movement.h

00001 #ifndef HARUROBO2019_MOVEMENT
00002 #define HARUROBO2019_MOVEMENT
00003 
00004 extern char can_ashileddata[2];
00005 
00006 extern int16_t m1,m2,m3,m4;
00007 
00008 extern int flag;
00009 
00010 void UserLoopSetting_sensor();
00011 
00012 void UserLoopSetting_enc_right();
00013 
00014 void UserLoopSetting_enc_left();
00015 
00016 void calOmega();
00017 
00018 void output(double FL,double BL,double BR,double FR);
00019 
00020 void base(double FL,double BL,double BR,double FR,double Max);
00021 
00022 void ashi_led();
00023 
00024 void calc_gyro();
00025 
00026 void calc_xy_enc();
00027 
00028 void set_cond(int t, int px, double bx, int py, double by);
00029 
00030 void calc_xy_usw(double tgt_angle);
00031 
00032 void calc_xy(double tgt_angle, double u, double v);
00033 
00034 void enc_correction(int x_select,int y_select);
00035 
00036 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
00037                double point_x1,double point_y1,
00038                double point_x2,double point_y2,
00039                int theta,
00040                double speed,
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 gogo_straight(double u, double v, double x1_point,double y1_point,  //直線運動プログラム
00047                    double x2_point,double y2_point,
00048                    double speed1,double speed2,
00049                    double q_p,double q_d,
00050                    double r_p,double r_d,
00051                    double r_out_max,
00052                    double target_angle);
00053 
00054 void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double R);
00055 
00056 #endif