/home/krtko/robocup_2018/robocup_2018/lines.h File Reference

#include "hal.h"
#include "ch.h"
#include "chprintf.h"
#include "leds.h"
#include "motor.h"
#include "jetson.h"

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Macros
#define	NUMBER_OF_SENSORS   16
#define	NO_LINE_DETECTED   1
#define	LINE_DETECTED   2
#define	LOAD_LINES_SPEEDS   3
#define	LINE_CALIBRATION   -1
#define	LINE_REACTION_TIME   1200
#define	LINE_CALIBRATION_SPEED   20
#define	LINE_CALIBRATION_TIME   2000
#define	INERTIA   0.95
#define	PI   3.14159
#define	SQRT3   1.7321
#define	LINE_QUEUE   3
#define	CALIBRATION   5
#define	LOAD_JETSON_CALIBRATION   3
#define	CALIBRATION_VALUES   23
#define	JETSON_SAVE_CALIBRATION   5
#define	JETSON_LOAD_CALIBRATION   6
#define	LINE_SAVE_CALIBRATION   7
#define	LINE_LOAD_CALIBRATION   8

Functions
int32_t	abs_int (int32_t x)
int32_t	max (int32_t x, int32_t y)
void	calculation_of_motor_speeds (void)
void	determine_avoiding_direction (void)
void	calibrate_lines (void)
uint8_t	line_calibration (void)
void	send_line_calibration (void)
msg_t	check_line (void)
msg_t	calibration_memory (msg_t command)
msg_t	check_line_mailbox (void)
void	send_to_line_mailbox (msg_t sending_command)
void	line_init (void)

Variables
uint8_t	line_calibration_values_in [NUMBER_OF_SENSORS]
uint8_t	line_calibration_values_out [NUMBER_OF_SENSORS]

Macro Definition Documentation

#define CALIBRATION   5

#define CALIBRATION_VALUES   23

#define INERTIA   0.95

#define JETSON_LOAD_CALIBRATION   6

#define JETSON_SAVE_CALIBRATION   5

#define LINE_CALIBRATION   -1

#define LINE_CALIBRATION_SPEED   20

#define LINE_CALIBRATION_TIME   2000

#define LINE_DETECTED   2

#define LINE_LOAD_CALIBRATION   8

#define LINE_QUEUE   3

#define LINE_REACTION_TIME   1200

#define LINE_SAVE_CALIBRATION   7

#define LOAD_JETSON_CALIBRATION   3

#define LOAD_LINES_SPEEDS   3

#define NO_LINE_DETECTED   1

#define NUMBER_OF_SENSORS   16

#define PI   3.14159

#define SQRT3   1.7321

Function Documentation

int32_t abs_int

(

int32_t

x

)

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void calculation_of_motor_speeds

(

void

)

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void calibrate_lines

(

void

)

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msg_t calibration_memory

(

msg_t

command

)

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msg_t check_line

(

void

)

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msg_t check_line_mailbox

(

void

)

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void determine_avoiding_direction

(

void

)

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uint8_t line_calibration

(

void

)

void line_init

(

void

)

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int32_t max	(	int32_t	x,
		int32_t	y
	)

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void send_line_calibration

(

void

)

void send_to_line_mailbox

(

msg_t

sending_command

)

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Variable Documentation

uint8_t line_calibration_values_in[NUMBER_OF_SENSORS]

uint8_t line_calibration_values_out[NUMBER_OF_SENSORS]