Diff: krai_roda2019/garudago_conf/variable.h

Revision:

0:36dc7ebeec4c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/krai_roda2019/garudago_conf/variable.h	Mon May 20 07:30:16 2019 +0000
@@ -0,0 +1,78 @@
+/*Garudago ITB 2019 Attributes*/
+
+#ifndef  VARIABLE_H
+#define VARIABLE_H
+
+#include "mbed.h"
+
+//robot static body variable
+//[0] : x position
+//[1] : y position
+//[2] : orientation
+float *robot_geometry;
+float theta_from_compass;
+
+float theta_target = 0.0; 
+float theta_shagai = 0.0;
+float count_reset_arm = 0.0;
+
+//robot kinetic variable
+//[0] left_top
+//[1] right_top
+//[3] left_back
+//[4] right_back
+float *wheels_target_velocity;
+float left_top_vel;
+float right_top_vel;
+float left_back_vel;
+float right_back_vel;
+
+float linear_velocity;
+float rotation_velocity;
+float manual_alpha;
+
+int state_condition;
+bool up;
+//Timer Variable
+Timer timer;
+unsigned long prev_compass_timer;
+unsigned long prev_motor_timer;
+unsigned long prev_pneumatic_timer;
+unsigned long prev_stick_timer;
+unsigned long prev_stick_symbol_timer;
+
+/***********************************************************************/
+//Struct for setpoint mapping
+typedef struct map {
+    int n;
+    float x_pos[10];
+    float y_pos[10];
+    float theta_pos[10];
+    float x_offset[10];
+    float y_offset[10];
+} mapping;
+
+const mapping map_NULL =    {  0,
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0}};
+
+const mapping red_field =   {  0,
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0}};
+
+const mapping blue_field =   {  0,
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0},
+                            {  0,  0,  0,  0,  0,  0,  0,  0,  0,  0}};
+
+mapping map_data = map_NULL;
+
+#endif
\ No newline at end of file