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@23:f45eb02433a5, 2018-09-02 (annotated)

Committer:
shimizuta
Date:
Sun Sep 02 07:53:06 2018 +0000
Revision:
23:f45eb02433a5
Parent:
20:13934809e117
Child:
24:b4a89db4ed72
can move with 3 servo

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 "define_right_or_left.h"
shimizuta 20:13934809e117 6 #include "coordinate.h"
shimizuta 20:13934809e117 7 //全部右で考えてる
shimizuta 20:13934809e117 8 //穴の数
shimizuta 20:13934809e117 9 const int kWorkAreaNum = 6;
shimizuta 20:13934809e117 10 const int kCommonAreaNum = 17;
shimizuta 20:13934809e117 11 const int kBoxNum = 12;
shimizuta 23:f45eb02433a5 12 //ワークエリアの配列のいれかた
shimizuta 23:f45eb02433a5 13 int kWorkAreaIndex[kWorkAreaNum] = {
shimizuta 23:f45eb02433a5 14 3, 4, 5,
shimizuta 23:f45eb02433a5 15 0, 1, 2,
shimizuta 23:f45eb02433a5 16 };
shimizuta 23:f45eb02433a5 17 //共通ワークエリア
shimizuta 23:f45eb02433a5 18 const int kCommonAreaIndex[kCommonAreaNum] = {
shimizuta 23:f45eb02433a5 19 17, 18, 19, 20, 21, 22,
shimizuta 23:f45eb02433a5 20 12, 13, 14, 15, 16,
shimizuta 23:f45eb02433a5 21 6, 7, 8, 9, 10, 11,
shimizuta 23:f45eb02433a5 22 };
shimizuta 23:f45eb02433a5 23 //shootingboxの配列のいれかた
shimizuta 23:f45eb02433a5 24 const int kBoxIndex[kBoxNum] = {
shimizuta 23:f45eb02433a5 25 11, 10, 9,
shimizuta 23:f45eb02433a5 26 8, 7, 6,
shimizuta 23:f45eb02433a5 27 5, 4, 3,
shimizuta 23:f45eb02433a5 28 2, 1, 0,
shimizuta 23:f45eb02433a5 29 };
shimizuta 20:13934809e117 30 //////////////////////////////変更出来るパラメータ
shimizuta 20:13934809e117 31 //priority 取る順番を決める
shimizuta 20:13934809e117 32 const int kWorkAreaPriority[kWorkAreaNum] = {
shimizuta 23:f45eb02433a5 33 100, 102, 103,
shimizuta 23:f45eb02433a5 34 104, 105, 106,
shimizuta 20:13934809e117 35 };
shimizuta 20:13934809e117 36 const int kCommonAreaPriority[kCommonAreaNum] = {
shimizuta 20:13934809e117 37 17, 16, 15, 14, 13, 12,
shimizuta 20:13934809e117 38 11, 10, 9, 8, 7,
shimizuta 20:13934809e117 39 6, 5, 4, 3, 2, 1,
shimizuta 20:13934809e117 40 };
shimizuta 20:13934809e117 41 //workareaの補正値
shimizuta 20:13934809e117 42 const int kWorkAreaCorrect[kWorkAreaNum][3] = {
shimizuta 20:13934809e117 43 {0,0,0},{0,0,0},{0,0,0},
shimizuta 20:13934809e117 44 {0,0,0},{0,0,0},{0,0,0},
shimizuta 20:13934809e117 45 };
shimizuta 20:13934809e117 46 const int kCommonAreaCorrect[kCommonAreaNum][3] = {
shimizuta 23:f45eb02433a5 47 {0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},
shimizuta 23:f45eb02433a5 48 {0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},
shimizuta 23:f45eb02433a5 49 {0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},
shimizuta 20:13934809e117 50 };
shimizuta 20:13934809e117 51 const int kBoxCorrect[kBoxNum][3] = {
shimizuta 23:f45eb02433a5 52 {0,0,-5},{0,0,-5},{0,0,-5},
shimizuta 23:f45eb02433a5 53 {0,0,-5},{0,0,-5},{0,0,-5},
shimizuta 23:f45eb02433a5 54 {0,0,-5},{0,0,-5},{0,0,-5},
shimizuta 23:f45eb02433a5 55 {0,0,-5},{0,0,-5},{0,0,-5},
shimizuta 20:13934809e117 56 };
shimizuta 20:13934809e117 57 const int kHandCenter = 22.80;//想定先端と実際の先端位置のずれ
shimizuta 20:13934809e117 58
shimizuta 20:13934809e117 59 const int kYawWorkAreaRedDegree = 270;
shimizuta 20:13934809e117 60 const int kYawWorkAreaYellowDegree = 90;
shimizuta 20:13934809e117 61 const int kYawCommonAreaDegree = 90;
shimizuta 20:13934809e117 62 const int kYawBoxDegree = 90;
shimizuta 20:13934809e117 63
shimizuta 20:13934809e117 64 const int kPitchWorkAreaDegree = -90;
shimizuta 20:13934809e117 65 const int kPitchCommonAreaDegree = 0;
shimizuta 20:13934809e117 66 const int kPitchBoxDegree = 0;
shimizuta 20:13934809e117 67 //////////////////////////////
shimizuta 20:13934809e117 68 //配列のスタート番号
shimizuta 20:13934809e117 69 const int kWorkStart = 0;
shimizuta 20:13934809e117 70 const int kCommonStart = kWorkAreaNum;
shimizuta 20:13934809e117 71
shimizuta 20:13934809e117 72 WorkPosi work[kWorkAreaNum + kCommonAreaNum + 1];//最後の1つは番兵
shimizuta 20:13934809e117 73 BoxPosi shootingbox[kBoxNum];
shimizuta 20:13934809e117 74 Pattern now_pattern = NOPATTERN;
shimizuta 23:f45eb02433a5 75
shimizuta 20:13934809e117 76
shimizuta 20:13934809e117 77 //関数名
shimizuta 20:13934809e117 78 void AreaNameSetup();//areanameを入れる。
shimizuta 20:13934809e117 79 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 80 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 81 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 82 void ArrangementPattern(Pattern pattern);
shimizuta 20:13934809e117 83 void ShootingBoxStuff();
shimizuta 20:13934809e117 84 void ExistReset();//is_existとcolorをリセット
shimizuta 20:13934809e117 85
shimizuta 20:13934809e117 86
shimizuta 20:13934809e117 87 void SetupPosition()
shimizuta 20:13934809e117 88 {
shimizuta 20:13934809e117 89 DEBUG("SetupPosition() start\r\n");
shimizuta 20:13934809e117 90 ExistReset();
shimizuta 20:13934809e117 91 AreaNameSetup();
shimizuta 20:13934809e117 92 WorkPosition();
shimizuta 20:13934809e117 93 ShootingBoxPosition();
shimizuta 20:13934809e117 94 Priority();
shimizuta 20:13934809e117 95 DEBUG("SetupPosition() finish\r\n");
shimizuta 20:13934809e117 96 }
shimizuta 20:13934809e117 97 double GetIdealYawRad(const WorkState &state)
shimizuta 20:13934809e117 98 {
shimizuta 20:13934809e117 99 double degree = 0;
shimizuta 20:13934809e117 100 switch(state.areaname) {
shimizuta 20:13934809e117 101 case BOX:
shimizuta 20:13934809e117 102 degree = kYawBoxDegree;
shimizuta 20:13934809e117 103 break;
shimizuta 20:13934809e117 104 case COMMONAREA:
shimizuta 20:13934809e117 105 degree = kYawCommonAreaDegree;
shimizuta 20:13934809e117 106 break;
shimizuta 20:13934809e117 107 case WORKAREA:
shimizuta 20:13934809e117 108 switch(state.color) {
shimizuta 20:13934809e117 109 case RED:
shimizuta 20:13934809e117 110 degree = kYawWorkAreaRedDegree;
shimizuta 20:13934809e117 111 break;
shimizuta 20:13934809e117 112 case YELLOW:
shimizuta 20:13934809e117 113 degree = kYawWorkAreaYellowDegree;
shimizuta 20:13934809e117 114 break;
shimizuta 20:13934809e117 115 }
shimizuta 20:13934809e117 116 break;
shimizuta 20:13934809e117 117 }
shimizuta 20:13934809e117 118 return degree * kDegreeToRad;
shimizuta 20:13934809e117 119 }
shimizuta 20:13934809e117 120 double GetIdealPitchRad(const WorkState &state)
shimizuta 20:13934809e117 121 {
shimizuta 20:13934809e117 122 double degree = 0;
shimizuta 20:13934809e117 123 switch(state.areaname) {
shimizuta 20:13934809e117 124 case BOX:
shimizuta 20:13934809e117 125 degree = kPitchBoxDegree;
shimizuta 20:13934809e117 126 break;
shimizuta 20:13934809e117 127 case COMMONAREA:
shimizuta 20:13934809e117 128 degree = kPitchCommonAreaDegree;
shimizuta 20:13934809e117 129 break;
shimizuta 20:13934809e117 130 case WORKAREA:
shimizuta 20:13934809e117 131 degree = kPitchWorkAreaDegree;
shimizuta 20:13934809e117 132 break;
shimizuta 20:13934809e117 133 }
shimizuta 20:13934809e117 134 return degree * kDegreeToRad;
shimizuta 20:13934809e117 135 }
shimizuta 20:13934809e117 136 void YawPitchSetup()
shimizuta 20:13934809e117 137 {
shimizuta 20:13934809e117 138 DEBUG("YawPitchSetup() start\r\n");
shimizuta 20:13934809e117 139 for(int i = 0; i < kWorkAreaNum+ kCommonAreaNum; i++) {
shimizuta 20:13934809e117 140 work[i].yaw_rad = GetIdealYawRad(work[i]);
shimizuta 20:13934809e117 141 work[i].pitch_rad = GetIdealPitchRad(work[i]);
shimizuta 20:13934809e117 142 }
shimizuta 20:13934809e117 143 for(int i = 0; i < kBoxNum; i++) {
shimizuta 20:13934809e117 144 shootingbox[i].yaw_rad = GetIdealYawRad(shootingbox[i]);
shimizuta 20:13934809e117 145 shootingbox[i].pitch_rad = GetIdealPitchRad(shootingbox[i]);
shimizuta 20:13934809e117 146 }
shimizuta 20:13934809e117 147 DEBUG("YawPitchSetup() finish\r\n");
shimizuta 20:13934809e117 148 }
shimizuta 20:13934809e117 149 //areanameをセット。BOXは初期段階で入っている。
shimizuta 20:13934809e117 150 void AreaNameSetup()
shimizuta 20:13934809e117 151 {
shimizuta 20:13934809e117 152 DEBUG("AreaNameSetup() start\r\n");
shimizuta 20:13934809e117 153 for(int i = kWorkStart; i < kWorkAreaNum; i++) work[i].areaname = WORKAREA;
shimizuta 20:13934809e117 154 for(int i = kCommonStart; i < kCommonStart + kCommonAreaNum; i++) work[i].areaname = COMMONAREA;
shimizuta 20:13934809e117 155 DEBUG("AreaNameSetup() finish\r\n");
shimizuta 20:13934809e117 156 }
shimizuta 20:13934809e117 157 void WorkPosition()
shimizuta 20:13934809e117 158 {
shimizuta 20:13934809e117 159 DEBUG("WorkPosition() start\r\n");
shimizuta 20:13934809e117 160 //ワークエリア
shimizuta 20:13934809e117 161 //x座標
shimizuta 20:13934809e117 162 for(int i=0; i<3; i++) {
shimizuta 20:13934809e117 163 work[i].position[0] = -630 + 180 * i;
shimizuta 20:13934809e117 164 work[i + 3].position[0] = -540 + 180 * i;
shimizuta 20:13934809e117 165 }
shimizuta 20:13934809e117 166 //handの先の値となるよう修正
shimizuta 20:13934809e117 167 for(int i = 0; i < kWorkAreaNum; i++) work[i].position[0] += kHandCenter;
shimizuta 20:13934809e117 168 //y座標
shimizuta 20:13934809e117 169 for(int i=0; i<3; i++) {
shimizuta 20:13934809e117 170 work[i].position[1]=140;
shimizuta 20:13934809e117 171 work[i+3].position[1]=370;
shimizuta 20:13934809e117 172 }
shimizuta 20:13934809e117 173 //z座標
shimizuta 23:f45eb02433a5 174 for(int i=0; i<6; i++) work[i].position[2]=-420;
shimizuta 20:13934809e117 175 //共通ワークエリア
shimizuta 20:13934809e117 176 //x座標
shimizuta 20:13934809e117 177 for(int i=kCommonStart; i<12; i++) {
shimizuta 20:13934809e117 178 work[i].position[0]=-595+(i-kCommonStart)*80;
shimizuta 20:13934809e117 179 work[i+11].position[0]=-595+(i-kCommonStart)*80;
shimizuta 20:13934809e117 180 }
shimizuta 20:13934809e117 181 for(int i=12; i<17; i++) work[i].position[0]=-555+(i-12)*80;
shimizuta 20:13934809e117 182 for(int i = kCommonStart; i < kCommonStart + kCommonAreaNum; i++) work[i].position[0] += kHandCenter;
shimizuta 20:13934809e117 183 //y座標
shimizuta 20:13934809e117 184 for(int i=kCommonStart; i<sizeof(work)/sizeof(work[0]); i++) {
shimizuta 20:13934809e117 185 if(i<12) {
shimizuta 23:f45eb02433a5 186 work[i].position[1]=595;
shimizuta 20:13934809e117 187 } else if(i<17) {
shimizuta 23:f45eb02433a5 188 work[i].position[1]=675;
shimizuta 20:13934809e117 189 } else if(i< kCommonStart + kCommonAreaNum) {
shimizuta 23:f45eb02433a5 190 work[i].position[1]=755;
shimizuta 20:13934809e117 191 }
shimizuta 20:13934809e117 192 }
shimizuta 20:13934809e117 193 //z座標
shimizuta 23:f45eb02433a5 194 for(int i=kCommonStart; i<kCommonStart + kCommonAreaNum; i++) work[i].position[2]=-400;
shimizuta 23:f45eb02433a5 195 for(int i = 0; i < kWorkAreaNum; i++) {
shimizuta 20:13934809e117 196 for(int j = 0; j < 3; j++) work[kWorkAreaIndex[i]].position[j] += kWorkAreaCorrect[i][j];
shimizuta 20:13934809e117 197 }
shimizuta 23:f45eb02433a5 198 for(int i = 0; i < kCommonAreaNum; i++) {
shimizuta 20:13934809e117 199 for(int j = 0; j < 3; j++) work[kCommonAreaIndex[i]].position[j] += kCommonAreaCorrect[i][j];
shimizuta 23:f45eb02433a5 200 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] );
shimizuta 20:13934809e117 201 }
shimizuta 20:13934809e117 202 DEBUG("WorkPosition() finish\r\n");
shimizuta 20:13934809e117 203 }
shimizuta 20:13934809e117 204 void ShootingBoxPosition()
shimizuta 20:13934809e117 205 {
shimizuta 20:13934809e117 206 DEBUG("ShootingBoxPosition() start\r\n");
shimizuta 20:13934809e117 207 //軸は一番右下の穴を原点に取っている.
shimizuta 20:13934809e117 208 //x座標
shimizuta 20:13934809e117 209 for(int i=0; i<3; i++) {
shimizuta 20:13934809e117 210 shootingbox[i].position[0]=240-80*i;
shimizuta 20:13934809e117 211 shootingbox[i+3].position[0]=240-80*i;
shimizuta 20:13934809e117 212 shootingbox[i+6].position[0]=240-80*i;
shimizuta 20:13934809e117 213 shootingbox[i+9].position[0]=240-80*i;
shimizuta 20:13934809e117 214 }
shimizuta 20:13934809e117 215 for(int i = 0; i < kBoxNum; i++) shootingbox[i].position[0] += kHandCenter;
shimizuta 20:13934809e117 216 //y座標
shimizuta 20:13934809e117 217 for(int i=0; i<4; i++) {
shimizuta 23:f45eb02433a5 218 shootingbox[i*3].position[1]=160+80*i;
shimizuta 23:f45eb02433a5 219 shootingbox[i*3+1].position[1]=160+80*i;
shimizuta 23:f45eb02433a5 220 shootingbox[i*3+2].position[1]=160+80*i;
shimizuta 20:13934809e117 221 }
shimizuta 20:13934809e117 222 //z座標
shimizuta 23:f45eb02433a5 223 for(int i=0; i<sizeof(shootingbox)/sizeof(shootingbox[0]); i++) shootingbox[i].position[2]=85;
shimizuta 20:13934809e117 224 for(int i = 0; i < kBoxNum; i++) {
shimizuta 23:f45eb02433a5 225 for(int j = 0; j < 3; j++) shootingbox[kBoxIndex[i]].position[j] += kBoxCorrect[i][j];
shimizuta 20:13934809e117 226 }
shimizuta 20:13934809e117 227 DEBUG("ShootingBoxPosition() finish\r\n");
shimizuta 20:13934809e117 228 }
shimizuta 20:13934809e117 229 void Priority()
shimizuta 20:13934809e117 230 {
shimizuta 20:13934809e117 231 DEBUG("Priority() start\r\n");
shimizuta 20:13934809e117 232 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 233 for(int i = kWorkStart; i < kWorkAreaNum; i++) work[kWorkAreaIndex[i]].priority = kWorkAreaPriority[i];
shimizuta 20:13934809e117 234 for(int i = 0; i < kCommonAreaNum; i++) work[kCommonAreaIndex[i]].priority = kCommonAreaPriority[i];
shimizuta 20:13934809e117 235 DEBUG("Priority() finish\r\n");
shimizuta 20:13934809e117 236 }
shimizuta 20:13934809e117 237 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 238 {
shimizuta 20:13934809e117 239 DEBUG("ArrangementPattern() start\r\n");
shimizuta 20:13934809e117 240 //workareaの設定
shimizuta 20:13934809e117 241 work[0].color=RED;
shimizuta 20:13934809e117 242 work[1].color=RED;
shimizuta 20:13934809e117 243 work[2].color=RED;
shimizuta 20:13934809e117 244 work[3].color=YELLOW;
shimizuta 20:13934809e117 245 work[4].color=YELLOW;
shimizuta 20:13934809e117 246 work[5].color=YELLOW;
shimizuta 20:13934809e117 247
shimizuta 20:13934809e117 248
shimizuta 20:13934809e117 249 switch(pattern) {
shimizuta 20:13934809e117 250 case A:
shimizuta 20:13934809e117 251 DEBUG("ArrangementPattern() A\r\n");
shimizuta 20:13934809e117 252 #ifdef RIGHT
shimizuta 20:13934809e117 253 DEBUG("right\r\n");
shimizuta 20:13934809e117 254 work[6].color=RED;
shimizuta 20:13934809e117 255 work[13].color=RED;
shimizuta 20:13934809e117 256 work[20].color=RED;
shimizuta 20:13934809e117 257 work[8].color=YELLOW;
shimizuta 20:13934809e117 258 work[15].color=YELLOW;
shimizuta 20:13934809e117 259 work[22].color=YELLOW;
shimizuta 20:13934809e117 260
shimizuta 20:13934809e117 261 work[6].is_exist=1;
shimizuta 20:13934809e117 262 work[13].is_exist=1;
shimizuta 20:13934809e117 263 work[20].is_exist=1;
shimizuta 20:13934809e117 264 work[8].is_exist=1;
shimizuta 20:13934809e117 265 work[15].is_exist=1;
shimizuta 20:13934809e117 266 work[22].is_exist=1;
shimizuta 20:13934809e117 267
shimizuta 20:13934809e117 268 #elif defined LEFT
shimizuta 20:13934809e117 269 DEBUG("left\r\n");
shimizuta 20:13934809e117 270 work[9].color=RED;
shimizuta 20:13934809e117 271 work[13].color=RED;
shimizuta 20:13934809e117 272 work[17].color=RED;
shimizuta 20:13934809e117 273 work[11].color=YELLOW;
shimizuta 20:13934809e117 274 work[15].color=YELLOW;
shimizuta 20:13934809e117 275 work[19].color=YELLOW;
shimizuta 20:13934809e117 276
shimizuta 20:13934809e117 277 work[9].is_exist=1;
shimizuta 20:13934809e117 278 work[13].is_exist=1;
shimizuta 20:13934809e117 279 work[17].is_exist=1;
shimizuta 20:13934809e117 280 work[11].is_exist=1;
shimizuta 20:13934809e117 281 work[15].is_exist=1;
shimizuta 20:13934809e117 282 work[19].is_exist=1;
shimizuta 20:13934809e117 283 #endif
shimizuta 20:13934809e117 284 break;
shimizuta 20:13934809e117 285
shimizuta 20:13934809e117 286 case B:
shimizuta 20:13934809e117 287 DEBUG("ArrangementPattern() B\r\n");
shimizuta 20:13934809e117 288 #ifdef RIGHT
shimizuta 20:13934809e117 289 DEBUG("right\r\n");
shimizuta 20:13934809e117 290 work[7].color=RED;
shimizuta 20:13934809e117 291 work[9].color=RED;
shimizuta 20:13934809e117 292 work[11].color=RED;
shimizuta 20:13934809e117 293 work[17].color=YELLOW;
shimizuta 20:13934809e117 294 work[19].color=YELLOW;
shimizuta 20:13934809e117 295 work[21].color=YELLOW;
shimizuta 20:13934809e117 296
shimizuta 20:13934809e117 297 work[7].is_exist=1;
shimizuta 20:13934809e117 298 work[9].is_exist=1;
shimizuta 20:13934809e117 299 work[11].is_exist=1;
shimizuta 20:13934809e117 300 work[17].is_exist=1;
shimizuta 20:13934809e117 301 work[19].is_exist=1;
shimizuta 20:13934809e117 302 work[21].is_exist=1;
shimizuta 20:13934809e117 303
shimizuta 20:13934809e117 304 #elif defined LEFT
shimizuta 20:13934809e117 305 DEBUG("left\r\n");
shimizuta 20:13934809e117 306 work[18].color=RED;
shimizuta 20:13934809e117 307 work[20].color=RED;
shimizuta 20:13934809e117 308 work[22].color=RED;
shimizuta 20:13934809e117 309 work[6].color=YELLOW;
shimizuta 20:13934809e117 310 work[8].color=YELLOW;
shimizuta 20:13934809e117 311 work[10].color=YELLOW;
shimizuta 20:13934809e117 312
shimizuta 20:13934809e117 313 work[18].is_exist=1;
shimizuta 20:13934809e117 314 work[20].is_exist=1;
shimizuta 20:13934809e117 315 work[22].is_exist=1;
shimizuta 20:13934809e117 316 work[6].is_exist=1;
shimizuta 20:13934809e117 317 work[8].is_exist=1;
shimizuta 20:13934809e117 318 work[10].is_exist=1;
shimizuta 20:13934809e117 319 #endif
shimizuta 20:13934809e117 320 break;
shimizuta 20:13934809e117 321
shimizuta 20:13934809e117 322 case C:
shimizuta 20:13934809e117 323 DEBUG("ArrangementPattern() C\r\n");
shimizuta 20:13934809e117 324 work[15].color=RED;
shimizuta 20:13934809e117 325 work[22].color=RED;
shimizuta 20:13934809e117 326 work[11].color=RED;
shimizuta 20:13934809e117 327 work[19].color=YELLOW;
shimizuta 20:13934809e117 328 work[12].color=YELLOW;
shimizuta 20:13934809e117 329 work[8].color=YELLOW;
shimizuta 20:13934809e117 330
shimizuta 20:13934809e117 331 work[15].is_exist=1;
shimizuta 20:13934809e117 332 work[22].is_exist=1;
shimizuta 20:13934809e117 333 work[11].is_exist=1;
shimizuta 20:13934809e117 334 work[19].is_exist=1;
shimizuta 20:13934809e117 335 work[12].is_exist=1;
shimizuta 20:13934809e117 336 work[8].is_exist=1;
shimizuta 20:13934809e117 337 break;
shimizuta 20:13934809e117 338
shimizuta 20:13934809e117 339 case D:
shimizuta 20:13934809e117 340 DEBUG("ArrangementPattern() D\r\n");
shimizuta 20:13934809e117 341 work[22].color=RED;
shimizuta 20:13934809e117 342 work[15].color=RED;
shimizuta 20:13934809e117 343 work[11].color=RED;
shimizuta 20:13934809e117 344 work[17].color=YELLOW;
shimizuta 20:13934809e117 345 work[13].color=YELLOW;
shimizuta 20:13934809e117 346 work[6].color=YELLOW;
shimizuta 20:13934809e117 347
shimizuta 20:13934809e117 348 work[22].is_exist=1;
shimizuta 20:13934809e117 349 work[15].is_exist=1;
shimizuta 20:13934809e117 350 work[11].is_exist=1;
shimizuta 20:13934809e117 351 work[17].is_exist=1;
shimizuta 20:13934809e117 352 work[13].is_exist=1;
shimizuta 20:13934809e117 353 work[6].is_exist=1;
shimizuta 20:13934809e117 354 break;
shimizuta 20:13934809e117 355
shimizuta 20:13934809e117 356 default:
shimizuta 20:13934809e117 357 break;
shimizuta 20:13934809e117 358 }
shimizuta 20:13934809e117 359 DEBUG("ArrangementPattern() finish\r\n");
shimizuta 20:13934809e117 360 }
shimizuta 20:13934809e117 361 void ExistReset()
shimizuta 20:13934809e117 362 {
shimizuta 20:13934809e117 363 DEBUG("ExistReset() start\r\n");
shimizuta 20:13934809e117 364 ///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 365 for(int i=kCommonStart; i < kCommonStart + kCommonAreaNum; i++) {
shimizuta 20:13934809e117 366 work[i].is_exist=0;//共通ワークエリアの初期化
shimizuta 20:13934809e117 367 work[i].color = NOCOLOR;
shimizuta 20:13934809e117 368 }
shimizuta 20:13934809e117 369 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 370 work[i].is_exist=1;
shimizuta 20:13934809e117 371 }
shimizuta 20:13934809e117 372 for(int i=0; i<12; i++) {//shootingの初期値
shimizuta 20:13934809e117 373 shootingbox[i].is_exist=0;
shimizuta 20:13934809e117 374 shootingbox[i].color = NOCOLOR;
shimizuta 20:13934809e117 375 }
shimizuta 20:13934809e117 376 DEBUG("ExistReset() finish\r\n");
shimizuta 20:13934809e117 377 }