41 lines
731 B
C
41 lines
731 B
C
#ifndef MAP_H
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#define MAP_H
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#include "struct_typedef.h"
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#include "Action.h"
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#include "cmd.h"
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//点坐标
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typedef struct{
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float x;
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float y;
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float angle;
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float v;
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}point_t;
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//sick坐标
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typedef struct{
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uint16_t sick_flag;//是否启用sick标志位
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uint16_t sick_qian;
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uint16_t sick_you;
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uint16_t sick_hou;
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uint16_t sick_zuo;
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}sick_t;
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//路径
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typedef struct{
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point_t *target;//目标点（x,y,angle,v)
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sick_t *sick;//目标点sick卡位数据
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uint8_t points_num;//第x个目标点，全场定位标志位
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uint8_t points_flag;//判断点位完成
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fp32 pos_mistake;
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fp32 sick_mistake;
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}Path_t;
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void block_select(Action_POS_t*pos,CMD_t*cmd);
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void path_select(CMD_t*cmd);
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Path_t *get_map_pointer(void);
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#endif
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