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88 lines
2.5 KiB
88 lines
2.5 KiB
3 weeks ago
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/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : robot.c
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版 本 号 : 初稿
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作 者 : radkil
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生成日期 : 2026年4月14日
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最近修改 :
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功能描述 : 爬壁机器人抽象层
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修改历史 :
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1.日 期 : 2026年4月14日
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作 者 : radkil
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修改内容 : 创建文件
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******************************************************************************/
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#include "robot.h"
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#include "wheel_if.h"
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#include "swing_if.h"
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#include "paint_if.h"
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#include "controller_if.h"
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/*----------------------------------------------*
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* 外部变量说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 外部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 内部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 全局变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 常量定义 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 宏定义 *
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*----------------------------------------------*/
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int RobotInit(void)
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{
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int iRet = 0;
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iRet |= WheelMotorInit();
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iRet |= ControllerInit();
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iRet |= SwingArmInit();
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iRet |= PaintInit();
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return iRet;
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}
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void RobotProc(void)
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{
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ERobotCmd eRobotCmd = ControllerInputStateMachine();
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switch (eRobotCmd)
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{
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case RB_STOP:
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WheelMotorStop();
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break;
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case RB_MANUAL_FORWARD:
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WheelMotorSetSpeed(10);
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WheelMotorDirForward();
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break;
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case RB_MANUAL_BACKWARD:
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WheelMotorSetSpeed(10);
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WheelMotorDirBackward();
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break;
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case RB_PAINT:
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PaintWork();
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break;
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default:
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WheelMotorStop();
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break;
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}
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}
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