2月25日
Dependencies: uw_28015 mbed ros_lib_kinetic move4wheel2 EC CruizCore_R6093U CruizCore_R1370P
movement.h
00001 #ifndef HARUROBO2019_MOVEMENT 00002 #define HARUROBO2019_MOVEMENT 00003 00004 extern char can_ashileddata[2]; 00005 extern char can_ashileddata2[8]; 00006 extern char can_num[1]; 00007 extern double info_x, info_y, info_r; 00008 //extern char can_ashileddata3[2]; 00009 //extern char can_ashileddata4[2]; 00010 //extern char can_ashileddata5[2]; 00011 00012 void print_gyro(); 00013 00014 extern int16_t m1,m2,m3,m4; 00015 00016 extern int flag; 00017 00018 void UserLoopSetting_sensor(); 00019 00020 void UserLoopSetting_enc_right(); 00021 00022 void UserLoopSetting_enc_left(); 00023 00024 void calOmega(); 00025 00026 void cal_uw(); 00027 00028 void output(double FL,double BL,double BR,double FR); 00029 00030 void base(double FL,double BL,double BR,double FR,double Max); 00031 00032 void ashi_led(); 00033 00034 void calc_gyro(); 00035 00036 void calc_xy_enc(); 00037 00038 void set_cond(int t, int px, double bx, int py, double by); 00039 00040 void calc_xy_usw(double tgt_angle); 00041 00042 void uwflag_reset(); 00043 00044 void uwflag_change(int u1,int u2, int u3, int u4); 00045 00046 void calc_xy(double tgt_angle, double u, double v); 00047 00048 void copy_xyr_usw(); 00049 00050 void enc_correction(int x_select,int y_select); 00051 00052 void enc_correction2(int x_plot1, int y_plot2); 00053 00054 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 00055 double point_x1,double point_y1, 00056 double point_x2,double point_y2, 00057 int theta, 00058 double speed, 00059 double q_p,double q_d, 00060 double r_p,double r_d, 00061 double r_out_max, 00062 double target_angle, double v_base, double q_out_max); 00063 00064 void gogo_straight(double u, double v, double x1_point,double y1_point, //直線運動プログラム 00065 double x2_point,double y2_point, 00066 double speed1,double speed2, 00067 double q_p,double q_d, 00068 double r_p,double r_d, 00069 double r_out_max, 00070 double target_angle, double v_base, double q_out_max); 00071 00072 double spline_base(int i, int k, double t, int nv[]); 00073 00074 void spline_move(double u, double v, 00075 double st_x,double st_y,double end_x,double end_y, 00076 double cont1_x,double cont1_y,double cont2_x,double cont2_y, 00077 double st_speed, double end_speed, 00078 double q_p,double q_d, 00079 double r_p,double r_d, 00080 double r_out_max, 00081 double target_angle, double v_base, double q_out_max, int num); 00082 00083 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double v_base); 00084 00085 void mt_stop(); 00086 00087 void mt_check(double out, int dr); 00088 #endif
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