Diff: LOCOMOTION.h

Revision:

31:69caabc10879

Parent:

30:116cd143fdf7

Child:

33:baf24c59affc

--- a/LOCOMOTION.h	Tue Apr 19 02:04:10 2016 +0000
+++ b/LOCOMOTION.h	Wed Apr 20 08:21:21 2016 +0000
@@ -14,15 +14,21 @@
 #define GAIN_GRAVITY    0.75
 #define M_PI            3.1415926535897932384
  
+#define X_STOP 0
 #define X_INCREASE 1
 #define X_DECREASE 2
 #define X_BACKWARDS 3
 #define ROTATE_1 4
 #define ROTATE_2 5
+#define X_BEGINING 6
+#define BARRIER_CROSS 7
 #define BACKOFF 10
 #define X_NEAR_GOAL 0
 #define X_FAR_GOAL 90
 #define Y_INCREMENT 7
+#define FRAME_HE 180
+#define ROB_SIZE 34
+#define TILTZZ 5   
  
 enum {
     ANGLE_TURN  = 0,
@@ -50,7 +56,7 @@
     bool setYBias(int target, int current, int error, int angle);
     bool setAngle(int target, int current, int error, int mode);
     
-    void setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal,int *angleTol );
+    void setXstate(int *xCurrState, int *xTarget,bool xGood,bool angleGood,int *angleGoal,int *angleTol,int yTarget );
     void setAngleTol(int *angleTol,bool yGood, bool xGood);
     void setYgoal(bool xGood,bool angleGood,bool yGood,int *yTarget);
     void check_xya(bool *xGood,bool *yGood,bool *angleGood, int xGoal,int angleGoal,int yGoal,LOCALIZE_xya xya,int xErr, int yErr,int angleErr);