root / branches / encoders / code / behaviors / spline / server / internals.h @ 1343
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#ifndef INTERNALS_H
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#define INTERNALS_H
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#define LS 0 |
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#define LD 1 |
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#define RS 2 |
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#define RD 3 |
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#define LEFT 1 |
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#define RIGHT 0 |
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#define FORWARD 1 |
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#define BACKWARD 0 |
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#define SENDER 1 |
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#define RECEIVER 0 |
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#define INFINITE -1 |
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#define L 13.5 |
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//#define DT .102
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#define DT .088 |
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#define DIST(x1, y1, x2, y2) (sqrt(((x1)-(x2))*((x1)-(x2)) + ((y1)-(y2))*((y1)-(y2))))
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#define LOOK_AHEAD 40 |
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#define LOOK_AHEAD_ERR_THRES 5 |
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#define VELOCITY 10 |
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typedef struct state |
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{ |
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double x;
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double y;
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double theta;
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double vl;
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double vr;
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double vl_ref;
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double vr_ref;
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} state; |
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typedef struct { |
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double *x;
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double *y;
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} curv_t; |
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state robot; |
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void updatePosition();
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void setAttriv(int file); |
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void pos_control_curve(curv_t *ref, int len); |
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void velocityControl(double*, double*); |
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#endif
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