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83 lines
3.0 KiB
83 lines
3.0 KiB
/*
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* robot_move_actions.h
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*
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* Created on: 2025年7月14日
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* Author: akeguo
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*/
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#ifndef FSM_INC_ROBOT_MOVE_ACTIONS_H_
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#define FSM_INC_ROBOT_MOVE_ACTIONS_H_
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#include "BHBF_ROBOT.h"
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#include "fsm_state.h"
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#include "fsm_state.h"
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#include "msp_UWB_20.h"
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extern void Forwards_State_Do(transition_t *p_this);
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extern void Backwards_State_Do(transition_t *p_this);
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extern void TurnLeft_State_Do(transition_t *p_this);
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extern void TurnRight_State_Do(transition_t *p_this);
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extern void HALT_State_Do(transition_t *p_this);
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extern void Move_Vertical_Task_Forwards_Do(transition_t *p_this);
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extern void Move_Vertical_Task_Backwards_Do(transition_t *p_this);
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extern void Move_Horizontal_Task_Forwards_Right_Do(transition_t *p_this);
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extern void Move_Horizontal_Task_Forwards_Left_Do(transition_t *p_this);
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extern void Move_Horizontal_Task_Backwards_Right_Do(transition_t *p_this);
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extern void Move_Horizontal_Task_Backwards_Left_Do(transition_t *p_this);
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extern void Move_Head_To_UP_Do(transition_t *p_this);
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extern void Move_Head_To_Down_Do(transition_t *p_this);
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extern void Move_Head_To_Left_Do(transition_t *p_this);
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extern void Move_Head_To_Right_Do(transition_t *p_this);
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extern void HALT_State_Enter(transition_t *p_this);
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extern void HALT_State_Exit(transition_t *p_this);
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extern int32_t GetVehicleSpeed(float speed_selection);
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extern int32_t* DHRoughening_Speed[10];
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extern transition_t current_robot_move_state;
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extern transition_state_t robot_halt_state;
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extern transition_state_t robot_forwards_state;
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extern transition_state_t robot_backwards_state;
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extern transition_state_t robot_turn_left_state;
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extern transition_state_t robot_turn_right_state;
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extern transition_state_t robot_move_vertical_task_forwards_state;
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extern transition_state_t robot_move_vertical_task_backwards_state;
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extern transition_state_t robot_move_horizontal_task_forwards_left_state; /* 水平纠偏前进 头朝左*/
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extern transition_state_t robot_move_horizontal_task_backwards_left_state;/* 水平纠偏后退 头朝左*/
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extern transition_state_t robot_move_horizontal_task_forwards_right_state; /* 水平纠偏前进 头朝右*/
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extern transition_state_t robot_move_horizontal_task_backwards_right_state; /* 水平纠偏后退 头朝右*/
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extern transition_state_t robot_move_head_to_left_enum_state;
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extern transition_state_t robot_move_head_to_up_enum_state;
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extern transition_state_t robot_move_head_to_right_enum_state;
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extern transition_state_t robot_move_head_to_down_enum_state;
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extern transition_state_t robot_Automatic_task_state;
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extern transition_state_t robot_Auto_ChangeLine_state;
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extern transition_state_t robot_move_horizontal_task_forwards_state;
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extern transition_state_t robot_move_horizontal_task_backwards_state;
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void Move_Automatic_task_Do(transition_t *p_this);
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void Move_Auto_ChangeLine_Do(transition_t *p_this);
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extern void Move_Horizontal_Task_Forwards_Do(transition_t *p_this);
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extern void Move_Horizontal_Task_Backwards_Do(transition_t *p_this);
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extern char IsRobotHaltSateChangedFlag;
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#endif /* FSM_INC_ROBOT_MOVE_ACTIONS_H_ */
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