Revision 1342
sort of works, does the 45 line correctly.
| internals.h | ||
|---|---|---|
| 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 |
|
| 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 |
|
| 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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| 22 |
#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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| 24 |
#define LOOK_AHEAD_ERR_THRES 5 |
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| 25 |
#define VELOCITY 20
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| 23 | 26 |
|
| 24 | 27 |
typedef struct state |
| 25 | 28 |
{
|
| ... | ... | |
| 27 | 30 |
double y; |
| 28 | 31 |
double theta; |
| 29 | 32 |
|
| 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 |
|
| 33 |
int vl_ref;
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| 34 |
int vr_ref;
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| 36 |
double vl_ref;
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| 37 |
double vr_ref;
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| 35 | 38 |
} state; |
| 36 | 39 |
|
| 37 | 40 |
typedef struct {
|
| ... | ... | |
| 45 | 48 |
|
| 46 | 49 |
void setAttriv(int file); |
| 47 | 50 |
|
| 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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