run_ctrl.h

00001 #ifndef RUN_CTRL_C_H
00002 #define RUN_CTRL_C_H
00003 
00004 /*
00005   走行制御ライブラリ
00006   Satofumi KAMIMURA
00007   $Id$
00008 */
00009 
00010 #include "cpp_extern_macro.h"
00011 
00012 
00016 enum {
00017   RUN_BAUDRATE = 115200,        
00018   NO_FILE_ERROR = -2,
00019 
00020   Baudrate = 115200,            
00021   StraightVel = 300,            
00022   StraightAcc = 600,            
00023   RotateVel = 0x10000 >> 1,     
00024   RotateAcc = 0x10000 >> 1,     
00025   FollowRadius = 500,           
00026 };
00027 
00028 typedef struct {
00029   unsigned long div16;
00030 } direction_t;
00031 
00032 
00033 BEGIN_C_DECLS;
00034 
00035 extern int initRunCtrl(int argc, char *argv[]);
00036 extern char* run_getError(void);
00037 
00038 extern int run_stop(void);
00039 extern int run_followLine(int x, int y, direction_t angle, int crdId);
00040 
00041 END_C_DECLS;
00042 #endif /* !RUN_CTRL_C_H */
00043