Diff: movement/movement.h

Revision:

2:820dcd23c8e3

Parent:

1:26fc1b2f1c42

--- a/movement/movement.h	Sat Nov 16 06:26:57 2019 +0000
+++ b/movement/movement.h	Wed Dec 11 04:59:36 2019 +0000
@@ -21,6 +21,8 @@
 
 void calOmega();
 
+void cal_uw();
+
 void output(double FL,double BL,double BR,double FR);
 
 void base(double FL,double BL,double BR,double FR,double Max);
@@ -35,10 +37,16 @@
 
 void calc_xy_usw(double tgt_angle);
 
+void uwflag_reset();
+
+void uwflag_change(int u1,int u2, int u3, int u4);
+
 void calc_xy(double tgt_angle, double u, double v);
 
 void enc_correction(int x_select,int y_select);
 
+void enc_correction2(int x_plot1, int y_plot2);
+
 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,
@@ -47,7 +55,7 @@
                double q_p,double q_d,
                double r_p,double r_d,
                double r_out_max,
-               double target_angle);
+               double target_angle, double v_base, double q_out_max);
 
 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,
@@ -55,9 +63,20 @@
                    double q_p,double q_d,
                    double r_p,double r_d,
                    double r_out_max,
-                   double target_angle);
+                   double target_angle, double v_base, double q_out_max);
+
+double spline_base(int i, int k, double t, int nv[]);
 
-void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v);
+void spline_move(double u, double v,
+                 double st_x,double st_y,double end_x,double end_y,
+                 double cont1_x,double cont1_y,double cont2_x,double cont2_y,
+                 double st_speed, double end_speed,
+                 double q_p,double q_d,
+                 double r_p,double r_d,
+                 double r_out_max,
+                 double target_angle, double v_base, double q_out_max, int num);
+
+void pos_correction(double tgt_x, double tgt_y, double tgt_angle, double u, double v, double v_base);
 
 void mt_stop();