Diff: movement/movement.h

Revision:

0:c61c6e4775ca

Child:

1:3c11e07da92a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/movement/movement.h	Wed Feb 13 03:02:19 2019 +0000
@@ -0,0 +1,48 @@
+#ifndef HARUROBO2019_MOVEMENT
+#define HARUROBO2019_MOVEMENT
+
+extern char ashi_data[4];
+
+extern int16_t m1,m2,m3,m4;
+
+void UserLoopSetting_sensor();
+
+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 ashi_led();
+
+void calc_gyro();
+
+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 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
+               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);
+
+void pos_correction();
+
+#endif
\ No newline at end of file