You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
63 lines
987 B
63 lines
987 B
3 months ago
|
/*
|
||
|
|
* fsm.h
|
||
|
|
*
|
||
|
|
* Created on: Oct 18, 2024
|
||
|
|
* Author: akeguo
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef INC_FSM_H_
|
||
|
|
#define INC_FSM_H_
|
||
|
|
#include "stdint.h"
|
||
|
|
|
||
|
|
#define AUTO_MODE -1000
|
||
|
|
#define MANUAL_MODE 0
|
||
|
|
#define HOME_MODE 1000
|
||
|
|
#define AUTO_SWIGN 1000
|
||
|
|
#define AUTO_TILT -1000
|
||
|
|
|
||
|
|
typedef enum _MoveSTATE_t
|
||
|
|
{
|
||
|
|
Move_HALT=0,
|
||
|
|
Manual_State,
|
||
|
|
Auto_Back_State,
|
||
|
|
} MoveSTATE_t;
|
||
|
|
|
||
|
|
//设置 换道距离和设置后退距离
|
||
|
|
typedef enum _SetSTATE_t
|
||
|
|
{
|
||
|
|
OtherMode=0,
|
||
|
|
SetLaneChangeDistance,
|
||
|
|
SetBackwardsDistance,
|
||
|
|
} SetSTATE_t;
|
||
|
|
|
||
|
|
typedef enum _SwingSTATE_t
|
||
|
|
{
|
||
|
|
SwingHALT = 0,
|
||
|
|
SwingAuto,
|
||
|
|
SwingManual,
|
||
|
|
SwingHome,
|
||
|
|
} SwingSTATE_t;
|
||
|
|
|
||
|
|
typedef enum _TiltSTATE_t
|
||
|
|
{
|
||
|
|
TiltHALT = 0,
|
||
|
|
TiltAuto,
|
||
|
|
TiltManual,
|
||
|
|
TiltHome
|
||
|
|
} TiltSTATE_t;
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
typedef struct _transition_t
|
||
|
|
{
|
||
|
|
int State; //状态
|
||
|
|
void (*robotRun)(void); //执行相关动作
|
||
|
|
} transition_t;
|
||
|
|
|
||
|
|
|
||
|
|
extern int32_t* RobotSpeed;
|
||
|
|
extern int32_t *JontSwingSpeed;
|
||
|
|
extern int32_t *JontTiltSpeed;
|
||
|
|
void Fsm_Init();
|
||
|
|
#endif /* INC_FSM_H_ */
|