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.
91 lines
1.9 KiB
91 lines
1.9 KiB
/*
|
|
* robot_state.h
|
|
*
|
|
* Created on: Aug 2, 2024
|
|
* Author: akeguo
|
|
*/
|
|
|
|
#ifndef INC_ROBOT_STATE_H_
|
|
#define INC_ROBOT_STATE_H_
|
|
|
|
#include "BHBF_ROBOT.h"
|
|
#include "BSP/bsp_include.h"
|
|
|
|
|
|
extern int32_t *Roughenging_LeftCompensation;
|
|
extern int32_t *Roughenging_RightCompensation;
|
|
|
|
|
|
extern int32_t *Roughenging_LeftCompensation_Range;
|
|
extern int32_t *Roughenging_RightCompensation_Range;
|
|
extern int32_t *DHRoughening_LaneChangeDistance[10];
|
|
extern int32_t *DHRoughening_Speed[10];
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void Manual_State_Entry(void);
|
|
void Manual_State_Do(void);
|
|
void LaneChangeDistance_Setting_State_Do(void);
|
|
void BackWardsDistance_Setting_State_Do(void);
|
|
void Auto_State_Do(void);
|
|
void Abnormal_State_Do(void);
|
|
//前进、后退、左转、右转
|
|
void Forwards_State_Do(void);
|
|
void Backwards_State_Do(void);
|
|
void TurnLeft_State_Do(void);
|
|
void TurnRight_State_Do(void);
|
|
void HALT_State_Do(void); //停止
|
|
//竖直方向前进 保持竖直运行
|
|
void Move_Vertical_Task_Forwards_Do();
|
|
//竖直方向后退前进 保持竖直运行
|
|
void Move_Vertical_Task_Backwards_Do();
|
|
//水平方向前进，保持水平方向
|
|
void Move_Horizontal_Task_Forwards_Left_Do();
|
|
//水平方向后退，保持水平方向
|
|
void Move_Horizontal_Task_Backwards_Left_Do();
|
|
|
|
void Move_Horizontal_Task_Forwards_Right_Do();
|
|
void Move_Horizontal_Task_Backwards_Right_Do();
|
|
|
|
void Move_Head_To_Left_Do(void);
|
|
void Move_Head_To_UP_Do(void);
|
|
void Move_Head_To_Right_Do(void);
|
|
void Move_Head_To_Down_Do(void);
|
|
|
|
|
|
|
|
|
|
void SwingHALT_State_Do(void);
|
|
void SwingLeft_State_Do(void);
|
|
void SwingRight_State_Do(void);
|
|
|
|
void SetLaneChangeDistance_State_Do(void);
|
|
void SetBackwardsDistance_State_Do(void);
|
|
void OtherMode_State_Do(void);
|
|
|
|
void TiltUp_Do();
|
|
void TiltDown_Do();
|
|
void TiltHalt_Do();
|
|
|
|
|
|
void TiltCurrentModeDown_Do();
|
|
|
|
void SwingHome_Do();
|
|
|
|
void RougheningEndHALT_Do();
|
|
void RougheningEndSwingAnticlockWise_Do();
|
|
void RougheningEndSwingClockWise_Do();
|
|
|
|
void Wind_OFF();
|
|
void Wind_ON();
|
|
|
|
|
|
#endif /* INC_ROBOT_STATE_H_ */
|
|
|