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97 lines
1.3 KiB
97 lines
1.3 KiB
2 days ago
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/*
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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 Light 1
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#define Out_Polish 2
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#define Out_Lift_1 2
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#define Out_Lift_2 3
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#define Out_Spray 4
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//typedef enum _STATE_t
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//{
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// Manual = 0,
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// Auto,
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// Abnormal,
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// SetLaneChangeDistance,
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// SetBackwardsDistance,
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// LaneChangeMode,
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// Forwards,
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// Backwards,
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// TurnLeft,
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// TurnRight,
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// HALT
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//} STATE_t;
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typedef enum _MoveSTATE_t
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{
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Move_HALT=0,
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Move_Forwards,
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Move_Backwards,
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Move_TurnLeft,
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Move_TurnRight,
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Move_AutoForward,
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Move_AutoBackward,
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Move_ChgLeft,
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Move_ChgRight,
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Move_ChgUp,
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Move_ChgDown,
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Move_ChgFinish,
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Move_Emergency,
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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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SwingLeft = 1,
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SwingRight = 2,
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SwingHome=3,
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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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TiltUP = 1,
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TiltDown = 2,
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TiltHome=3,
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TiltCurrentModeDown=5
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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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extern int polish_Flag;
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void Fsm_Init();
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#endif /* INC_FSM_H_ */
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