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Dependencies: BMP280 BNO055_fusion PowerControl mbed
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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);