#include "trajectory.h"
Data Structures | |
struct | struct_trajectory |
Defines | |
#define | WMAX 450 |
#define | GSTOP 5 |
#define | PER_FACTOR 1 |
#define | poly_omega(traj) (traj->coef[1] + traj->time*(2.0*traj->coef[2] + traj->time*3.0*traj->coef[3])) |
#define | poly_theta(traj) (traj->coef[0] + traj->time*(traj->coef[1] + traj->time*(traj->coef[2] + traj->time*traj->coef[3]))) |
#define | sqr(x) ((x)*(x)) |
#define | cube(x) (sqr(x)*(x)) |
#define | sign(x) ((signed char) ((x)>=0)*2-1) |
Enumerations | |
enum | enum_trajectType { NO_TRAJECT = 0, NORMAL_TRAJECT = 1, STOP_TRAJECT = 2, FREE_TRAJECT = 3 } |
Functions | |
unsigned int | abs (signed int val) |
static void | executeTrajectory (byte srv) |
static void | calcTrajectory (enum_trajectType trajectType, signed char thetaF, byte per, byte srv) |
void | initTrajectory (void) |
void | trajectory (void) |
Variables | |
static struct_trajectory | traject [N_SERVOS] |
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