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62 lines
987 B
62 lines
987 B
/*
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* fsm.h
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*
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* Created on: Oct 18, 2024
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* Author: akeguo
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*/
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#ifndef INC_FSM_H_
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#define INC_FSM_H_
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#include "stdint.h"
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#define AUTO_MODE -1000
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#define MANUAL_MODE 0
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#define HOME_MODE 1000
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#define AUTO_SWIGN 1000
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#define AUTO_TILT -1000
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typedef enum _MoveSTATE_t
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{
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Move_HALT=0,
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Manual_State,
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Auto_Back_State,
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} MoveSTATE_t;
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//设置 换道距离和设置后退距离
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typedef enum _SetSTATE_t
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{
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OtherMode=0,
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SetLaneChangeDistance,
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SetBackwardsDistance,
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} SetSTATE_t;
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typedef enum _SwingSTATE_t
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{
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SwingHALT = 0,
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SwingAuto,
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SwingManual,
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SwingHome,
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} SwingSTATE_t;
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typedef enum _TiltSTATE_t
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{
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TiltHALT = 0,
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TiltAuto,
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TiltManual,
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TiltHome
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} TiltSTATE_t;
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typedef struct _transition_t
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{
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int State; //状态
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void (*robotRun)(void); //执行相关动作
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} transition_t;
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extern int32_t* RobotSpeed;
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extern int32_t *JontSwingSpeed;
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extern int32_t *JontTiltSpeed;
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void Fsm_Init();
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#endif /* INC_FSM_H_ */
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