あ
Dependencies: uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P
movement/movement.h
- Committer:
- yuki0701
- Date:
- 2019-11-16
- Revision:
- 1:26fc1b2f1c42
- Parent:
- 0:b87fd8dd4322
- Child:
- 2:820dcd23c8e3
File content as of revision 1:26fc1b2f1c42:
#ifndef HARUROBO2019_MOVEMENT #define HARUROBO2019_MOVEMENT extern char can_ashileddata[2]; extern char can_ashileddata2[8]; //extern char can_ashileddata3[2]; //extern char can_ashileddata4[2]; //extern char can_ashileddata5[2]; void print_gyro(); extern int16_t m1,m2,m3,m4; extern int flag; void UserLoopSetting_sensor(); void UserLoopSetting_enc_right(); void UserLoopSetting_enc_left(); void calOmega(); void output(double FL,double BL,double BR,double FR); void base(double FL,double BL,double BR,double FR,double Max); void ashi_led(); void calc_gyro(); void calc_xy_enc(); void set_cond(int t, int px, double bx, int py, double by); void calc_xy_usw(double tgt_angle); void calc_xy(double tgt_angle, double u, double v); void enc_correction(int x_select,int y_select); void purecurve(int type,double u, double v, //正面を変えずに円弧or楕円を描いて曲がる double point_x1,double point_y1, double point_x2,double point_y2, int theta, double speed, double q_p,double q_d, double r_p,double r_d, double r_out_max, double target_angle); void gogo_straight(double u, double v, double x1_point,double y1_point, //直線運動プログラム double x2_point,double y2_point, double speed1,double speed2, double q_p,double q_d, double r_p,double r_d, double r_out_max, double target_angle); void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v); void mt_stop(); #endif