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yei
Dependencies: interface mbed enc_1multi calPID motorout KondoServoLibrary
Fork of cat18_operate by
Diff: workinfo/workinfo.cpp
- Revision:
- 30:af136b83b202
- Parent:
- 29:ea48140fc85e
- Child:
- 32:21229c96144a
--- a/workinfo/workinfo.cpp Tue Sep 04 12:53:50 2018 +0000 +++ b/workinfo/workinfo.cpp Tue Sep 04 23:03:50 2018 +0000 @@ -29,7 +29,7 @@ //////////////////////////////変更出来るパラメータ //priority 取る順番を決める const int kWorkAreaPriority[kWorkAreaNum] = { - 100, 102, 103, + 100, 101, 103, 104, 105, 106, }; const int kCommonAreaPriority[kCommonAreaNum] = { @@ -39,19 +39,19 @@ }; //workareaの補正値 const int kWorkAreaCorrect[kWorkAreaNum][3] = { - {0,0,0},{0,0,0},{0,0,0}, - {0,0,0},{0,0,0},{0,0,0}, + {0,20,10},{0,20,10},{0,20,10}, + {0,0,100},{0,0,0},{0,0,0}, }; const int kCommonAreaCorrect[kCommonAreaNum][3] = { - {0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}, - {0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}, - {0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0},{0,0,0}, + {20,20,0},{0,50,0},{0,50,0},{0,50,0},{0,50,0},{0,50,0}, + {0,50,0},{0,50,0},{0,50,0},{0,50,0},{0,50,0}, + {0,50,0},{0,50,0},{0,50,0},{80,50,0},{0,50,0},{0,30,0}, }; const int kBoxCorrect[kBoxNum][3] = { - {0,0,0},{0,0,0},{0,0,0}, - {0,0,0},{0,0,0},{0,0,0}, - {0,0,0},{0,0,0},{0,0,0}, - {0,0,0},{0,0,0},{0,0,0}, + {100,-80,0},{80,-80,0},{-30,-120,0}, + {-20,-120,0},{0,-80,0},{0,-110,0}, + {0,-80,0},{0,-80,0},{0,-80,0}, + {0,-80,0},{0,-80,0},{0,-80,0}, }; const int kHandCenter = 22;//想定先端と実際の先端位置のずれ @@ -101,10 +101,10 @@ //y座標 for(int i=0; i<3; i++) { work[i].position[1]= 300 - 150; - work[i+3].position[1]= 215 + 150; + work[i+3].position[1]= 210 + 150; } //z座標 - for(int i=0; i<6; i++) work[i].position[2]=-436; + for(int i=0; i<6; i++) work[i].position[2]=-420; //共通ワークエリア //x座標 for(int i = kCommonStart; i<12; i++) { @@ -152,7 +152,7 @@ shootingbox[i*3+2].position[1]=160+80*i + kHandCenter; } //z座標 - for(int i=0; i<sizeof(shootingbox)/sizeof(shootingbox[0]); i++) shootingbox[i].position[2]=100; + for(int i=0; i<sizeof(shootingbox)/sizeof(shootingbox[0]); i++) shootingbox[i].position[2]=125; for(int i = 0; i < kBoxNum; i++) { for(int j = 0; j < 3; j++) shootingbox[kBoxIndex[i]].position[j] += kBoxCorrect[i][j]; }