steering.h

[詳解]

 
#pragma once
 
#include <seri/control.h>
#include <seri/pid.h>
#include <stddef.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif

typedef struct {
    SL_FP_T max_rot_speed;
    SL_FP_T trans_ratio;
    SL_FP_T tire_r;
    SL_FP_T tire_d;
} steering_param_t;

typedef enum {
    CRAWLER_LEFT_STICK,
    CRAWLER_BOTH_STICK
} crawler_ctrl_type_t;

steering_param_t create_steering_param(SL_FP_T max_rot_speed, SL_FP_T trans_ratio);

void calc_speed_crawler(int16_t result[2], pid_data_t *pid_data[2], steering_param_t steering_param, sticks_nor_t sticks, crawler_ctrl_type_t ctrl_type);

void calc_speed_mechanum(int16_t result[4], pid_data_t *pid_data[4], steering_param_t steering_param, sticks_nor_t sticks);

void calc_speed_omni(int16_t *result, pid_data_t **pid_data, steering_param_t steering_param, sticks_nor_t sticks, size_t n, SL_FP_T initial_angle);
 
#ifdef __cplusplus
}
#endif