movement.h

00001 #ifndef HARUROBO2019_MOVEMENT
00002 #define HARUROBO2019_MOVEMENT
00003 
00004 extern char ashi_data[4];
00005 
00006 extern int16_t m1,m2,m3,m4;
00007 
00008 void UserLoopSetting_sensor();
00009 
00010 void calOmega();
00011 
00012 void output(double FL,double BL,double BR,double FR);
00013 
00014 void base(double FL,double BL,double BR,double FR,double Max);
00015 
00016 void ashi_led();
00017 
00018 void calc_gyro();
00019 
00020 void calc_xy_enc();
00021 
00022 void set_cond(int t, int px, double bx, int py, double by);
00023 
00024 void calc_xy_usw(double tgt_angle);
00025 
00026 void calc_xy(double tgt_angle, double u, double v);
00027 
00028 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
00029                double point_x1,double point_y1,
00030                double point_x2,double point_y2,
00031                int theta,
00032                double speed,
00033                double q_p,double q_d,
00034                double r_p,double r_d,
00035                double r_out_max,
00036                double target_angle);
00037                 
00038 void gogo_straight(double u, double v, double x1_point,double y1_point,  //直線運動プログラム
00039                    double x2_point,double y2_point,
00040                    double speed1,double speed2,
00041                    double q_p,double q_d,
00042                    double r_p,double r_d,
00043                    double r_out_max,
00044                    double target_angle);
00045 
00046 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v);
00047 
00048 #endif