/home/krtko/robocup_2018/robocup_2018/main.c File Reference

#include "ch.h"
#include "hal.h"
#include "test.h"
#include "camera.h"
#include "config.h"
#include "compass.h"
#include "lines.h"
#include "motor.h"
#include "kicker.h"
#include "leds.h"
#include "dip_switch.h"
#include "jetson.h"
#include "chprintf.h"
#include "ultrasonic.h"
#include <math.h>

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Macros
#define	MAX_SPEED   923
#define	MAX_ROBOT_POWER   15
#define	MIN_ROBOT_POWER   40
#define	FAR_POINT   0
#define	NEER_POINT   400
#define	ALIGN_POWER   50
#define	DRIBLER_SPEED   -1900
#define	PI   3.14159
#define	ALIGN_TOLLERANCE   5
#define	SHOOTING_RANGE   5
#define	HAVING_BALL_RANGE   5
#define	OBJECT_NOT_FOUND   420
#define	SEARCH_SPEED   20
#define	DRIBLER_REACTION_TIME   600
#define	CAMERA_CENTER   4
#define	AROUND_BALL_ALIGN   0
#define	BASIC_ALIGN   1
#define	CLASSIC_ALIGN   2
#define	NOT_ALIGN   3
#define	LINE_CALIBRATION_ALIGN   4

Functions
int16_t	sinn (int16_t degree)
int16_t	abs_value_int (int16_t a)
void	motors_off (void)
int16_t	set_motor_speed (int16_t relative_speed)
void	set_dribler_speed (int32_t dribler_speed)
void	set_movement (int16_t degree)
void	correct_motors_speeds (int8_t align_type, int16_t speed, int16_t align_speed)
int	main (void)

Variables
int16_t	movement_degree = 90
int16_t	old_line = 0
int16_t	dribler_timer = 0
int8_t	have_ball = 0
int8_t	using_align = CLASSIC_ALIGN
int16_t	loop = 0
int32_t	move_time = 600
int32_t	stop_time = 24000
int16_t	sinus [91] = {0, 17, 34, 52, 69, 87, 104, 121, 139, 156, 173, 190, 207, 224, 241, 258, 275, 292, 309, 325, 342, 358, 374, 390, 406, 422, 438, 453, 469, 484, 499, 515, 529, 544, 559, 573, 587, 601, 615, 629, 642, 656, 669, 681, 694, 707, 719, 731, 743, 754, 766, 777, 788, 798, 809, 819, 829, 838, 848, 857, 866, 874, 882, 891, 898, 906, 913, 920, 927, 933, 939, 945, 951, 956, 961, 965, 970, 974, 978, 981, 984, 987, 990, 992, 994, 996, 997, 998, 999, 999, 1000}

Macro Definition Documentation

#define ALIGN_POWER   50

#define ALIGN_TOLLERANCE   5

#define AROUND_BALL_ALIGN   0

#define BASIC_ALIGN   1

#define CAMERA_CENTER   4

#define CLASSIC_ALIGN   2

#define DRIBLER_REACTION_TIME   600

#define DRIBLER_SPEED   -1900

#define FAR_POINT   0

#define HAVING_BALL_RANGE   5

#define LINE_CALIBRATION_ALIGN   4

#define MAX_ROBOT_POWER   15

#define MAX_SPEED   923

#define MIN_ROBOT_POWER   40

#define NEER_POINT   400

#define NOT_ALIGN   3

#define OBJECT_NOT_FOUND   420

#define PI   3.14159

#define SEARCH_SPEED   20

#define SHOOTING_RANGE   5

Function Documentation

int16_t abs_value_int

(

int16_t

a

)

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void correct_motors_speeds	(	int8_t	align_type,
		int16_t	speed,
		int16_t	align_speed
	)

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int main

(

void

)

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void motors_off

(

void

)

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void set_dribler_speed

(

int32_t

dribler_speed

)

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int16_t set_motor_speed

(

int16_t

relative_speed

)

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void set_movement

(

int16_t

degree

)

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int16_t sinn

(

int16_t

degree

)

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Variable Documentation

int16_t dribler_timer = 0

int8_t have_ball = 0

int16_t loop = 0

int32_t move_time = 600

int16_t movement_degree = 90

int16_t old_line = 0

int16_t sinus[91] = {0, 17, 34, 52, 69, 87, 104, 121, 139, 156, 173, 190, 207, 224, 241, 258, 275, 292, 309, 325, 342, 358, 374, 390, 406, 422, 438, 453, 469, 484, 499, 515, 529, 544, 559, 573, 587, 601, 615, 629, 642, 656, 669, 681, 694, 707, 719, 731, 743, 754, 766, 777, 788, 798, 809, 819, 829, 838, 848, 857, 866, 874, 882, 891, 898, 906, 913, 920, 927, 933, 939, 945, 951, 956, 961, 965, 970, 974, 978, 981, 984, 987, 990, 992, 994, 996, 997, 998, 999, 999, 1000}

int32_t stop_time = 24000

int8_t using_align = CLASSIC_ALIGN