Diff: movement/movement.h

Revision:

1:d66ba60fa9a9

Parent:

0:0727df1dfa3e

--- a/movement/movement.h	Wed Jun 12 09:41:08 2019 +0000
+++ b/movement/movement.h	Sat Jun 15 04:46:41 2019 +0000
@@ -32,23 +32,32 @@
 void enc_correction(int x_select,int y_select);
 
 void ellipse_curve(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 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 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 spline_base(int i,int k,double t,double nv[]);
+
+void spline_curve(double st_x,double st_y,//スプライン曲線を描いて曲線移動
+                  double end_x,double end_y,
+                  double cont1_x,double cont1_y,
+                  double cont2_x,double cont2_y,
+                  int num);
+
+void 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);
 
 #endif
\ No newline at end of file