#include <math.h>
#include <stdio.h>
#include <strings.h>
#include <unistd.h>
#include <stdint.h>
#include <stdlib.h>
#include <time.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <sys/types.h>
#include <shvel-param.h>
#include <serial.h>
#include <param.h>
#include <control.h>
#include <command.h>
#include <ypspur.h>

Include dependency graph for control_motion.c:

Functions
double	circle_follow (OdometryPtr odm, SpurUserParamsPtr spur)

double	dist_pos (OdometryPtr odm, SpurUserParamsPtr spur)

double	line_follow (OdometryPtr odm, SpurUserParamsPtr spur)

double	orient (OdometryPtr odm, SpurUserParamsPtr spur)

double	regurator (double d, double q, double r, double v_max, double w_max, SpurUserParamsPtr spur)

double	spin (OdometryPtr odm, SpurUserParamsPtr spur)

int	stop_line (OdometryPtr odm, SpurUserParamsPtr spur)

double	timeoptimal_servo (double err, double vel_max, double vel, double acc)

double	timeoptimal_servo2 (double err, double vel_max, double vel, double acc, double vel_end)

double	trans_q (double theta)

Function Documentation

◆ circle_follow()

double circle_follow	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 64 of file control_motion.c.

◆ dist_pos()

double dist_pos	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 172 of file control_motion.c.

◆ line_follow()

double line_follow	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 90 of file control_motion.c.

◆ orient()

double orient	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 153 of file control_motion.c.

◆ regurator()

double regurator	(	double	d,
		double	q,
		double	r,
		double	v_max,
		double	w_max,
		SpurUserParamsPtr	spur
	)

Definition at line 103 of file control_motion.c.

◆ spin()

double spin	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 134 of file control_motion.c.

◆ stop_line()

int stop_line	(	OdometryPtr	odm,
		SpurUserParamsPtr	spur
	)

Definition at line 181 of file control_motion.c.

◆ timeoptimal_servo()

double timeoptimal_servo	(	double	err,
		double	vel_max,
		double	vel,
		double	acc
	)

Definition at line 224 of file control_motion.c.

◆ timeoptimal_servo2()

double timeoptimal_servo2	(	double	err,
		double	vel_max,
		double	vel,
		double	acc,
		double	vel_end
	)

Definition at line 253 of file control_motion.c.

◆ trans_q()

double trans_q ( double theta )

Definition at line 54 of file control_motion.c.

Functions