109 lines
2.0 KiB
C
109 lines
2.0 KiB
C
#ifndef NAVI_H
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#define NAVI_H
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#include "Action.h"
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#include "pid.h"
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#include "ahrs.h"
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#include "bmi088.h"
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#include "map.h"
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typedef enum {
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AUTO_MODE, // 自动跑点模式
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MANUAL_MODE , // 控制模式
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NO_MODE
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} Navi_Mode_t;
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typedef struct {
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Navi_Mode_t mode;
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int Trig_flag;//触发沿，初始值为零，两种控制模式下，这个值变为1，会使cnt+1，为-1，使cnt-1
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} Navi_COT_MODE_t;
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typedef struct{
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float pos_x;
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float pos_y;
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float last_pos_x;
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float last_pos_y;
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}chassis_position_t;
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typedef enum{
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YES,
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NO,
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NEXT1,
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NEXT2
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}is_cpt_e;
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typedef struct{
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pid_param_t pid_PosSpeed_x_param;
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pid_param_t pid_PosSpeed_y_param;
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pid_param_t pid_pos_x_out_param;
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pid_param_t pid_pos_x_inner_param;
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pid_param_t pid_pos_y_out_param;
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pid_param_t pid_pos_y_inner_param;
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pid_param_t pid_OutAngle_param;
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pid_param_t pid_InnerAngle_param;
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pid_param_t path_speed_pid_param;
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}ops_pid_param_t;
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typedef struct {
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ops_pid_param_t ops_pid;
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const point_t *path;
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int8_t path_num;
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}ops_param_t;
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/**
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* @brief
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*
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*/
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typedef struct {
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Action_POS_t *chassis_pos;
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fp32 current_x;
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fp32 current_y;
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fp32 next_mapx;
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fp32 next_mapy;
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const point_t *chassis_map;
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const ops_param_t *param;
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PathState_t state;
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Navi_COT_MODE_t Navi_Mode;
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AHRS_Eulr_t ops_imu_pos;
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AHRS_Gyro_t ops_gyro;
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pid_type_def pid_PosSpeed_x;
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pid_type_def pid_PosSpeed_y;
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pid_type_def pid_pos_x_out;
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pid_type_def pid_pos_x_inner;
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pid_type_def pid_pos_y_out;
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pid_type_def pid_pos_y_inner;
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pid_type_def pid_OutAngle;
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pid_type_def pid_InnerAngle;
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pid_type_def path_speed_pid;
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is_cpt_e POS_IS_CPT;
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struct
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{
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fp32 vx;
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fp32 vy;
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fp32 yaw_angle;
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}final_out;
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}ops_t;
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int8_t Action_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos);
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int8_t go_path(ops_t *o,CMD_ACTION_t *ops_out);
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#endif
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