2月25日

Dependencies:   uw_28015 mbed ros_lib_kinetic move4wheel2 EC CruizCore_R6093U CruizCore_R1370P

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Show/hide line numbers movement.h Source File

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