Revision 891
Moved comments to headers. That was painful.
| move.c | ||
|---|---|---|
| 44 | 44 |
|
| 45 | 45 |
// global varaibles for move_avoid |
| 46 | 46 |
int d1, d2, d3, d4, d5; |
| 47 |
/** |
|
| 48 |
* @defgroup move Movement |
|
| 49 |
* @brief Functions fo controlling robot motion |
|
| 50 |
* Higher level functions to control the movement of robots. |
|
| 51 |
* |
|
| 52 |
* @{
|
|
| 53 |
**/ |
|
| 54 | 47 |
|
| 55 |
|
|
| 56 |
/** |
|
| 57 |
* Causes the robot to move with the given translation and rotational velocities. |
|
| 58 |
* motors_init must be called before this function can be used. |
|
| 59 |
* |
|
| 60 |
* @param velocity the translational velocity of the robot, in the range -255 to 255. |
|
| 61 |
* A positive value indicates forward motion, while a negative value indicates |
|
| 62 |
* backwards motion. |
|
| 63 |
* |
|
| 64 |
* @param omega the rotational velocity of the robot, in the range -255 to 255. |
|
| 65 |
* A positive value indicates a counterclockwise velocity, while a negative |
|
| 66 |
* value indicates a clockwise velocity. |
|
| 67 |
* |
|
| 68 |
* @see motors_init, motor1_set, motor2_set |
|
| 69 |
**/ |
|
| 70 | 48 |
void move (int velocity, int omega) {
|
| 71 | 49 |
int vl = 0; |
| 72 | 50 |
int vr = 0; |
| ... | ... | |
| 86 | 64 |
} |
| 87 | 65 |
|
| 88 | 66 |
|
| 89 |
/** |
|
| 90 |
* Moves the robot with the given translational and angular velocities |
|
| 91 |
* while avoiding obstacles. To be effective, this function must be |
|
| 92 |
* called repeatedly throughout the motion. It relies on the IR |
|
| 93 |
* rangefinders to detect obstacles. Before calling this function, |
|
| 94 |
* motors_init and range_init must be called. |
|
| 95 |
* |
|
| 96 |
* @param velocity the translational velocity of the robot, in the |
|
| 97 |
* range -255 to 255. A positive value indicates forward motion. |
|
| 98 |
* |
|
| 99 |
* @param omega the rotational velocity of the robot, in the range |
|
| 100 |
* -255 to 255. A positive value indicates a counterclockwise velocity. |
|
| 101 |
* |
|
| 102 |
* @param strength the strength of the avoid behavior, in the range |
|
| 103 |
* 0 to 100. |
|
| 104 |
* |
|
| 105 |
* @see motors_init, range_init, move |
|
| 106 |
**/ |
|
| 107 | 67 |
void move_avoid(int velocity, int omega, int strength) {
|
| 108 | 68 |
int pControl; |
| 109 | 69 |
int vl = 0; |
| ... | ... | |
| 151 | 111 |
} |
| 152 | 112 |
} |
| 153 | 113 |
|
| 154 |
/**@}**///end the motion group |
|
| 155 |
|
|
| 156 | 114 |
void translateAngulartoLinear (int velocity, int omega, int* vl, int* vr) {
|
| 157 | 115 |
//omega: angle measure, positive couter-clockwise from front. |
| 158 | 116 |
// -180 <= omega <= 180 |
Also available in: Unified diff