
yusuke_robocup 0:271c83fbca24 1 //ball direction
yusuke_robocup 0:271c83fbca24 2 double ball_sankaku[16][2] = {
yusuke_robocup 0:271c83fbca24 3 {0 , 1 },
yusuke_robocup 0:271c83fbca24 4 {0.390 , 0.920},
yusuke_robocup 0:271c83fbca24 5 {0.707 , 0.707},
yusuke_robocup 0:271c83fbca24 6 {0.927 , 0.374},
yusuke_robocup 0:271c83fbca24 7 {1 , 0 },
yusuke_robocup 0:271c83fbca24 8 {0.920 ,-0.390},
yusuke_robocup 0:271c83fbca24 9 {0.707 ,-0.707},
yusuke_robocup 0:271c83fbca24 10 {0.374 ,-0.927},
yusuke_robocup 0:271c83fbca24 11 {0 ,-1 },
yusuke_robocup 0:271c83fbca24 12 {-0.390,-0.920},
yusuke_robocup 0:271c83fbca24 13 {-0.707,-0.707},
yusuke_robocup 0:271c83fbca24 14 {-0.927,-0.374},
yusuke_robocup 0:271c83fbca24 15 {-1 , 0 },
yusuke_robocup 0:271c83fbca24 16 {-0.920, 0.390},
yusuke_robocup 0:271c83fbca24 17 {-0.707, 0.707},
yusuke_robocup 0:271c83fbca24 18 {-0.374, 0.927}
yusuke_robocup 0:271c83fbca24 19 };
yusuke_robocup 0:271c83fbca24 20
yusuke_robocup 0:271c83fbca24 21 //turn direction
yusuke_robocup 0:271c83fbca24 22 double turn_sankaku[16][2] = {
yusuke_robocup 0:271c83fbca24 23 { 0 ,0 }
yusuke_robocup 0:271c83fbca24 24 { 0.920,-0.390 }
yusuke_robocup 0:271c83fbca24 25 { 0.707,-0.707 }
yusuke_robocup 0:271c83fbca24 26 { 0.374,-0.927 }
yusuke_robocup 0:271c83fbca24 27 { 0 ,-1 }
yusuke_robocup 0:271c83fbca24 28 {-0.390,-0.920 }
yusuke_robocup 0:271c83fbca24 29 {-0.707,-0.707 }
yusuke_robocup 0:271c83fbca24 30 {-0.927,-0.374 }
yusuke_robocup 0:271c83fbca24 31 {-0.927,-0.374 }
yusuke_robocup 0:271c83fbca24 32 {0.920 ,-0.390 }
yusuke_robocup 0:271c83fbca24 33 {0.707 ,-0.707 }
yusuke_robocup 0:271c83fbca24 34 {0.374 ,-0.927 }
yusuke_robocup 0:271c83fbca24 35 {0 ,-1 }
yusuke_robocup 0:271c83fbca24 36 {-0.390,-0.920 }
yusuke_robocup 0:271c83fbca24 37 {-0.707,-0.707 }
yusuke_robocup 0:271c83fbca24 38 {-0.927,-0.374 }
yusuke_robocup 0:271c83fbca24 39 };
yusuke_robocup 0:271c83fbca24 40
yusuke_robocup 0:271c83fbca24 41 if(ballturn){
yusuke_robocup 0:271c83fbca24 42 if(distance<10){
yusuke_robocup 0:271c83fbca24 43 x_dista = pow*(-ball_sankaku[direc][0]);
yusuke_robocup 0:271c83fbca24 44 y_dista = pow*(-ball_sankaku[direc][1]);
yusuke_robocup 0:271c83fbca24 45 }else if(distance>30){
yusuke_robocup 0:271c83fbca24 46 x_dista = pow*(+ball_sankaku[direc][0]);
yusuke_robocup 0:271c83fbca24 47 y_dista = pow*(+ball_sankaku[direc][1]);
yusuke_robocup 0:271c83fbca24 48 }
yusuke_robocup 0:271c83fbca24 49
yusuke_robocup 0:271c83fbca24 50 x_turn = pow*(turn_sankaku[direc][0]);
yusuke_robocup 0:271c83fbca24 51 y_turn = pow*(turn_sankaku[direc][1]);
yusuke_robocup 0:271c83fbca24 52
yusuke_robocup 0:271c83fbca24 53
yusuke_robocup 0:271c83fbca24 54 X = x_dista + x_turn;
yusuke_robocup 0:271c83fbca24 55 Y = y_dista + y_turn;
yusuke_robocup 0:271c83fbca24 56 }