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ジャイロ追加前
typedef.h@25:f3a6e7eec9c3, 2018-12-12 (annotated)
- Committer:
- MasashiNomura
- Date:
- Wed Dec 12 23:52:22 2018 +0000
- Revision:
- 25:f3a6e7eec9c3
- Parent:
- 24:c5945aaae777
- Child:
- 27:ff63c23bc689
2018/12/11
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
takeru0x1103 | 0:ecd925601fc6 | 1 | #ifndef _TYPEDEF_H_ |
takeru0x1103 | 0:ecd925601fc6 | 2 | #define _TYPEDEF_H_ |
takeru0x1103 | 0:ecd925601fc6 | 3 | ///////////////////////////////////////////////////////////////////// |
takeru0x1103 | 18:5aa48aec9cae | 4 | #include "debug.h" |
MasashiNomura | 25:f3a6e7eec9c3 | 5 | #include <bitset> |
takeru0x1103 | 0:ecd925601fc6 | 6 | |
takeru0x1103 | 17:f9610f3cfa1b | 7 | //Asciiコード |
takeru0x1103 | 17:f9610f3cfa1b | 8 | #define BS 0x08 |
takeru0x1103 | 17:f9610f3cfa1b | 9 | #define HT 0x09 |
takeru0x1103 | 17:f9610f3cfa1b | 10 | #define TAB 0x09 |
takeru0x1103 | 17:f9610f3cfa1b | 11 | #define LF 0x0A |
takeru0x1103 | 17:f9610f3cfa1b | 12 | #define CR 0x0D |
takeru0x1103 | 17:f9610f3cfa1b | 13 | #define SPC 0x20 |
takeru0x1103 | 17:f9610f3cfa1b | 14 | #define ESC 0x1B |
takeru0x1103 | 17:f9610f3cfa1b | 15 | |
takeru0x1103 | 0:ecd925601fc6 | 16 | /* |
takeru0x1103 | 0:ecd925601fc6 | 17 | * 共通で使用する型の定義 |
takeru0x1103 | 0:ecd925601fc6 | 18 | * |
takeru0x1103 | 0:ecd925601fc6 | 19 | */ |
takeru0x1103 | 0:ecd925601fc6 | 20 | |
takeru0x1103 | 18:5aa48aec9cae | 21 | typedef unsigned char UCHAR; |
takeru0x1103 | 18:5aa48aec9cae | 22 | typedef unsigned short UINT16; |
takeru0x1103 | 18:5aa48aec9cae | 23 | typedef short INT16; |
takeru0x1103 | 18:5aa48aec9cae | 24 | typedef unsigned int UINT32; |
takeru0x1103 | 0:ecd925601fc6 | 25 | |
MasashiNomura | 22:24c9c2dedca9 | 26 | //ユーザースイッチ(ハンドル)のレジスタ読み値のビットフィールド |
MasashiNomura | 22:24c9c2dedca9 | 27 | typedef union{ |
MasashiNomura | 22:24c9c2dedca9 | 28 | UINT16 w; |
MasashiNomura | 22:24c9c2dedca9 | 29 | struct{ |
MasashiNomura | 22:24c9c2dedca9 | 30 | UCHAR axl_r : 1; |
MasashiNomura | 22:24c9c2dedca9 | 31 | UCHAR axl_l : 1; |
MasashiNomura | 23:79e20be4bc5b | 32 | UCHAR stop : 1; |
MasashiNomura | 23:79e20be4bc5b | 33 | UCHAR y_ctrl : 1; |
MasashiNomura | 23:79e20be4bc5b | 34 | UCHAR eng_stop : 1; |
MasashiNomura | 22:24c9c2dedca9 | 35 | }bf; |
MasashiNomura | 22:24c9c2dedca9 | 36 | }typUserSw; |
MasashiNomura | 22:24c9c2dedca9 | 37 | |
MasashiNomura | 24:c5945aaae777 | 38 | //姿勢制御用PIDパラメータ構造体 |
MasashiNomura | 24:c5945aaae777 | 39 | typedef struct{ |
MasashiNomura | 24:c5945aaae777 | 40 | float PP; |
MasashiNomura | 24:c5945aaae777 | 41 | float P; |
MasashiNomura | 24:c5945aaae777 | 42 | float I; |
MasashiNomura | 24:c5945aaae777 | 43 | float D; |
MasashiNomura | 24:c5945aaae777 | 44 | float IMax; |
MasashiNomura | 24:c5945aaae777 | 45 | float IMin; |
MasashiNomura | 24:c5945aaae777 | 46 | }typPidPara; |
MasashiNomura | 24:c5945aaae777 | 47 | |
MasashiNomura | 25:f3a6e7eec9c3 | 48 | //モーターのパラメータ構造体 |
MasashiNomura | 25:f3a6e7eec9c3 | 49 | typedef struct{ |
MasashiNomura | 25:f3a6e7eec9c3 | 50 | //UCHAR num; |
MasashiNomura | 25:f3a6e7eec9c3 | 51 | //INT16 offset; |
MasashiNomura | 25:f3a6e7eec9c3 | 52 | INT16 limit_hi; |
MasashiNomura | 25:f3a6e7eec9c3 | 53 | INT16 limit_low; |
MasashiNomura | 25:f3a6e7eec9c3 | 54 | }typMotPara; |
MasashiNomura | 24:c5945aaae777 | 55 | |
MasashiNomura | 25:f3a6e7eec9c3 | 56 | typedef std::bitset<4> typFlg4Mot; |
takeru0x1103 | 0:ecd925601fc6 | 57 | ///////////////////////////////////////////////////////////////////// |
takeru0x1103 | 0:ecd925601fc6 | 58 | #endif |