Diff: IR.h

Revision:

2:09fabba6c00d

Parent:

0:74bf4953c0d1

Child:

3:b4fb2b5365a7

--- a/IR.h	Sun Mar 10 07:31:31 2013 +0000
+++ b/IR.h	Fri Apr 05 07:26:42 2013 +0000
@@ -2,8 +2,8 @@
 
 #define IR_TIME_NOTFOUND 833    /* 見つけられなかったと判断するまでの時間(単位：us) */
 #define IR_COUNTMAX 487     /*最大パルス幅 パルスの存在しうる最大時間は487us*/
-#define ALL_IR 9
-#define DIREC_IR 8
+#define ALL_IR 11
+#define DIREC_IR 10
 #define DIRECTION 16
 #define TERM 0
 #define DELTA -2
@@ -20,13 +20,15 @@
     p18,
     p19,
     p20,
-    p30
+    p25,
+    p26,
+    p12
 };
 
 int Convert_Direction[DIRECTION] = {
     90,
     67,
-    45,
+    30,
     22,
     0,
     337,
@@ -38,7 +40,7 @@
     202,
     180,
     157,
-    135,
+    150,
     112
 };
 
@@ -46,7 +48,7 @@
 double ball_sankaku[16][2] = {
     {0     , 1    },
     {0.390 , 0.920},
-    {0.707 , 0.707},
+    {0.866 , 0.500},
     {0.927 , 0.374},
     {1     , 0    },
     {0.920 ,-0.390},
@@ -58,6 +60,48 @@
     {-0.927,-0.374},
     {-1    , 0    },
     {-0.920, 0.390},
-    {-0.707, 0.707},
+    {-0.866, 0.500},
     {-0.374, 0.927}
 };
+
+double turn_sankaku[16][2] = {
+    { 0    ,0      },
+    { 1    ,0      },//{ 0.920,-0.390 },
+    { 0.707,-0.707 }, //{ 0.500,-0.866 },
+    { 0.374,-0.927 },
+    { 0    ,-0.5   },
+    {-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     ,-0.5   },
+    {-0.390,-0.920 },
+    {-0.707,-0.707 }, //{-0.500,-0.866 },
+    {-1    ,0      }//{-0.927,-0.374 }
+};
+
+
+/*
+double turn_sankaku[16][2] = {
+    {0 ,0 },
+    {0 ,0 },
+    {1 ,0 },
+    {0 ,-1},
+    {0 ,-1},
+    {0 ,-1},
+    {-1,0 },
+    {-1,0 },
+    {-1,0 },
+    {1 ,0 },
+    {1 ,0 },
+    {0 ,-1},
+    {0 ,-1},
+    {0 ,-1},
+    {-1,0 },
+    {0 ,0 }
+};
+*/
+