File content as of revision 0:271c83fbca24:

//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;
}