structTables.h

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00001 #ifndef STRUCT_TABLES_H
00002 #define STRUCT_TABLES_H
00003 
00013 #include "directDeviceCtrl.h"
00014 #include "directWheelCtrl.h"
00015 #include "modeCtrl.h"
00016 
00017 
00021 typedef struct {
00022 
00023   // system
00024   long version;
00025   int msec;
00026   long sec;
00027   unsigned short used_msec;
00028 
00029   // device
00030   encInfo_t enc[2];
00031   motorInfo_t mtr[2];
00032   directDeviceInfo_t direct[2];
00033 
00034   // framework
00035   wheelInfo_t whl[2];
00036   directWheelInfo_t directWhl[2];
00037   bodyInfo_t bodyInfo;
00038   bodyPosition_t bodyPos;
00039   coordinateInfo_t gl_crd;
00040   coordinateInfo_t gl_crd_offset;
00041   coordinateInfo_t run_crd;
00042   coordinateInfo_t run_crd_offset;
00043   velocityInfo_t velInfo;
00044 
00045   // manage
00046   modeInfo_t mode;
00047 
00048   // contorl
00049   velocityCtrlInfo_t straight;
00050   velocityCtrlInfo_t rotate;
00051 
00052   // additional
00053   unsigned long watch_dog_msec;
00054   unsigned long watch_dog_msec_max;
00055 
00056 } runCtrl_t;
00057 
00058 #endif /* !STRUCT_TABLES_H */
00059