yuto kawamura / Mbed 2 deprecated cat18_operate_last

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Dependencies:   interface mbed enc_1multi calPID motorout KondoServoLibrary

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workinfo/workinfo.cpp@36:b8171eeefcd0, 2018-09-05 (annotated)

Committer:
shimizuta
Date:
Wed Sep 05 03:58:53 2018 +0000
Revision:
36:b8171eeefcd0
Parent:
34:722ab43f7cbd
Child:
37:d4b711619962
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 20:13934809e117 1 #include "mbed.h"
shimizuta 20:13934809e117 2 #include "state.h"
shimizuta 20:13934809e117 3 #include "workinfo.h"
shimizuta 20:13934809e117 4 #include "debug.h"
shimizuta 20:13934809e117 5 #include "coordinate.h"
shimizuta 20:13934809e117 6 //全部右で考えてる
shimizuta 20:13934809e117 7 //穴の数
shimizuta 20:13934809e117 8 const int kWorkAreaNum = 6;
shimizuta 20:13934809e117 9 const int kCommonAreaNum = 17;
shimizuta 20:13934809e117 10 const int kBoxNum = 12;
shimizuta 23:f45eb02433a5 11 //ワークエリアの配列のいれかた
shimizuta 23:f45eb02433a5 12 int kWorkAreaIndex[kWorkAreaNum] = {
shimizuta 23:f45eb02433a5 13 3, 4, 5,
shimizuta 23:f45eb02433a5 14 0, 1, 2,
shimizuta 23:f45eb02433a5 15 };
shimizuta 23:f45eb02433a5 16 //共通ワークエリア
shimizuta 23:f45eb02433a5 17 const int kCommonAreaIndex[kCommonAreaNum] = {
shimizuta 23:f45eb02433a5 18 17, 18, 19, 20, 21, 22,
shimizuta 23:f45eb02433a5 19 12, 13, 14, 15, 16,
shimizuta 23:f45eb02433a5 20 6, 7, 8, 9, 10, 11,
shimizuta 23:f45eb02433a5 21 };
shimizuta 23:f45eb02433a5 22 //shootingboxの配列のいれかた
shimizuta 23:f45eb02433a5 23 const int kBoxIndex[kBoxNum] = {
shimizuta 23:f45eb02433a5 24 11, 10, 9,
shimizuta 23:f45eb02433a5 25 8, 7, 6,
shimizuta 23:f45eb02433a5 26 5, 4, 3,
shimizuta 23:f45eb02433a5 27 2, 1, 0,
shimizuta 23:f45eb02433a5 28 };
shimizuta 20:13934809e117 29 //////////////////////////////変更出来るパラメータ
shimizuta 20:13934809e117 30 //priority 取る順番を決める
shimizuta 20:13934809e117 31 const int kWorkAreaPriority[kWorkAreaNum] = {
yuto17320508 32:21229c96144a 32 102, 101, 100,
shimizuta 23:f45eb02433a5 33 104, 105, 106,
shimizuta 20:13934809e117 34 };
shimizuta 20:13934809e117 35 const int kCommonAreaPriority[kCommonAreaNum] = {
shimizuta 20:13934809e117 36 17, 16, 15, 14, 13, 12,
shimizuta 20:13934809e117 37 11, 10, 9, 8, 7,
shimizuta 20:13934809e117 38 6, 5, 4, 3, 2, 1,
shimizuta 20:13934809e117 39 };
shimizuta 20:13934809e117 40 //workareaの補正値
shimizuta 20:13934809e117 41 const int kWorkAreaCorrect[kWorkAreaNum][3] = {
shimizuta 34:722ab43f7cbd 42 {30,30,10},{0,20,10},{30,20,0},
shimizuta 36:b8171eeefcd0 43 {0+20,0+30,100},{0,0,0},{0,0,0},
shimizuta 20:13934809e117 44 };
shimizuta 20:13934809e117 45 const int kCommonAreaCorrect[kCommonAreaNum][3] = {
shimizuta 36:b8171eeefcd0 46 {60,30,0},{0,50,0},{30,50+20,0},{0,50,0},{0,50,0},{-30,50,0},
shimizuta 30:af136b83b202 47 {0,50,0},{0,50,0},{0,50,0},{0,50,0},{0,50,0},
yuto17320508 32:21229c96144a 48 {10,50,20},{0,50,20},{30,50,20},{80,50,0},{0,50,0},{0,30,0},
shimizuta 20:13934809e117 49 };
shimizuta 20:13934809e117 50 const int kBoxCorrect[kBoxNum][3] = {
shimizuta 36:b8171eeefcd0 51 {-80,80,0},{-80,80,0},{-80,80,0},
shimizuta 36:b8171eeefcd0 52 {-80,160,0},{-80,160,0},{-80,160,0},
shimizuta 36:b8171eeefcd0 53 {-80,160,0},{-80,160,0},{-80,160,0},
shimizuta 36:b8171eeefcd0 54 {-80,160,0},{-80,160,0},{-80,160,0},
shimizuta 20:13934809e117 55 };
shimizuta 29:ea48140fc85e 56 const int kHandCenter = 22;//想定先端と実際の先端位置のずれ
shimizuta 20:13934809e117 57
shimizuta 20:13934809e117 58 const int kYawWorkAreaRedDegree = 270;
shimizuta 20:13934809e117 59 const int kYawWorkAreaYellowDegree = 90;
shimizuta 20:13934809e117 60 const int kYawCommonAreaDegree = 90;
shimizuta 20:13934809e117 61 const int kYawBoxDegree = 90;
shimizuta 20:13934809e117 62
shimizuta 20:13934809e117 63 const int kPitchWorkAreaDegree = -90;
shimizuta 28:bcfc84b481bc 64 const int kPitchCommonAreaDegree = -5;
yuto17320508 33:3902febe8c45 65 const int kPitchBoxDegree = 10;
shimizuta 20:13934809e117 66 //////////////////////////////
shimizuta 20:13934809e117 67 //配列のスタート番号
shimizuta 20:13934809e117 68 const int kWorkStart = 0;
shimizuta 20:13934809e117 69 const int kCommonStart = kWorkAreaNum;
shimizuta 20:13934809e117 70
shimizuta 20:13934809e117 71 WorkPosi work[kWorkAreaNum + kCommonAreaNum + 1];//最後の1つは番兵
shimizuta 20:13934809e117 72 BoxPosi shootingbox[kBoxNum];
shimizuta 20:13934809e117 73 Pattern now_pattern = NOPATTERN;
shimizuta 23:f45eb02433a5 74
shimizuta 20:13934809e117 75
shimizuta 20:13934809e117 76 //関数名
shimizuta 20:13934809e117 77 void AreaNameSetup();//areanameを入れる。
shimizuta 20:13934809e117 78 void ShootingBoxPosition();//シューティングボックスにおける穴の座標を代入している
shimizuta 20:13934809e117 79 void WorkPosition();//ワークエリア、共通ワークエリアにおける穴の座標を代入している
shimizuta 20:13934809e117 80 void Priority();//ワークエリア、共通ワークエリアにおける穴の優先度を決めてる
shimizuta 20:13934809e117 81 void ArrangementPattern(Pattern pattern);
shimizuta 20:13934809e117 82 void ShootingBoxStuff();
shimizuta 20:13934809e117 83 void ExistReset();//is_existとcolorをリセット
shimizuta 20:13934809e117 84
yoka06 26:5e292422cc08 85 void WorkPosition()
yoka06 26:5e292422cc08 86 {
yoka06 26:5e292422cc08 87 DEBUG("WorkPosition() start\r\n");
yoka06 26:5e292422cc08 88 //ワークエリア
yoka06 26:5e292422cc08 89 //x座標
yoka06 26:5e292422cc08 90 for(int i=0; i<3; i++) {
shimizuta 29:ea48140fc85e 91 #ifdef RIGHT
yoka06 26:5e292422cc08 92 work[i].position[0] = -630 + 180 * i;
yoka06 26:5e292422cc08 93 work[i + 3].position[0] = -540 + 180 * i;
shimizuta 29:ea48140fc85e 94 #elif defined LEFT
shimizuta 29:ea48140fc85e 95 work[i].position[0] = -540 + 180 * i;
shimizuta 29:ea48140fc85e 96 work[i + 3].position[0] = -630 + 180 * i;
shimizuta 29:ea48140fc85e 97 #else
shimizuta 29:ea48140fc85e 98 DEBUG("error:There is no defined RIGHT/LEFT in WorkPosition\r\n");
shimizuta 29:ea48140fc85e 99 #endif
yoka06 26:5e292422cc08 100 }
yoka06 26:5e292422cc08 101 //y座標
yoka06 26:5e292422cc08 102 for(int i=0; i<3; i++) {
shimizuta 28:bcfc84b481bc 103 work[i].position[1]= 300 - 150;
shimizuta 30:af136b83b202 104 work[i+3].position[1]= 210 + 150;
yoka06 26:5e292422cc08 105 }
yoka06 26:5e292422cc08 106 //z座標
shimizuta 30:af136b83b202 107 for(int i=0; i<6; i++) work[i].position[2]=-420;
yoka06 26:5e292422cc08 108 //共通ワークエリア
yoka06 26:5e292422cc08 109 //x座標
shimizuta 29:ea48140fc85e 110 for(int i = kCommonStart; i<12; i++) {
yoka06 26:5e292422cc08 111 work[i].position[0]=-595+(i-kCommonStart)*80;
yoka06 26:5e292422cc08 112 work[i+11].position[0]=-595+(i-kCommonStart)*80;
yoka06 26:5e292422cc08 113 }
yoka06 26:5e292422cc08 114 for(int i=12; i<17; i++) work[i].position[0]=-555+(i-12)*80;
yoka06 26:5e292422cc08 115 //y座標
yoka06 26:5e292422cc08 116 for(int i=kCommonStart; i<sizeof(work)/sizeof(work[0]); i++) {
shimizuta 29:ea48140fc85e 117 if(i < 12) {
shimizuta 29:ea48140fc85e 118 work[i].position[1]=595 + kHandCenter;
shimizuta 29:ea48140fc85e 119 } else if(i < 17) {
shimizuta 29:ea48140fc85e 120 work[i].position[1]=675 + kHandCenter;
shimizuta 29:ea48140fc85e 121 } else if(i < kCommonStart + kCommonAreaNum) {
shimizuta 29:ea48140fc85e 122 work[i].position[1]=755 + kHandCenter;
yoka06 26:5e292422cc08 123 }
yoka06 26:5e292422cc08 124 }
yoka06 26:5e292422cc08 125 //z座標
shimizuta 28:bcfc84b481bc 126 for(int i=kCommonStart; i<kCommonStart + kCommonAreaNum; i++) work[i].position[2]=-350;
yoka06 26:5e292422cc08 127 for(int i = 0; i < kWorkAreaNum; i++) {
yoka06 26:5e292422cc08 128 for(int j = 0; j < 3; j++) work[kWorkAreaIndex[i]].position[j] += kWorkAreaCorrect[i][j];
yoka06 26:5e292422cc08 129 }
yoka06 26:5e292422cc08 130 for(int i = 0; i < kCommonAreaNum; i++) {
yoka06 26:5e292422cc08 131 for(int j = 0; j < 3; j++) work[kCommonAreaIndex[i]].position[j] += kCommonAreaCorrect[i][j];
yoka06 26:5e292422cc08 132 DEBUG("work %d %f,%f,%f\r\n",kCommonAreaIndex[i], work[kCommonAreaIndex[i]].position[0], work[kCommonAreaIndex[i]].position[1], work[kCommonAreaIndex[i]].position[2] );
yoka06 26:5e292422cc08 133 }
yoka06 26:5e292422cc08 134 DEBUG("WorkPosition() finish\r\n");
yoka06 26:5e292422cc08 135 }
yoka06 26:5e292422cc08 136 void ShootingBoxPosition()
yoka06 26:5e292422cc08 137 {
yoka06 26:5e292422cc08 138 DEBUG("ShootingBoxPosition() start\r\n");
yoka06 26:5e292422cc08 139 //軸は一番右下の穴を原点に取っている.
yoka06 26:5e292422cc08 140 //x座標
yoka06 26:5e292422cc08 141 for(int i=0; i<3; i++) {
yoka06 26:5e292422cc08 142 shootingbox[i].position[0]=240-80*i;
yoka06 26:5e292422cc08 143 shootingbox[i+3].position[0]=240-80*i;
yoka06 26:5e292422cc08 144 shootingbox[i+6].position[0]=240-80*i;
yoka06 26:5e292422cc08 145 shootingbox[i+9].position[0]=240-80*i;
yoka06 26:5e292422cc08 146 }
yoka06 26:5e292422cc08 147 for(int i = 0; i < kBoxNum; i++) shootingbox[i].position[0] += kHandCenter;
yoka06 26:5e292422cc08 148 //y座標
yoka06 26:5e292422cc08 149 for(int i=0; i<4; i++) {
shimizuta 29:ea48140fc85e 150 shootingbox[i*3].position[1]=160+80*i + kHandCenter;
shimizuta 29:ea48140fc85e 151 shootingbox[i*3+1].position[1]=160+80*i + kHandCenter;
shimizuta 29:ea48140fc85e 152 shootingbox[i*3+2].position[1]=160+80*i + kHandCenter;
yoka06 26:5e292422cc08 153 }
yuto17320508 33:3902febe8c45 154 for(int i = 0; i < kBoxNum; i++) shootingbox[i].position[1] -= kArmLength[3] *(1 - cos(kPitchBoxDegree * kDegreeToRad));
yoka06 26:5e292422cc08 155 //z座標
yuto17320508 33:3902febe8c45 156 for(int i=0; i<sizeof(shootingbox)/sizeof(shootingbox[0]); i++) shootingbox[i].position[2]=125 + kArmLength[3] * sin(kPitchBoxDegree * kDegreeToRad);
yoka06 26:5e292422cc08 157 for(int i = 0; i < kBoxNum; i++) {
yoka06 26:5e292422cc08 158 for(int j = 0; j < 3; j++) shootingbox[kBoxIndex[i]].position[j] += kBoxCorrect[i][j];
yoka06 26:5e292422cc08 159 }
yoka06 26:5e292422cc08 160 DEBUG("ShootingBoxPosition() finish\r\n");
yoka06 26:5e292422cc08 161 }
shimizuta 20:13934809e117 162
shimizuta 20:13934809e117 163 void SetupPosition()
shimizuta 20:13934809e117 164 {
shimizuta 20:13934809e117 165 DEBUG("SetupPosition() start\r\n");
shimizuta 20:13934809e117 166 ExistReset();
shimizuta 20:13934809e117 167 AreaNameSetup();
shimizuta 20:13934809e117 168 WorkPosition();
shimizuta 20:13934809e117 169 ShootingBoxPosition();
shimizuta 20:13934809e117 170 Priority();
shimizuta 20:13934809e117 171 DEBUG("SetupPosition() finish\r\n");
shimizuta 20:13934809e117 172 }
shimizuta 20:13934809e117 173 double GetIdealYawRad(const WorkState &state)
shimizuta 20:13934809e117 174 {
shimizuta 20:13934809e117 175 double degree = 0;
shimizuta 20:13934809e117 176 switch(state.areaname) {
shimizuta 20:13934809e117 177 case BOX:
shimizuta 20:13934809e117 178 degree = kYawBoxDegree;
shimizuta 20:13934809e117 179 break;
shimizuta 20:13934809e117 180 case COMMONAREA:
shimizuta 20:13934809e117 181 degree = kYawCommonAreaDegree;
shimizuta 20:13934809e117 182 break;
shimizuta 20:13934809e117 183 case WORKAREA:
shimizuta 20:13934809e117 184 switch(state.color) {
shimizuta 20:13934809e117 185 case RED:
shimizuta 20:13934809e117 186 degree = kYawWorkAreaRedDegree;
shimizuta 20:13934809e117 187 break;
shimizuta 20:13934809e117 188 case YELLOW:
shimizuta 20:13934809e117 189 degree = kYawWorkAreaYellowDegree;
shimizuta 20:13934809e117 190 break;
shimizuta 20:13934809e117 191 }
shimizuta 20:13934809e117 192 break;
shimizuta 20:13934809e117 193 }
shimizuta 20:13934809e117 194 return degree * kDegreeToRad;
shimizuta 20:13934809e117 195 }
shimizuta 20:13934809e117 196 double GetIdealPitchRad(const WorkState &state)
shimizuta 20:13934809e117 197 {
shimizuta 20:13934809e117 198 double degree = 0;
shimizuta 20:13934809e117 199 switch(state.areaname) {
shimizuta 20:13934809e117 200 case BOX:
shimizuta 20:13934809e117 201 degree = kPitchBoxDegree;
shimizuta 20:13934809e117 202 break;
shimizuta 20:13934809e117 203 case COMMONAREA:
shimizuta 20:13934809e117 204 degree = kPitchCommonAreaDegree;
shimizuta 20:13934809e117 205 break;
shimizuta 20:13934809e117 206 case WORKAREA:
shimizuta 20:13934809e117 207 degree = kPitchWorkAreaDegree;
shimizuta 20:13934809e117 208 break;
shimizuta 20:13934809e117 209 }
shimizuta 20:13934809e117 210 return degree * kDegreeToRad;
shimizuta 20:13934809e117 211 }
shimizuta 20:13934809e117 212 void YawPitchSetup()
shimizuta 20:13934809e117 213 {
shimizuta 20:13934809e117 214 DEBUG("YawPitchSetup() start\r\n");
shimizuta 20:13934809e117 215 for(int i = 0; i < kWorkAreaNum+ kCommonAreaNum; i++) {
shimizuta 20:13934809e117 216 work[i].yaw_rad = GetIdealYawRad(work[i]);
shimizuta 20:13934809e117 217 work[i].pitch_rad = GetIdealPitchRad(work[i]);
shimizuta 20:13934809e117 218 }
shimizuta 20:13934809e117 219 for(int i = 0; i < kBoxNum; i++) {
shimizuta 20:13934809e117 220 shootingbox[i].yaw_rad = GetIdealYawRad(shootingbox[i]);
shimizuta 20:13934809e117 221 shootingbox[i].pitch_rad = GetIdealPitchRad(shootingbox[i]);
shimizuta 20:13934809e117 222 }
shimizuta 20:13934809e117 223 DEBUG("YawPitchSetup() finish\r\n");
shimizuta 20:13934809e117 224 }
shimizuta 20:13934809e117 225 //areanameをセット。BOXは初期段階で入っている。
shimizuta 20:13934809e117 226 void AreaNameSetup()
shimizuta 20:13934809e117 227 {
shimizuta 20:13934809e117 228 DEBUG("AreaNameSetup() start\r\n");
shimizuta 20:13934809e117 229 for(int i = kWorkStart; i < kWorkAreaNum; i++) work[i].areaname = WORKAREA;
shimizuta 20:13934809e117 230 for(int i = kCommonStart; i < kCommonStart + kCommonAreaNum; i++) work[i].areaname = COMMONAREA;
shimizuta 20:13934809e117 231 DEBUG("AreaNameSetup() finish\r\n");
shimizuta 20:13934809e117 232 }
shimizuta 20:13934809e117 233 void Priority()
shimizuta 20:13934809e117 234 {
shimizuta 20:13934809e117 235 DEBUG("Priority() start\r\n");
shimizuta 20:13934809e117 236 work[23].priority=1000;//SearchCommonArea で使用。最初の時の比較に使用.最後だということを示す。
shimizuta 20:13934809e117 237 for(int i = kWorkStart; i < kWorkAreaNum; i++) work[kWorkAreaIndex[i]].priority = kWorkAreaPriority[i];
shimizuta 20:13934809e117 238 for(int i = 0; i < kCommonAreaNum; i++) work[kCommonAreaIndex[i]].priority = kCommonAreaPriority[i];
shimizuta 20:13934809e117 239 DEBUG("Priority() finish\r\n");
shimizuta 20:13934809e117 240 }
shimizuta 20:13934809e117 241 void ArrangementPattern(Pattern pattern)//引数にはAとかで入力//初めに一回だけ呼び出すことを想定
shimizuta 20:13934809e117 242 {
shimizuta 20:13934809e117 243 DEBUG("ArrangementPattern() start\r\n");
shimizuta 20:13934809e117 244 //workareaの設定
shimizuta 20:13934809e117 245 work[0].color=RED;
shimizuta 20:13934809e117 246 work[1].color=RED;
shimizuta 20:13934809e117 247 work[2].color=RED;
shimizuta 20:13934809e117 248 work[3].color=YELLOW;
shimizuta 20:13934809e117 249 work[4].color=YELLOW;
shimizuta 20:13934809e117 250 work[5].color=YELLOW;
shimizuta 20:13934809e117 251
shimizuta 20:13934809e117 252
shimizuta 20:13934809e117 253 switch(pattern) {
shimizuta 20:13934809e117 254 case A:
shimizuta 20:13934809e117 255 DEBUG("ArrangementPattern() A\r\n");
shimizuta 20:13934809e117 256 #ifdef RIGHT
shimizuta 20:13934809e117 257 DEBUG("right\r\n");
shimizuta 20:13934809e117 258 work[6].color=RED;
shimizuta 20:13934809e117 259 work[13].color=RED;
shimizuta 20:13934809e117 260 work[20].color=RED;
shimizuta 20:13934809e117 261 work[8].color=YELLOW;
shimizuta 20:13934809e117 262 work[15].color=YELLOW;
shimizuta 20:13934809e117 263 work[22].color=YELLOW;
shimizuta 20:13934809e117 264
shimizuta 20:13934809e117 265 work[6].is_exist=1;
shimizuta 20:13934809e117 266 work[13].is_exist=1;
shimizuta 20:13934809e117 267 work[20].is_exist=1;
shimizuta 20:13934809e117 268 work[8].is_exist=1;
shimizuta 20:13934809e117 269 work[15].is_exist=1;
shimizuta 20:13934809e117 270 work[22].is_exist=1;
shimizuta 20:13934809e117 271
shimizuta 20:13934809e117 272 #elif defined LEFT
shimizuta 20:13934809e117 273 DEBUG("left\r\n");
shimizuta 20:13934809e117 274 work[9].color=RED;
shimizuta 20:13934809e117 275 work[13].color=RED;
shimizuta 20:13934809e117 276 work[17].color=RED;
shimizuta 20:13934809e117 277 work[11].color=YELLOW;
shimizuta 20:13934809e117 278 work[15].color=YELLOW;
shimizuta 20:13934809e117 279 work[19].color=YELLOW;
shimizuta 20:13934809e117 280
shimizuta 20:13934809e117 281 work[9].is_exist=1;
shimizuta 20:13934809e117 282 work[13].is_exist=1;
shimizuta 20:13934809e117 283 work[17].is_exist=1;
shimizuta 20:13934809e117 284 work[11].is_exist=1;
shimizuta 20:13934809e117 285 work[15].is_exist=1;
shimizuta 20:13934809e117 286 work[19].is_exist=1;
shimizuta 29:ea48140fc85e 287 #else
shimizuta 29:ea48140fc85e 288 DEBUG("error:There is no defined RIGHT/LEFT in ArrangementPattern\r\n");
shimizuta 20:13934809e117 289 #endif
shimizuta 20:13934809e117 290 break;
shimizuta 20:13934809e117 291
shimizuta 20:13934809e117 292 case B:
shimizuta 20:13934809e117 293 DEBUG("ArrangementPattern() B\r\n");
shimizuta 20:13934809e117 294 #ifdef RIGHT
shimizuta 20:13934809e117 295 DEBUG("right\r\n");
shimizuta 20:13934809e117 296 work[7].color=RED;
shimizuta 20:13934809e117 297 work[9].color=RED;
shimizuta 20:13934809e117 298 work[11].color=RED;
shimizuta 20:13934809e117 299 work[17].color=YELLOW;
shimizuta 20:13934809e117 300 work[19].color=YELLOW;
shimizuta 20:13934809e117 301 work[21].color=YELLOW;
shimizuta 20:13934809e117 302
shimizuta 20:13934809e117 303 work[7].is_exist=1;
shimizuta 20:13934809e117 304 work[9].is_exist=1;
shimizuta 20:13934809e117 305 work[11].is_exist=1;
shimizuta 20:13934809e117 306 work[17].is_exist=1;
shimizuta 20:13934809e117 307 work[19].is_exist=1;
shimizuta 20:13934809e117 308 work[21].is_exist=1;
shimizuta 20:13934809e117 309
shimizuta 20:13934809e117 310 #elif defined LEFT
shimizuta 20:13934809e117 311 DEBUG("left\r\n");
shimizuta 20:13934809e117 312 work[18].color=RED;
shimizuta 20:13934809e117 313 work[20].color=RED;
shimizuta 20:13934809e117 314 work[22].color=RED;
shimizuta 20:13934809e117 315 work[6].color=YELLOW;
shimizuta 20:13934809e117 316 work[8].color=YELLOW;
shimizuta 20:13934809e117 317 work[10].color=YELLOW;
shimizuta 20:13934809e117 318
shimizuta 20:13934809e117 319 work[18].is_exist=1;
shimizuta 20:13934809e117 320 work[20].is_exist=1;
shimizuta 20:13934809e117 321 work[22].is_exist=1;
shimizuta 20:13934809e117 322 work[6].is_exist=1;
shimizuta 20:13934809e117 323 work[8].is_exist=1;
shimizuta 20:13934809e117 324 work[10].is_exist=1;
shimizuta 29:ea48140fc85e 325 #else
shimizuta 29:ea48140fc85e 326 DEBUG("error:There is no defined RIGHT/LEFT in ArrangementPattern\r\n");
shimizuta 20:13934809e117 327 #endif
shimizuta 20:13934809e117 328 break;
shimizuta 20:13934809e117 329
shimizuta 20:13934809e117 330 case C:
shimizuta 20:13934809e117 331 DEBUG("ArrangementPattern() C\r\n");
shimizuta 20:13934809e117 332 work[15].color=RED;
shimizuta 20:13934809e117 333 work[22].color=RED;
shimizuta 20:13934809e117 334 work[11].color=RED;
shimizuta 20:13934809e117 335 work[19].color=YELLOW;
shimizuta 20:13934809e117 336 work[12].color=YELLOW;
shimizuta 20:13934809e117 337 work[8].color=YELLOW;
shimizuta 20:13934809e117 338
shimizuta 20:13934809e117 339 work[15].is_exist=1;
shimizuta 20:13934809e117 340 work[22].is_exist=1;
shimizuta 20:13934809e117 341 work[11].is_exist=1;
shimizuta 20:13934809e117 342 work[19].is_exist=1;
shimizuta 20:13934809e117 343 work[12].is_exist=1;
shimizuta 20:13934809e117 344 work[8].is_exist=1;
shimizuta 20:13934809e117 345 break;
shimizuta 20:13934809e117 346
shimizuta 20:13934809e117 347 case D:
shimizuta 20:13934809e117 348 DEBUG("ArrangementPattern() D\r\n");
shimizuta 20:13934809e117 349 work[22].color=RED;
shimizuta 20:13934809e117 350 work[15].color=RED;
shimizuta 20:13934809e117 351 work[11].color=RED;
shimizuta 20:13934809e117 352 work[17].color=YELLOW;
shimizuta 20:13934809e117 353 work[13].color=YELLOW;
shimizuta 20:13934809e117 354 work[6].color=YELLOW;
shimizuta 20:13934809e117 355
shimizuta 20:13934809e117 356 work[22].is_exist=1;
shimizuta 20:13934809e117 357 work[15].is_exist=1;
shimizuta 20:13934809e117 358 work[11].is_exist=1;
shimizuta 20:13934809e117 359 work[17].is_exist=1;
shimizuta 20:13934809e117 360 work[13].is_exist=1;
shimizuta 20:13934809e117 361 work[6].is_exist=1;
shimizuta 20:13934809e117 362 break;
shimizuta 20:13934809e117 363
shimizuta 20:13934809e117 364 default:
shimizuta 20:13934809e117 365 break;
shimizuta 20:13934809e117 366 }
shimizuta 20:13934809e117 367 DEBUG("ArrangementPattern() finish\r\n");
shimizuta 20:13934809e117 368 }
shimizuta 20:13934809e117 369 void ExistReset()
shimizuta 20:13934809e117 370 {
shimizuta 20:13934809e117 371 DEBUG("ExistReset() start\r\n");
shimizuta 20:13934809e117 372 ///初期化してる。いったん全部存在してないことにする//要はリセット
shimizuta 20:13934809e117 373 for(int i=kCommonStart; i < kCommonStart + kCommonAreaNum; i++) {
shimizuta 20:13934809e117 374 work[i].is_exist=0;//共通ワークエリアの初期化
shimizuta 20:13934809e117 375 work[i].color = NOCOLOR;
shimizuta 20:13934809e117 376 }
shimizuta 20:13934809e117 377 for(int i=kWorkStart; i < kWorkAreaNum; i++) { //初期化してる。ワークエリアの初期化
shimizuta 20:13934809e117 378 work[i].is_exist=1;
shimizuta 20:13934809e117 379 }
shimizuta 20:13934809e117 380 for(int i=0; i<12; i++) {//shootingの初期値
shimizuta 20:13934809e117 381 shootingbox[i].is_exist=0;
shimizuta 20:13934809e117 382 shootingbox[i].color = NOCOLOR;
shimizuta 20:13934809e117 383 }
shimizuta 20:13934809e117 384 DEBUG("ExistReset() finish\r\n");
shimizuta 20:13934809e117 385 }