File content as of revision 10:6d60c0927770:

#ifndef HARUROBO2019_MOVEMENT
#define HARUROBO2019_MOVEMENT

extern char can_ashileddata[2];

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 enc_correction(int x_select,int y_select);

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(double tgt_x, double tgt_y, double tgt_angle, double u, double v);

#endif