Diff: workinfo/workinfo.cpp

Revision:

28:bcfc84b481bc

Parent:

26:5e292422cc08

Child:

29:ea48140fc85e

--- a/workinfo/workinfo.cpp	Mon Sep 03 07:37:28 2018 +0000
+++ b/workinfo/workinfo.cpp	Tue Sep 04 12:00:39 2018 +0000
@@ -2,7 +2,6 @@
 #include "state.h"
 #include "workinfo.h"
 #include "debug.h"
-#include "define_right_or_left.h"
 #include "coordinate.h"
 //全部右で考えてる
 //穴の数
@@ -40,19 +39,19 @@
 };
 //workareaの補正値
 const int kWorkAreaCorrect[kWorkAreaNum][3] = {
-    {-70,0,0},{0,0,0},{0,0,0},
+    {0,0,0},{0,0,0},{0,0,0},
     {0,0,0},{0,0,0},{0,0,0},
 };
 const int kCommonAreaCorrect[kCommonAreaNum][3] = {
-    {0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},
-    {0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},
-    {0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},{0,0,30},
+    {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},
 };
 const int kBoxCorrect[kBoxNum][3] = {
-    {0,0,-5},{0,0,-5},{0,0,-5},
-    {0,0,-5},{0,0,-5},{0,0,-5},
-    {0,0,-5},{0,0,-5},{0,0,-5},
-    {0,0,-5},{0,0,-5},{0,0,-5},
+    {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},
 };
 const int kHandCenter = 22.80;//想定先端と実際の先端位置のずれ
 
@@ -62,7 +61,7 @@
 const int kYawBoxDegree = 90;
 
 const int kPitchWorkAreaDegree = -90;
-const int kPitchCommonAreaDegree = 0;
+const int kPitchCommonAreaDegree = -5;
 const int kPitchBoxDegree = 0;
 //////////////////////////////
 //配列のスタート番号
@@ -94,8 +93,8 @@
     }
     //y座標
     for(int i=0; i<3; i++) {
-        work[i].position[1]=140;
-        work[i+3].position[1]=225+90;
+        work[i].position[1]= 300 - 150;
+        work[i+3].position[1]= 215+150;
     }
     //z座標
     for(int i=0; i<6; i++) work[i].position[2]=-436;
@@ -117,7 +116,7 @@
         }
     }
     //z座標
-    for(int i=kCommonStart; i<kCommonStart + kCommonAreaNum; i++) work[i].position[2]=-400;
+    for(int i=kCommonStart; i<kCommonStart + kCommonAreaNum; i++) work[i].position[2]=-350;
     for(int i = 0; i < kWorkAreaNum; i++) {
         for(int j = 0; j < 3; j++) work[kWorkAreaIndex[i]].position[j] += kWorkAreaCorrect[i][j];
     }