45 lines
1.1 KiB
C
45 lines
1.1 KiB
C
#ifndef MESSAGE_PROPULSION_H
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#define MESSAGE_PROPULSION_H
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#include "Trajectoire.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_POSITION_2 0x80
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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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#define REG_PROPULSION_TRAJECTOIRE 0x22
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#define REG_PROPULSION_CONFIG_TRAJET 0x5A
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#define REG_PROPULSION_ABSCISSE 0x8C
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#define REG_PROPULSION_POSITION_CONSIGNE 0x90
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#define REG_PROPULSION_VITESSE_ROUES_lecture 0x98
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#define REG_PROPULSION_ETAT_TRAJET 0xA0
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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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struct msg_trajectoire_t {
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struct trajectoire_t trajectoire;
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};
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struct msg_propulsion_config_trajet_t {
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float vitesse_mm_s, acceleration_mm_ss;
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};
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#endif |