Diff: movement/movement.h

Revision:

0:44f9a43e4ab2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/movement/movement.h	Tue Feb 25 01:20:43 2020 +0000
@@ -0,0 +1,88 @@
+#ifndef HARUROBO2019_MOVEMENT
+#define HARUROBO2019_MOVEMENT
+
+extern char can_ashileddata[2];
+extern char can_ashileddata2[8];
+extern char can_num[1];
+extern double info_x, info_y, info_r;
+//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 cal_uw();
+
+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 uwflag_reset();
+
+void uwflag_change(int u1,int u2, int u3, int u4);
+
+void calc_xy(double tgt_angle, double u, double v);
+
+void copy_xyr_usw();
+
+void enc_correction(int x_select,int y_select);
+
+void enc_correction2(int x_plot1, int y_plot2);
+
+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, double v_base, double q_out_max);
+
+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, double v_base, double q_out_max);
+
+double spline_base(int i, int k, double t, int nv[]);
+
+void spline_move(double u, double v,
+                 double st_x,double st_y,double end_x,double end_y,
+                 double cont1_x,double cont1_y,double cont2_x,double cont2_y,
+                 double st_speed, double end_speed,
+                 double q_p,double q_d,
+                 double r_p,double r_d,
+                 double r_out_max,
+                 double target_angle, double v_base, double q_out_max, int num);
+
+void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double v_base);
+
+void mt_stop();
+
+void mt_check(double out, int dr);
+#endif
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