Revision 0:271c83fbca24, committed 2013-03-07

Comitter:

yusuke_robocup

Date:

Thu Mar 07 04:56:37 2013 +0000

Commit message:

kkkkk

Changed in this revision

diff -r 000000000000 -r 271c83fbca24 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 07 04:56:37 2013 +0000
@@ -0,0 +1,56 @@
+//ball direction
+double ball_sankaku[16][2] = {
+    {0     , 1    },
+    {0.390 , 0.920},
+    {0.707 , 0.707},
+    {0.927 , 0.374},
+    {1     , 0    },
+    {0.920 ,-0.390},
+    {0.707 ,-0.707},
+    {0.374 ,-0.927},
+    {0     ,-1    },
+    {-0.390,-0.920},
+    {-0.707,-0.707},
+    {-0.927,-0.374},
+    {-1    , 0    },
+    {-0.920, 0.390},
+    {-0.707, 0.707},
+    {-0.374, 0.927}
+};
+
+//turn direction
+double turn_sankaku[16][2] = {
+    { 0    ,0      }
+    { 0.920,-0.390 }
+    { 0.707,-0.707 }
+    { 0.374,-0.927 }
+    { 0    ,-1     }
+    {-0.390,-0.920 }
+    {-0.707,-0.707 }
+    {-0.927,-0.374 }
+    {-0.927,-0.374 }
+    {0.920 ,-0.390 }
+    {0.707 ,-0.707 }
+    {0.374 ,-0.927 }
+    {0     ,-1     }
+    {-0.390,-0.920 }
+    {-0.707,-0.707 }
+    {-0.927,-0.374 }
+};
+
+if(ballturn){
+    if(distance<10){
+        x_dista = pow*(-ball_sankaku[direc][0]);
+        y_dista = pow*(-ball_sankaku[direc][1]);
+    }else if(distance>30){
+        x_dista = pow*(+ball_sankaku[direc][0]);
+        y_dista = pow*(+ball_sankaku[direc][1]);
+    }
+    
+    x_turn = pow*(turn_sankaku[direc][0]);
+    y_turn = pow*(turn_sankaku[direc][1]);
+    
+    
+    X = x_dista + x_turn;
+    Y = y_dista + y_turn;
+}

diff -r 000000000000 -r 271c83fbca24 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Mar 07 04:56:37 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/5e5da4a5990b
\ No newline at end of file