root / branches / autonomous_recharging / code / projects / colonet / utilities / robot_slave / move.h @ 1390
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1 | 13 | emarinel | #ifndef _MOVE_H_
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2 | #define _MOVE_H_
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3 | |||
4 | #define FWD 0 |
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5 | #define BCK 1 |
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6 | |||
7 | #define DELAY_F 250 |
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8 | #define DELAY_B 750 |
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9 | #define DELAY_R 500 |
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10 | #define DELAY_L 500 |
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11 | |||
12 | #define SLOW_SPD 96 |
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13 | #define HALF_SPD 128 |
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14 | #define NRML_SPD 160 |
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15 | #define FAST_SPD 192 |
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16 | #define FULL_SPD 255 |
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17 | |||
18 | #define SLOW_TURN 64 |
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19 | #define NRML_TURN 96 |
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20 | #define FAST_TURN 128 |
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21 | |||
22 | int d1,d2,d3,d4,d5; /*Move avoid distance variables*/ |
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23 | |||
24 | void move(int velocity, int omega); |
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25 | |||
26 | void move_avoid(int velocity, int omega, int strength); |
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27 | |||
28 | void translateAngulartoLinear (int velocity, int omega, int* vl, int* vr); |
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29 | |||
30 | void moveForward(void); |
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31 | //void moveForward(int speed);
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32 | //void moveForward(int speed, int time);
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33 | |||
34 | void moveBack(void); |
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35 | //void moveBack(int speed);
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36 | //void moveBack(int speed, int time);
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37 | |||
38 | void turnLeft(void); |
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39 | //void turnLeft(int speed);
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40 | //void turnLeft(int speed, int time);
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41 | |||
42 | void turnRight(void); |
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43 | //void turnRight(int speed);
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44 | //void turnRight(int speed, int time);
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45 | |||
46 | #endif |