File content as of revision 114:325e4c158141:

/**
 * This library is included main.cpp.
 * class "machine" whitch machine functions are structured.
 */

#ifndef MACHINE_H
#define MACHINE_H

/**
 * Functions prototype.
 */


/**
 * Includes
 */
#include "mbed.h"
#include <stdlib.h>
#include <string.h>
#include "QEI.h"
#include "PID.h"

#ifdef BLUE
#include "PinDefinedSettingBlue.h"
#else
#include "PinDefinedSettingRed.h"
#endif

#include "prototype.h"
#include "communicate.h"
#include "Parameters_ps3.h"
#include "Swing.h"
#include "manualMode.h"
#include "autoMode.h"

/**
 * Functions.
 */

/***The function is motors initialize.***/
inline void initializeMotors()
{
    Move_r_Motor_PWM.period_us(MOVE_R_PERIOD_US);
    Move_l_Motor_PWM.period_us(MOVE_L_PERIOD_US);
}

/***The function is Move on field.***/
//Right
void Move_r(float speed1)
{
    if(speed1<0) {
        Move_r_Motor_CCW    = 1;
        Move_r_Motor_CW     = 0;
        Move_r_Motor_PWM    = -speed1;
    } else {
        Move_r_Motor_CCW    = 0;
        Move_r_Motor_CW     = 1;
        Move_r_Motor_PWM    = speed1;
    }
}
//Left
void Move_l(float speed2)
{
    if(speed2<0) {
        Move_l_Motor_CCW    = 1;
        Move_l_Motor_CW     = 0;
        Move_l_Motor_PWM    = -speed2;
    } else {
        Move_l_Motor_CCW    = 0;
        Move_l_Motor_CW     = 1;
        Move_l_Motor_PWM    = speed2;
    }
}

/***Caluculate state.***/
inline void mesure_state()
{
    Pulses_move_r       = ( double )Move_r_sense.getPulses();
    Pulses_move_l       = ( double )Move_l_sense.getPulses();
    dlr                 = ( ( ( Pulses_move_r - PrefPulses_move_r ) / ppr ) * 2.0 * PI ) * r_wheel;
    dll                 = ( ( ( Pulses_move_l - PrefPulses_move_l ) / ppr ) * 2.0 * PI ) * r_wheel;
    PrefPulses_move_r   = Pulses_move_r;
    PrefPulses_move_l   = Pulses_move_l;
    vr                  = dlr / RATE;
    vl                  = dll / RATE;
    if(flagf) velocity  = ( vr + vl ) / 2.0;
    else  velocity      = -( vr + vl ) / 2.0;
    dsita               = ( dlr - dll ) / ( 2.0 * d );
    dx                  = ( ( dlr + dll ) / 2.0 ) * cos( sita + dsita / 2.0 );
    dy                  = ( ( dlr + dll ) / 2.0 ) * sin( sita + dsita / 2.0 );
    sita                += dsita;
    x                   += dx;
    y                   += dy;
}

void resetState(){
    wait(0.1);
#ifdef BLUE
    x=0.0;
    y=0.0;
    sita=PI/4.0;
    targ_sita=PI/4.0;
#else
    x=0.0;
    y=0.0;
    sita=-PI/4.0;
    targ_sita=-PI/4.0;
#endif
    targ_velocity=0.0;
    Move_r_sense.reset();
    Move_l_sense.reset();
    velocity_controller.reset();
    direction_controller.reset();
}

#endif /*machine.h*/