27 lines
624 B
C
27 lines
624 B
C
#ifndef MESSAGE_PROPULSION_H
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#define MESSAGE_PROPULSION_H
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#define USB_ID_PROPULSION 'P'
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#define REG_PROPULSION_POSITION 0x00
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#define REG_PROPULSION_MODE 0x0D
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#define REG_PROPULSION_PWM 0x0E
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#define REG_PROPULSION_VITESSE_ROUES 0x12
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#define REG_PROPULSION_VITESSE_ROBOT 0x1A
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struct msg_propulsion_position_t{
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float position_x_mm, position_y_mm, orientation_rad;
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};
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struct msg_propulsion_pwm_t{
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uint16_t pwm_gauche, pwm_droit;
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};
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struct msg_propulsion_vitesse_roues_t{
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float vitesse_gauche_mm_s, vitesse_droite_mm_s;
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};
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struct msg_propulsion_vitesse_robot_t {
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float avance_mm_s, rotation_rad_s;
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};
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#endif |