main.cpp

00001 //ball direction
00002 double ball_sankaku[16][2] = {
00003     {0     , 1    },
00004     {0.390 , 0.920},
00005     {0.707 , 0.707},
00006     {0.927 , 0.374},
00007     {1     , 0    },
00008     {0.920 ,-0.390},
00009     {0.707 ,-0.707},
00010     {0.374 ,-0.927},
00011     {0     ,-1    },
00012     {-0.390,-0.920},
00013     {-0.707,-0.707},
00014     {-0.927,-0.374},
00015     {-1    , 0    },
00016     {-0.920, 0.390},
00017     {-0.707, 0.707},
00018     {-0.374, 0.927}
00019 };
00020 
00021 //turn direction
00022 double turn_sankaku[16][2] = {
00023     { 0    ,0      }
00024     { 0.920,-0.390 }
00025     { 0.707,-0.707 }
00026     { 0.374,-0.927 }
00027     { 0    ,-1     }
00028     {-0.390,-0.920 }
00029     {-0.707,-0.707 }
00030     {-0.927,-0.374 }
00031     {-0.927,-0.374 }
00032     {0.920 ,-0.390 }
00033     {0.707 ,-0.707 }
00034     {0.374 ,-0.927 }
00035     {0     ,-1     }
00036     {-0.390,-0.920 }
00037     {-0.707,-0.707 }
00038     {-0.927,-0.374 }
00039 };
00040 
00041 if(ballturn){
00042     if(distance<10){
00043         x_dista = pow*(-ball_sankaku[direc][0]);
00044         y_dista = pow*(-ball_sankaku[direc][1]);
00045     }else if(distance>30){
00046         x_dista = pow*(+ball_sankaku[direc][0]);
00047         y_dista = pow*(+ball_sankaku[direc][1]);
00048     }
00049     
00050     x_turn = pow*(turn_sankaku[direc][0]);
00051     y_turn = pow*(turn_sankaku[direc][1]);
00052     
00053     
00054     X = x_dista + x_turn;
00055     Y = y_dista + y_turn;
00056 }