modeCtrl.h

Go to the documentation of this file.
00001 #ifndef MODE_CTRL_H
00002 #define MODE_CTRL_H
00003 
00013 #include "velocityCtrl.h"
00014 
00015 
00016 #ifndef NULL
00017 #define NULL 0x0
00018 #endif
00019 
00020 
00024 typedef struct {
00025   int ctrl;
00026   int straight_ctrl;
00027   int rotate_ctrl;
00028   int pre_straight_ctrl;
00029   int pre_rotate_ctrl;
00030   int follow_r;
00031 } modeInfo_t;
00032 
00033 
00034 enum {
00035   // 制御モード
00036   MODE_NO_CTRL = 0,             // 制御なし
00037   MODE_SERVO_CTRL = 1,          // サーボ制御
00038   MODE_SERVO_FREE,              // サーボフリー
00039   MODE_DIRECT_CTRL,             // モータレベルでの直接制御
00040   MODE_DIRECT_WHEEL_CTRL,       // 車輪レベルでの直接制御
00041 
00042   // 並進
00043   MODE_HOLD_VELOCITY_FIRST = 0x100,
00044   MODE_HOLD_VELOCITY,
00045   MODE_HOLD_POSITION_FIRST,
00046   MODE_HOLD_POSITION,
00047   MODE_STOP_FIRST,
00048   MODE_STOP,
00049 
00050   // 回転
00051   MODE_HOLD_ROTATE_VELOCITY_FIRST = 0x200,
00052   MODE_HOLD_ROTATE_VELOCITY,
00053   MODE_HOLD_ANGLE_FIRST,
00054   MODE_HOLD_ANGLE,
00055   MODE_ROTATE_ANGLE_FIRST,
00056   MODE_ROTATE_ANGLE,
00057   MODE_FOLLOW_LINE_FIRST,
00058   MODE_FOLLOW_LINE,
00059   MODE_FOLLOW_CIRCLE_FIRST,
00060   MODE_FOLLOW_CIRCLE,
00061   MODE_ROTATE_STOP_FIRST,
00062   MODE_ROTATE_STOP,
00063 };
00064 
00065 
00066 //#include "cpp_extern_macro.h"
00067 BEGIN_C_DECLS;
00068 
00069 extern void initModeInfo(modeInfo_t *mode);
00070 extern int calcStraightRefVel(velocityCtrlInfo_t *velCtrl, modeInfo_t *mode,
00071                               bodyPosition_t *bodyPos,
00072                               velocityInfo_t *velInfo,
00073                               coordinateInfo_t *run_crd);
00074 extern int calcRotateRefVel(velocityCtrlInfo_t *velCtrl, modeInfo_t *mode,
00075                             bodyPosition_t *bodyPos, velocityInfo_t *velInfo,
00076                             coordinateInfo_t *run_crd);
00077 
00078 END_C_DECLS;
00079 #endif /* !MODE_CTRL_H */
00080