2015_robocon_bteam / Mbed 2 deprecated 2015robot_main_zenkoku

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Dependencies:   PID QEI mbed

prototype.h

Committer:
DeguNaoto
Date:
2015-11-19
Revision:
43:a7423cfee3c8
Parent:
36:b8954b13a6d5

File content as of revision 43:a7423cfee3c8:

#ifndef PROTOTYPE_H
#define PROTOTYPE_H

/***prototype.***/
inline void initializeControllers();
inline void mesure_move_r_velocity();
inline void mesure_move_l_velocity();
inline void Move_r_speed_following();
inline void Move_l_speed_following();
inline void initializeMotors();
void Move_r(float speed1);
void Move_l(float speed2);
void Emergency_toggle();
inline void initializeSwing();
void countSwing();
void mesureSwing();
void mesure_state();
void move_following();
void resetState(int d);
void Call();

Ticker Com;

/**
 * Defines
 */
#define RATE 0.01
#define PI 3.14159265359
//#define speed 10000.0
#define speed 10000.0
//double swingspeed = 18.0;  //middle
double swingspeed = 19.5;

/******/
#define MAX_VALUE 93
#define defoR 70
#define defoL 70
short edge7     = 0;
short edge8     = 0;
short edge1     = 0;
short edge2     = 0;
short edge3     = 0;
short edge4     = 0;
short edge5     = 0;
short edge6     = 0;
short edge9     = 0;
short edge10    = 0;
short edge11    = 0;
short toggle9   = 0;
short move      = 0;
int   stateR    = defoR;
int   stateL    = defoL;

/***Variables***/
double Pulses_move_r        = 0.0;
double Pulses_move_l        = 0.0;
double PulsesSwing          = 0.0;
double PrefPulses_move_r    = 0.0;
double PrefPulses_move_l    = 0.0;
double PrefPulsesSwing      = 0.0;
double swingRadVelocity     = 0.0;
double velocity             = 0.0;
double targ_velocity        = 0.0;
double targ_sita            = 0.0;
double targSwingRadVelocity = 0.0;
double dsita                = 0.0;
double dx                   = 0.0;
double dy                   = 0.0;
double sita                 = 0.0;
double x                    = 0.0;
double y                    = 0.0;
double dlr                  = 0.0;
double dll                  = 0.0;
double vr                   = 0.0;
double vl                   = 0.0;
double x1                   = 0.0;
double x2                   = 0.0;
double Vr                   = 0.0;
double Vl                   = 0.0;
long   step                 = 0;
long   mstep                = 0;
int    cylinderStep         = 0;
short  autoflag             = 1;
short  enableShoot          = 0;
short  enableSwing          = 0;
long   CStep                = 0;
long   mCStep               = 0;
int    CMode                = 0;
int    flagf                = 2;
short  skip                 = 0;
short  medge                = 0;
short  flaga                = 0;
double spcount              = speed;
double dpcount              = 0.0;
int  swingmoved           = 0;

#endif /***prototype.h***/