harurobo_mbed_undercarriage_sub
Diff: PathFollowing.h
- Revision:
- 6:efe1bc381434
- Parent:
- 5:babe249ce482
--- a/PathFollowing.h Sat Dec 15 13:22:52 2018 +0000 +++ b/PathFollowing.h Sat Dec 22 02:50:28 2018 +0000 @@ -2,10 +2,14 @@ #define HARUROBO2019_PATHFOLLOWING_H #include <EC.h> + extern double now_x,now_y,now_angle; //main.cppにこれらの値の読み込みを書くこと extern double now_timeQ,now_timeR; +extern double usw_data1,usw_data2,usw_data3,usw_data4; +void UserLoopSetting2(); + void XYRmotorout(double plot_x1, double plot_y1, double plot_x2, double plot_y2, double *ad_x_out, double *ad_y_out, double *ad_r_out,double speed1,double speed2); //出発地点、目標地点の座標から機体のx軸方向、y軸方向、旋回の出力を算出する関数(エンコーダ/ジャイロ使用) /* @@ -31,6 +35,39 @@ void set_target_angle(double t); //機体目標角度設定関数 +void calOmega(); + +void output(double FL,double BL,double BR,double FR); + +void base(double FL,double BL,double BR,double FR,double Max); + +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 calc_xy(double tgt_angle, double u, double v); + +void purecurve2(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 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); + + #endif \ No newline at end of file