parameter_ctrl.h

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00001 #ifndef PARAMETER_CTRL_C_H
00002 #define PARAMETER_CTRL_C_H
00003 
00017 enum DEFAULT {
00018   BAUDRATE = 38400,             
00019   STRAIGHT_MM_VEL = 300,        
00020   STRAIGHT_MM_ACC = 300,        
00021   ROTATE_DIV16_VEL = 0x10000 >> 1, 
00022   ROTATE_DIV16_ACC = 0x10000 >> 0, 
00023   FOLLOW_RADIUS_MM = 500,       
00024 };
00025 
00026 
00030 typedef struct {
00031   int straight_ref_vel;         
00032   int straight_ref_acc;         
00033   int rotate_ref_vel;           
00034   int rotate_ref_acc;           
00035   int follow_r;                 
00036 } runParams_t;
00037 
00038 #ifdef WIN32
00039 #ifdef C_RUNCTRL_SOURCE
00040 #define LIB_BUILD
00041 #endif
00042 #endif
00043 #include "cpp_extern_macro.h"
00044 BEGIN_C_DECLS;                  
00046 extern void run_initRunParam(runParams_t *params);
00047 extern int run_setStraightVel(int mm_vel);
00048 extern int run_setStraightAcc(int mm_acc);
00049 extern int run_setRotateVel(int div16_vel);
00050 extern int run_setRotateAcc(int div16_acc);
00051 extern int run_setCurveRadius(int radius_mm);
00052 extern int run_getStraightVel(int *mm_vel);
00053 extern int run_getRotateVel(int *div16_vel);
00054 extern int run_is_stable(void);
00055 
00056 END_C_DECLS;                    
00057 #endif /* !PARAMETER_CTRL_C_H */
00058