ロボステ6期 / Mbed 2 deprecated NHK2020-main１

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Dependencies:   uw_28015 mbed move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

movement/movement.h@2:820dcd23c8e3, 2019-12-11 (annotated)

Committer:
yuki0701
Date:
Wed Dec 11 04:59:36 2019 +0000
Revision:
2:820dcd23c8e3
Parent:
1:26fc1b2f1c42 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
la00noix 0:b87fd8dd4322 1 #ifndef HARUROBO2019_MOVEMENT
la00noix 0:b87fd8dd4322 2 #define HARUROBO2019_MOVEMENT
la00noix 0:b87fd8dd4322 3
la00noix 0:b87fd8dd4322 4 extern char can_ashileddata[2];
yuki0701 1:26fc1b2f1c42 5 extern char can_ashileddata2[8];
yuki0701 1:26fc1b2f1c42 6 //extern char can_ashileddata3[2];
yuki0701 1:26fc1b2f1c42 7 //extern char can_ashileddata4[2];
yuki0701 1:26fc1b2f1c42 8 //extern char can_ashileddata5[2];
yuki0701 1:26fc1b2f1c42 9
yuki0701 1:26fc1b2f1c42 10 void print_gyro();
la00noix 0:b87fd8dd4322 11
la00noix 0:b87fd8dd4322 12 extern int16_t m1,m2,m3,m4;
la00noix 0:b87fd8dd4322 13
la00noix 0:b87fd8dd4322 14 extern int flag;
la00noix 0:b87fd8dd4322 15
la00noix 0:b87fd8dd4322 16 void UserLoopSetting_sensor();
la00noix 0:b87fd8dd4322 17
yuki0701 1:26fc1b2f1c42 18 void UserLoopSetting_enc_right();
yuki0701 1:26fc1b2f1c42 19
yuki0701 1:26fc1b2f1c42 20 void UserLoopSetting_enc_left();
yuki0701 1:26fc1b2f1c42 21
la00noix 0:b87fd8dd4322 22 void calOmega();
la00noix 0:b87fd8dd4322 23
yuki0701 2:820dcd23c8e3 24 void cal_uw();
yuki0701 2:820dcd23c8e3 25
la00noix 0:b87fd8dd4322 26 void output(double FL,double BL,double BR,double FR);
la00noix 0:b87fd8dd4322 27
la00noix 0:b87fd8dd4322 28 void base(double FL,double BL,double BR,double FR,double Max);
la00noix 0:b87fd8dd4322 29
la00noix 0:b87fd8dd4322 30 void ashi_led();
la00noix 0:b87fd8dd4322 31
la00noix 0:b87fd8dd4322 32 void calc_gyro();
la00noix 0:b87fd8dd4322 33
la00noix 0:b87fd8dd4322 34 void calc_xy_enc();
la00noix 0:b87fd8dd4322 35
la00noix 0:b87fd8dd4322 36 void set_cond(int t, int px, double bx, int py, double by);
la00noix 0:b87fd8dd4322 37
la00noix 0:b87fd8dd4322 38 void calc_xy_usw(double tgt_angle);
la00noix 0:b87fd8dd4322 39
yuki0701 2:820dcd23c8e3 40 void uwflag_reset();
yuki0701 2:820dcd23c8e3 41
yuki0701 2:820dcd23c8e3 42 void uwflag_change(int u1,int u2, int u3, int u4);
yuki0701 2:820dcd23c8e3 43
la00noix 0:b87fd8dd4322 44 void calc_xy(double tgt_angle, double u, double v);
la00noix 0:b87fd8dd4322 45
la00noix 0:b87fd8dd4322 46 void enc_correction(int x_select,int y_select);
la00noix 0:b87fd8dd4322 47
yuki0701 2:820dcd23c8e3 48 void enc_correction2(int x_plot1, int y_plot2);
yuki0701 2:820dcd23c8e3 49
la00noix 0:b87fd8dd4322 50 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
la00noix 0:b87fd8dd4322 51 double point_x1,double point_y1,
la00noix 0:b87fd8dd4322 52 double point_x2,double point_y2,
la00noix 0:b87fd8dd4322 53 int theta,
la00noix 0:b87fd8dd4322 54 double speed,
la00noix 0:b87fd8dd4322 55 double q_p,double q_d,
la00noix 0:b87fd8dd4322 56 double r_p,double r_d,
la00noix 0:b87fd8dd4322 57 double r_out_max,
yuki0701 2:820dcd23c8e3 58 double target_angle, double v_base, double q_out_max);
la00noix 0:b87fd8dd4322 59
la00noix 0:b87fd8dd4322 60 void gogo_straight(double u, double v, double x1_point,double y1_point, //直線運動プログラム
la00noix 0:b87fd8dd4322 61 double x2_point,double y2_point,
la00noix 0:b87fd8dd4322 62 double speed1,double speed2,
la00noix 0:b87fd8dd4322 63 double q_p,double q_d,
la00noix 0:b87fd8dd4322 64 double r_p,double r_d,
la00noix 0:b87fd8dd4322 65 double r_out_max,
yuki0701 2:820dcd23c8e3 66 double target_angle, double v_base, double q_out_max);
yuki0701 2:820dcd23c8e3 67
yuki0701 2:820dcd23c8e3 68 double spline_base(int i, int k, double t, int nv[]);
la00noix 0:b87fd8dd4322 69
yuki0701 2:820dcd23c8e3 70 void spline_move(double u, double v,
yuki0701 2:820dcd23c8e3 71 double st_x,double st_y,double end_x,double end_y,
yuki0701 2:820dcd23c8e3 72 double cont1_x,double cont1_y,double cont2_x,double cont2_y,
yuki0701 2:820dcd23c8e3 73 double st_speed, double end_speed,
yuki0701 2:820dcd23c8e3 74 double q_p,double q_d,
yuki0701 2:820dcd23c8e3 75 double r_p,double r_d,
yuki0701 2:820dcd23c8e3 76 double r_out_max,
yuki0701 2:820dcd23c8e3 77 double target_angle, double v_base, double q_out_max, int num);
yuki0701 2:820dcd23c8e3 78
yuki0701 2:820dcd23c8e3 79 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double v_base);
la00noix 0:b87fd8dd4322 80
yuki0701 1:26fc1b2f1c42 81 void mt_stop();
yuki0701 1:26fc1b2f1c42 82
la00noix 0:b87fd8dd4322 83 #endif