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85 lines
1.3 KiB
85 lines
1.3 KiB
/*
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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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extern double Error_Cont_Thresh;
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void Move_Horizontal_Vertical_Task_Backwards_Do_Backward();
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void Move_Horizontal_Vertical_Task_Forwards_Do_Forwards();
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typedef enum _MoveSTATE_t
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{
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Move_HALT=0,//停止
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Move_Forwards,//前进
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Move_Backwards,//后退
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Move_TurnLeft,//左转
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Move_TurnRight,//右转
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Move_Vertical_Task_Forwards,//竖直方向前进 保持竖直运行
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Move_Vertical_Task_Backwards,//竖直方向后退前进 保持竖直运行
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Move_Horizontal_Task_Forwards,//水平方向前进，保持水平方向
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Move_Horizontal_Task_Backwards,//水平方向后退，保持水平方向
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} MoveSTATE_t;
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typedef enum _SwingSTATE_t
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{
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Swing_Halt = 0,
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Swing_Left = 1,
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Swing_Right = 2,
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Swing_Home=3,
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} SwingSTATE_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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typedef enum _PushRodSTATE_t
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{
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PushRod_HALT = 0,
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PushRod_UP = 1,
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PushRod_Down = 2,
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} PushRod_STATE_t;
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extern MoveSTATE_t CurrentMoveState;
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extern char is_upper_computer_take_over_control;
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extern char Switch_Off_Flag;
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void GF_Dispatch();
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void action_perfrom();
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void Fsm_Init();
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#endif /* INC_FSM_H_ */
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