root / branches / encoders / code / behaviors / spline / server / speed_map.c @ 1344
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#include "speed_map.h" |
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#include <stdlib.h> |
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|
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double robot_1[41] = |
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{
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0,
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0.495185695, |
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0.935064935, |
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1.385681293, |
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1.834862385, |
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2.278481013, |
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2.739726027, |
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3.20855615, |
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3.629032258, |
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4.295942721, |
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4.7, |
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5.013927577, |
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5.487804878, |
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5.940594059, |
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6.382978723, |
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6.844106464, |
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7.317073171, |
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7.75862069, |
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8.181818182, |
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8.653846154, |
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9.183673469, |
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9.677419355, |
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10.05586592, |
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10.34482759, |
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10.97560976, |
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11.39240506, |
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11.84210526, |
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12.4137931, |
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12.76595745, |
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13.23529412, |
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13.63636364, |
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14.17322835, |
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14.51612903, |
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15,
|
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15.65217391, |
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15.78947368, |
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16.51376147, |
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16.66666667, |
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17.47572816, |
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17.84, |
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18.3 |
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}; |
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|
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int robot_velocity(int robot, double velocity) |
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{
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if(velocity > 0) |
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return (int)((velocity+0.2757)/0.4645); |
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|
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velocity = -velocity; |
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return -(int)((velocity+0.2757)/0.4645); |
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} |
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|
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double real_velocity(int robot, int velocity) |
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{
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if(velocity > 40 || velocity < -40) |
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return velocity < 0?-18.3:18.3; |
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|
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switch(robot)
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{
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case 1: |
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return velocity < 0?-robot_1[-velocity]:robot_1[velocity]; |
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default:
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exit(-15410);
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} |
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|
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} |