root / branches / encoders / code / behaviors / spline / server / internals.h @ 1301
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1 | 1301 | ayeager | #ifndef INTERNALS_H
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2 | #define INTERNALS_H
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3 | |||
4 | #define LS 0 |
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5 | #define LD 1 |
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6 | #define RS 2 |
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7 | #define RD 3 |
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8 | |||
9 | #define FORWARD 1 |
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10 | #define BACKWARD 0 |
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11 | #define SENDER 1 |
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12 | #define RECEIVER 0 |
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13 | |||
14 | #define INFINITE -1 |
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15 | #define L 10.0 |
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16 | |||
17 | #define DT .1 |
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18 | |||
19 | #define DIST(x1, y1, x2, y2) (sqrt(pow(((x1)-(x2)), 2) + pow(((y1)-(y2)), 2))) |
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20 | #define LOOK_AHEAD 1 |
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21 | #define LOOK_AHEAD_ERR_THRES 0.05 |
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22 | #define VELOCITY 1 |
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23 | |||
24 | typedef struct state |
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25 | { |
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26 | double x;
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27 | double y;
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28 | double theta;
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29 | |||
30 | short vl;
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31 | short vr;
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32 | |||
33 | int vl_ref;
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34 | int vr_ref;
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35 | } state; |
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36 | |||
37 | typedef struct { |
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38 | double *x;
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39 | double *y;
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40 | } curv_t; |
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41 | |||
42 | state robot; |
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43 | |||
44 | void updatePosition();
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45 | |||
46 | void setAttriv(int file); |
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47 | |||
48 | void pos_control_curv(curv_t *ref, int len); |
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49 | |||
50 | void velocityControl(double*, double*); |
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51 | |||
52 | |||
53 | |||
54 | #endif |