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