bodyPosition.h

Go to the documentation of this file.
00001 #ifndef BODY_POSITION_H
00002 #define BODY_POSITION_H
00003 
00015 #include "coordinateCtrl_target.h"
00016 #include "bodyCtrl.h"
00017 
00018 
00019 enum {
00020   DIV16_MUL_SHIFT = 30,
00021 };
00022 
00023 
00027 typedef struct {
00028   bodyInfo_t *body;
00029   long cnt_integer[2];
00030   long cnt_decimal[2];
00031   long rotate_num;
00032 
00033   long cnt_per_m;
00034   long div16_cnt;
00035   long div16_cnt_max;
00036   long div16_cnt_mul;
00037 
00038   long cnt2mm_const;
00039 
00040   coordinateInfo_t body_crd;
00041 
00042   long straight_cnt_vel;
00043   long rotate_cnt_vel;
00044 
00045   long adjust_base;
00046   long adjust_current_cnt;
00047   long adjust_cnt;
00048   long adjust_max;
00049 
00050 } bodyPosition_t;
00051 
00052 
00053 //#include "cpp_extern_macro.h"
00054 BEGIN_C_DECLS;
00055 
00056 extern void initBodyPositionInfo(bodyPosition_t *bodyPos,
00057                                  bodyInfo_t *bodyInfo);
00058 extern void updateBodyPosition(bodyPosition_t *bodyPos,
00059                                int right_cnt, int left_cnt);
00060 extern void updateCoordinatePosition(coordinateInfo_t *crd,
00061                                      bodyPosition_t *bodyPos);
00062 
00063 END_C_DECLS;
00064 #endif /* !BODY_POSITION_H */
00065