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141 lines
2.4 KiB
141 lines
2.4 KiB
/*
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* robot_state.h
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*
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* Created on: Aug 2, 2024
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* Author: akeguo
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*/
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#ifndef INC_ROBOT_STATE_H_
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#define INC_ROBOT_STATE_H_
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#include "BHBF_ROBOT.h"
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#include "BSP/bsp_include.h"
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extern double Angle_Error_LLL;
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extern int CRLU_Flag;
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extern int16_t GV_Gyro_MFOG40_Gyro_Angular;
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void Move_PushRod_Halt_Func_Do(void);
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void Move_PushRod_Up_Func_Do(void);
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void Move_PushRod_Down_Func_Do(void);
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void Move_Swing_Left_Func_Do(void);
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void Move_Swing_Right_Func_Do(void);
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void Move_Swing_Halt_Func_Do(void);
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void Move_PushRod_Halt_Func_Do_1(void);
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void Move_PushRod_Up_Func_Do_1(void);
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void Move_PushRod_Down_Func_Do_1(void);
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///////////////////////////////////////////////////////////////////////////////////////////////
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extern int32_t *Robot_LeftCompensation;
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extern int32_t *Robot_RightCompensation;
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extern int32_t *Robot_Angle;
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extern int32_t *Robot_Deri_Speed;
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extern int32_t *Robot_Angle_Start_BASE;
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extern int32_t *Roughenging_LeftCompensation_Range;
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extern int32_t *Robot_RightCompensation_Range;
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extern int32_t *DHRoughening_LaneChangeDistance[10];
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extern int32_t *Robot_Platform_Speed[10];
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void Manual_State_Entry(void);
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void Manual_State_Do(void);
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void LaneChangeDistance_Setting_State_Do(void);
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void BackWardsDistance_Setting_State_Do(void);
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void Auto_State_Do(void);
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void Abnormal_State_Do(void);
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//前进、后退、左转、右转
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void Forwards_State_Do(void);
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void Backwards_State_Do(void);
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void TurnLeft_State_Do(void);
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void TurnRight_State_Do(void);
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void HALT_State_Do(void); //停止
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//竖直方向前进 保持竖直运行
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//水平方向前进，保持水平方向
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void Move_Horizontal_Task_Forwards_Left_Do();
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//水平方向后退，保持水平方向
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void Move_Horizontal_Task_Backwards_Left_Do();
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void Move_Horizontal_Task_Forwards_Right_Do();
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void Move_Horizontal_Task_Backwards_Right_Do();
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void Move_Head_To_Left_Do(void);
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void Move_Head_To_UP_Do(void);
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void Move_Head_To_Right_Do(void);
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void Move_Head_To_Down_Do(void);
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void SwingHALT_State_Do(void);
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void SwingLeft_State_Do(void);
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void SwingRight_State_Do(void);
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void SetLaneChangeDistance_State_Do(void);
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void SetBackwardsDistance_State_Do(void);
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void OtherMode_State_Do(void);
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void TiltUp_Do();
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void TiltDown_Do();
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void TiltHalt_Do();
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void TiltCurrentModeDown_Do();
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void SwingHome_Do();
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void RougheningEndSwingAntiClockWise_Do();
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void RougheningEndSwingClockWise_Do();
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#endif /* INC_ROBOT_STATE_H_ */
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