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104 lines
1.9 KiB
104 lines
1.9 KiB
2 days ago
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/*
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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_include.h"
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typedef struct ChgRoad_Parameters
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{
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double KP11;
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double KP22;
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double KP33;
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double KP44;
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double KPCR1;
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double KDCR1;
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int32_t change_road_straight_count;
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int32_t change_road_distance; //换道时的距离（执行换道前进程序的次数，可以理解为执行次数越多，机器人走的越远）
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int32_t change_road_status_flag; //换道标志位
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int32_t change_road_finish_flag;
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double speed;
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/**转弯*/
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bool isTurn;
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int Ini_Postition_L;
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int Final_Postition_L;
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int Ini_Postition_R;
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int Final_Postition_R;
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double ChgWidth;
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}ChgRoad_Parameters;
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typedef struct
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{
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double KP1;
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double KP2;
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double KP3;
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double KP4;
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double KPFB1;
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double KDFB1;
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int32_t deltaAngle1;
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int32_t deltaAngle2;
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int32_t deltaAngle3;
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double ExpectationAngle;
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int32_t change_road_finish_flag;
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}AutoMove_Parameters;
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extern ChgRoad_Parameters Chg_Pa;
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extern int* AuTo_Flag;
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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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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 TiltHome_Do();
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void TiltCurrentModeDown_Do();
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void SwingHome_Do();
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void Auto();
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void ChgLeft();
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void ChgRight();
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void ChgUp();
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void ChgDown();
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void ChgFinish();
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#endif /* INC_ROBOT_STATE_H_ */
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