Revision 1342
sort of works, does the 45 line correctly.
internals.h | ||
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6 | 6 |
#define RS 2 |
7 | 7 |
#define RD 3 |
8 | 8 |
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9 |
#define LEFT 0 |
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10 |
#define RIGHT 1 |
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11 |
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9 | 12 |
#define FORWARD 1 |
10 | 13 |
#define BACKWARD 0 |
11 | 14 |
#define SENDER 1 |
12 | 15 |
#define RECEIVER 0 |
13 | 16 |
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14 | 17 |
#define INFINITE -1 |
15 |
#define L 10.0
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18 |
#define L 13.5
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16 | 19 |
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17 |
#define DT .1 |
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20 |
#define DT .102
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18 | 21 |
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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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#define DIST(x1, y1, x2, y2) (sqrt(((x1)-(x2))*((x1)-(x2)) + ((y1)-(y2))*((y1)-(y2))))
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23 |
#define LOOK_AHEAD 30
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#define LOOK_AHEAD_ERR_THRES 5 |
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25 |
#define VELOCITY 20
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23 | 26 |
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24 | 27 |
typedef struct state |
25 | 28 |
{ |
... | ... | |
27 | 30 |
double y; |
28 | 31 |
double theta; |
29 | 32 |
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30 |
short vl;
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31 |
short vr;
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33 |
double vl;
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34 |
double vr;
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32 | 35 |
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33 |
int vl_ref;
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34 |
int vr_ref;
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36 |
double vl_ref;
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double vr_ref;
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35 | 38 |
} state; |
36 | 39 |
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37 | 40 |
typedef struct { |
... | ... | |
45 | 48 |
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46 | 49 |
void setAttriv(int file); |
47 | 50 |
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48 |
void pos_control_curv(curv_t *ref, int len); |
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51 |
void pos_control_curve(curv_t *ref, int len);
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49 | 52 |
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50 | 53 |
void velocityControl(double*, double*); |
51 | 54 |
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