Software implementations of math functions. More...

Data Structures
struct	complex
	a complex number has a real and imaginary part More...

Macros
#define	PI 3.14159265358979323846264338327950288
	PI is ratio of circumference to diameter of a circle.

#define	N 360
	counts/rotation, just one edge of one tach

#define	D 70000
	wheel diameter 0.0001cm

#define	W 140000
	wheel base 0.0001 cm

#define	C 219910
	wheel circumference 0.0001cm

#define	PI 8192
	representation of pi radians

#define	TWOPI (2*PI)
	6.28...

#define	NORTH 4096
	direction that is north

#define	EAST 0
	direction that is east

#define	SOUTH -4096
	direction that is south

#define	WEST -8192
	direction that is west

#define	XYTOLERANCE 10000
	tolerance in x,y goal seeking, 1 cm

#define	THETATOLERANCE (4096/90)
	tolerance in angle goal seeking, 1 deg

Typedefs
typedef struct complex	complex_t

typedef uint8_t	fuz_t
	8-bit fuzzy variable having values from true (255,254,253,...,2,1,0) false

Enumerations
enum	RobotState { ISSTOPPED , GOFORWARD , HARDRIGHT , HARDLEFT , SOFTRIGHT , SOFTLEFT }
	robot state More...

enum	OdometryCommand { STOP , FORWARDTOX , FORWARDTOY , LEFTTOTH , RIGHTTOTH }
	Odometry Commands. More...

Functions
void	NoiseReject_Init (void)
	Initialization of noise reject filter. More...

int32_t	NoiseReject (int32_t x)
	removes random noise from audio signal More...

void	DFT_Init (void)
	Initialization of discrete fourier transform. More...

void	DFT (uint32_t i, int32_t x)
	Run DFT. More...

int32_t	Mag1 (void)
	magnitude of the first frequency More...

int32_t	Mag2 (void)
	magnitude of the second frequency More...

void	fft (complex_t v, int n, complex_t tmp)
	fft More...

void	ifft (complex_t v, int n, complex_t tmp)
	Inverse fft. More...

int16_t	fixed_sin (int32_t theta)
	decimal fixed-point sin More...

int16_t	fixed_cos (int32_t theta)
	decimal fixed-point cos More...

int32_t	fixed_sin2 (int32_t theta)
	binary fixed-point sin More...

int32_t	fixed_cos2 (int32_t theta)
	binary fixed-point cos More...

int32_t	sin540 (int32_t theta)
	binary fixed-point sin More...

int32_t	cos540 (int32_t theta)
	binary fixed-point cos More...

fuz_t	not (fuz_t u1)
	Complement. More...

fuz_t	or (fuz_t u1, fuz_t u2)
	Fuzzy or. More...

fuz_t	or3 (fuz_t u1, fuz_t u2, fuz_t u3)
	Fuzzy or. More...

fuz_t	and (fuz_t u1, fuz_t u2)
	Fuzzy and. More...

fuz_t	and3 (fuz_t u1, fuz_t u2, fuz_t u3)
	Fuzzy and. More...

uint32_t	umin32 (uint32_t u1, uint32_t u2)
	minimum More...

int32_t	min32 (int32_t n1, int32_t n2, int32_t n3)
	minimum More...

fuz_t	MinFuzzification (int32_t crisp, const int32_t MIN, const int32_t MAX)
	Fuzzification. More...

fuz_t	CenterFuzzification (int32_t crisp, const int32_t MIN, const int32_t CENTER, const int32_t MAX)
	Fuzzification. More...

fuz_t	LeftRightFuzzification (int32_t crisp, const int32_t MIN, const int32_t LEFT, const int32_t RIGHT, const int32_t MAX)
	Fuzzification. More...

fuz_t	MaxFuzzification (int32_t crisp, const int32_t MIN, const int32_t MAX)
	Fuzzification. More...

char	FuzzyChar (fuz_t fuz)
	convert fuzzy variable to ASCII character More...

uint32_t	median5 (uint32_t u[5])
	5-wide median filter More...

int8_t	Median (int8_t x)
	3-wide median filter More...

int8_t	Median3 (int8_t u1, int8_t u2, int8_t u3)
	3-wide median filter More...

int8_t	Median5 (int8_t x)
	5-wide median filter More...

int8_t	Median7 (int8_t x)
	7-wide median filter More...

void	Odometry_Init (int32_t initx, int32_t inity, int32_t initTheta)
	Initialize odometry module. More...

void	Odometry_Update (int32_t LCount, int32_t RCount)
	Compute new position/angle of the robot. More...

void	Odometry_SetPower (uint32_t fast, uint32_t slow)
	Set power levels. More...

int32_t	Odometry_GetX (void)
	Get X position. More...

int32_t	Odometry_GetY (void)
	Get y position. More...

int32_t	Odometry_GetAngle (void)
	Get theta angle. More...

void	Odometry_Get (int32_t x, int32_t y, int32_t *theta)
	Get the current robot position. More...

void	UpdatePosition (void)
	update position More...

void	Display (void)
	OLED output. More...

void	WaitUntilBumperTouched (void)
	Wait until bumper touched. More...

void	StopUntilBumperTouched (void)
	Stop and wait until bumper touched. More...

uint32_t	ForwardUntilCrash (void)
	Go until bumper touched. More...

uint32_t	ForwardUntilX (int32_t desiredX)
	Forward Until X goal. More...

uint32_t	ForwardUntilY (int32_t desiredY)
	Forward Until Y goal. More...

uint32_t	SoftLeftUntilTh (int32_t desiredTh)
	Soft Left Until Theta. More...

void	ForwardUntilXStart (int32_t thedesiredX)
	start going Forward Until X More...

uint32_t	ForwardUntilXStatus (void)
	check status of Forward Until X command More...

void	ForwardUntilYStart (int32_t thedesiredY)
	start going Forward Until Y More...

uint32_t	ForwardUntilYStatus (void)
	check status of Forward Until Y command More...

void	SoftLeftUntilThStart (int32_t thedesiredTh)
	start going Forward Until Y More...

uint32_t	ForwardUntilThStatus (void)
	check status of soft left until theta command More...

uint32_t	CheckGoal (void)
	check status of odometry command More...

Variables
float	Real

float	Imag

Detailed Description

Software implementations of math functions.

Enumeration Type Documentation

◆ OdometryCommand

enum OdometryCommand

Odometry Commands.

These are possible odometry commands

Enumerator
STOP	stop robot
FORWARDTOX	move forward straight until X is matched within tolerance XYTOLERANCE
FORWARDTOY	move forward straight until Y is matched within tolerance XYTOLERANCE
LEFTTOTH	turn left until theta is matched within tolerance THETATOLERANCE
RIGHTTOTH	turn right until theta is matched within tolerance THETATOLERANCE

◆ RobotState

enum RobotState

robot state

These are possible robot motions for odometry system

Enumerator
ISSTOPPED	stopped
GOFORWARD	going forward
HARDRIGHT	turning hard right
HARDLEFT	turning hard left
SOFTRIGHT	turning soft right
SOFTLEFT	turning soft left

Function Documentation

◆ and()

fuz_t and	(	fuz_t	u1,
		fuz_t	u2
	)

Fuzzy and.

Fuzzy logic and

Parameters

u1	is a fuzzy variable
u2	is a fuzzy variable

Returns: minimum of u1 u2

◆ and3()

fuz_t and3	(	fuz_t	u1,
		fuz_t	u2,
		fuz_t	u3
	)

Fuzzy and.

Fuzzy logic and

Parameters

u1	is a fuzzy variable
u2	is a fuzzy variable
u3	is a fuzzy variable

Returns: minimum of u1 u2 u3

◆ CenterFuzzification()

fuz_t CenterFuzzification	(	int32_t	crisp,
		const int32_t	MIN,
		const int32_t	CENTER,
		const int32_t	MAX
	)

Fuzzification.

Fuzzy logic fuzzification, converting crisp input to fuzzy variable.
If crisp is less than MIN, then fuzzy is false.
If crisp is between MIN and CENTER, then fuzzy is linear.
If crisp is CENTER, then fuzzy is true.
If crisp is between CENTER and max, then fuzzy is linear.
If crisp is greater than MAX, then fuzzy is false.
255
|.................... -
|................. / ...
|.............. / ........ \
|........... / .............. \
|........ / .................... \
|-----— ........................------—
0.....MIN ... CENTER ....... MAX

Note: MIN must be less than CENTER, and CENTER must be less than MAX. Constants must not be equal.

Parameters

crisp	is a crisp input
MIN	is threshold value for the crisp input
CENTER	is a second threshold value for the crisp input
MAX	is a third threshold value for the crisp input

Returns: fuzzy value

◆ CheckGoal()

uint32_t CheckGoal ( void )

check status of odometry command

Odometry command to check status of any odometry command. Assumes ForwardUntilXStart ForwardUntilYStart or SoftLeftUntilThStart has been issued

Parameters

none

Returns: true if done or error, false if still running ok

◆ cos540()

int32_t cos540 ( int32_t theta )

binary fixed-point cos

binaryfixed-point cos****************

Parameters

theta 0 to 539, angle is in units 2*pi/540 = 0.011635528 radians (0 to 2pi)

Returns: -65536 to +65536, fixed point resolution 1/65536

Note: input theta=4096 means 90 degrees (pi/2 radians)

◆ DFT()

void DFT	(	uint32_t	i,
		int32_t	x
	)

Run DFT.

One point added to discrete fourier transform

Parameters

i	is 0 to 15 index
x	is input data at index i

Returns: none

◆ DFT_Init()

void DFT_Init ( void )

Initialization of discrete fourier transform.

Initialization of 16-point discrete fourier transform

Parameters

none

Returns: none

◆ Display()

void Display ( void )

OLED output.

Show current state on OLED

Parameters

none

Returns: none

Note: uses SSD1306.c

◆ fft()

void fft	(	complex_t *	v,
		int	n,
		complex_t *	tmp
	)

fft

discrete Fast Fourier Transform, Converts time to frequency domain
Assume the input is real data sampled at fs
Place n measurements into the real part of array v
Set the imaginary part of array v to 0
Call fft() and the results are returned back in array v
If the input is real only, then the transform will contain
Index 0 <= k < n/2 complex components of frequency f=k/fs
E.g., k=0 represents the DC component of the input
Index n/2 <= k < n are complex conjugates of the first half

Parameters

v	array of input data in complex form
n	size of the two arrays 2, 4, 8, ..., 2048
tmp	temporary array of data in complex form

Returns: none

Note: n is a power of two from 2 to 2048

◆ fixed_cos()

int16_t fixed_cos ( int32_t theta )

decimal fixed-point cos

decimal fixed-point cos****************

Parameters

theta -3142 to 3142, angle is in units radians/1000

Returns: -10000 to +10000, fixed point resolution 1/10000

Note: input theta=-1571 means 90 degrees (pi/2 radians)

◆ fixed_cos2()

int32_t fixed_cos2 ( int32_t theta )

binary fixed-point cos

binaryfixed-point cos****************

Parameters

theta -8192 to 8191, angle is in units 2*pi/16384 radians (-pi to +pi)

Returns: -65536 to +65536, fixed point resolution 1/65536

Note: input theta=4096 means 90 degrees (pi/2 radians)

◆ fixed_sin()

int16_t fixed_sin ( int32_t theta )

decimal fixed-point sin

decimal fixed-point sin****************

Parameters

theta -3142 to 3142, angle is in units radians/1000

Returns: -10000 to +10000, fixed point resolution 1/10000

Note: input theta=1571 means 90 degrees (pi/2 radians)

◆ fixed_sin2()

int32_t fixed_sin2 ( int32_t theta )

binary fixed-point sin

binary fixed-point sin****************

Parameters

theta -8192 to 8191, angle is in units 2*pi/16384 radians (-pi to +pi)

Returns: -65536 to +65536, fixed point resolution 1/65536

Note: input theta=-4096 means -90 degrees (pi/2 radians)

◆ ForwardUntilCrash()

uint32_t ForwardUntilCrash ( void )

Go until bumper touched.

Go straight until bumper touched (crash)

Parameters

none

Returns: none

Note: uses bump.c

◆ ForwardUntilThStatus()

uint32_t ForwardUntilThStatus ( void )

check status of soft left until theta command

Odometry command to check status of soft left until theta command. Assumes SoftLeftUntilThStart has been issued

Parameters

none

Returns: true if done or error, false if still running ok

◆ ForwardUntilX()

uint32_t ForwardUntilX ( int32_t desiredX )

Forward Until X goal.

Odometry command to Go straight until X goal has been reached. This routine will run until goal is met.

Parameters

desiredX desired X position in units of 0.0001cm

Returns: 0 for success, nonzero is failure (crash=bump sensor or 0xFF=going wrong way)

◆ ForwardUntilXStart()

void ForwardUntilXStart ( int32_t thedesiredX )

start going Forward Until X

Odometry command to Go straight until X goal has been reached. This routine will start the command, but return immediately

Parameters

thedesiredX desired X position in units of 0.0001cm

Returns: none

◆ ForwardUntilXStatus()

uint32_t ForwardUntilXStatus ( void )

check status of Forward Until X command

Odometry command to check status of Go straight until X command. Assumes ForwardUntilXStart has been issued

Parameters

none

Returns: true if done or error, false if still running ok

◆ ForwardUntilY()

uint32_t ForwardUntilY ( int32_t desiredY )

Forward Until Y goal.

Odometry command to Go straight until Y goal has been reached. This routine will run until goal is met.

Parameters

desiredY desired Y position in units of 0.0001cm

Returns: 0 for success, nonzero is failure (crash=bump sensor or 0xFF=going wrong way)

◆ ForwardUntilYStart()

void ForwardUntilYStart ( int32_t thedesiredY )

start going Forward Until Y

Odometry command to Go straight until Y goal has been reached. This routine will start the command, but return immediately

Parameters

thedesiredY desired Y position in units of 0.0001cm

Returns: none

◆ ForwardUntilYStatus()

uint32_t ForwardUntilYStatus ( void )

check status of Forward Until Y command

Odometry command to check status of Go straight until Y command. Assumes ForwardUntilYStart has been issued

Parameters

none

Returns: true if done or error, false if still running ok

◆ FuzzyChar()

char FuzzyChar ( fuz_t fuz )

convert fuzzy variable to ASCII character

Fuzzy logic display helper function return 'a' + (25*fuz)/255;

Parameters

fuz	is a fuzzy variable having values from 0(false) to 255(true)

Returns: ASCII character from 'a' to 'z'

◆ ifft()

void ifft	(	complex_t *	v,
		int	n,
		complex_t *	tmp
	)

Inverse fft.

discrete Inverse Fast Fourier Transform, Converts frequency to time domain
Assume the input is complex data with components k=0 to n-1
Index 0 <= k < n-1 complex components of frequency f=k/fs
E.g., k=0 represents the DC component of the input
Place n complex values into the array v
Typically the index n/2 <= k < n are complex conjugates of the first half
Call ifft() and the results are returned back in array v
If the input is real only, then the transform will contain

Parameters

v	array of input data in complex form
n	size of the two arrays 2, 4, 8, ..., 2048
tmp	temporary array of data in complex form

Returns: none

Note: n is a power of two from 2 to 2048

◆ LeftRightFuzzification()

fuz_t LeftRightFuzzification	(	int32_t	crisp,
		const int32_t	MIN,
		const int32_t	LEFT,
		const int32_t	RIGHT,
		const int32_t	MAX
	)

Fuzzification.

Fuzzy logic fuzzification, converting crisp input to fuzzy variable.
If crisp is less than MIN, then fuzzy is false.
If crisp is between MIN and LEFT, then fuzzy is linear.
If crisp is between LEFT and RIGHT, then fuzzy is true.
If crisp is between RIGHT and max, then fuzzy is linear.
If crisp is greater than MAX, then fuzzy is false.
255
|.................... -—
|................. / ......
|.............. / ........... \
|........... / ................. \
|........ / ....................... \
|-----— ...........................------—
0.....MIN ... LEFT RIGHT.... MAX

Note: Constants must be ordered: MIN<LEFT<RIGHT<MAX. Constants must not be equal.

Parameters

crisp	is a crisp input
MIN	is threshold value for the crisp input
LEFT	is a second threshold value for the crisp input
RIGHT	is a third threshold value for the crisp input
MAX	is a fourth threshold value for the crisp input

Returns: fuzzy value

◆ Mag1()

int32_t Mag1 ( void )

magnitude of the first frequency

Calculate magnitude of the first frequency

Parameters

none

Returns: magnitude at frequency f1

◆ Mag2()

int32_t Mag2 ( void )

magnitude of the second frequency

Calculate magnitude of the second frequency

Parameters

none

Returns: magnitude at frequency f2

◆ MaxFuzzification()

fuz_t MaxFuzzification	(	int32_t	crisp,
		const int32_t	MIN,
		const int32_t	MAX
	)

Fuzzification.

Fuzzy logic fuzzification, converting crisp input to fuzzy variable.
If crisp is less than MIN, then fuzzy is false.
If crisp is between MIN and MAX, then fuzzy is linear.
If crisp is greater than MAX, then fuzzy is true.
255
|........................------—
|...................... /
|................... /
|................ /
|............. /
|---------—
0..........MIN.......MAX

Note: MIN must be less than MAX

Parameters

crisp	is a crisp input
MIN	is threshold value for the crisp input
MAX	is another threshold value for the crisp input

Returns: fuzzy value

◆ Median()

int8_t Median ( int8_t x )

3-wide median filter

3-wide median filter
Includes a 3-deep MACQ of last three samples

Parameters

x	new data sample

Returns: median of the last three samples

Note: 1 usec running at 80 MHz

◆ Median3()

int8_t Median3	(	int8_t	u1,
		int8_t	u2,
		int8_t	u3
	)

3-wide median filter

Parameters

u1	new data sample
u2	new data sample
u3	new data sample

Returns: median of u1 u2 u3

◆ Median5()

int8_t Median5 ( int8_t x )

5-wide median filter

5-wide median filter
Includes a 5-deep MACQ of last five samples

Parameters

x	new data sample

Returns: median of the last five samples

Note: 11 usec running at 80 MHz

Warning: Median5 and Median7 use the same MACQ

◆ median5()

uint32_t median5 ( uint32_t u[5] )

5-wide median filter

Parameters

u	an array of 5 samples

Returns: median of the samples

◆ Median7()

int8_t Median7 ( int8_t x )

7-wide median filter

7-wide median filter
Includes a 7-deep MACQ of last seven samples

Parameters

x	new data sample

Returns: median of the last seven samples

Note: 16 usec running at 80 MHz

Warning: Median5 and Median7 use the same MACQ

◆ min32()

int32_t min32	(	int32_t	n1,
		int32_t	n2,
		int32_t	n3
	)

minimum

32-bit signed minimum

Parameters

n1	is a 32-bit signed number
n2	is a 32-bit signed number
n3	is a 32-bit signed number

Returns: minimum of n1 n2 n3

◆ MinFuzzification()

fuz_t MinFuzzification	(	int32_t	crisp,
		const int32_t	MIN,
		const int32_t	MAX
	)

Fuzzification.

Fuzzy logic fuzzification, converting crisp input to fuzzy variable.
If crisp is less than MIN, then fuzzy is true.
If crisp is between MIN and MAX, then fuzzy is linear.
If crisp is greater than MAX, then fuzzy is false.
255
|-------—
|........... \
|.............. \
|................. \
|.................... \
|....................... -------—
0..........MIN.......MAX

Note: MIN must be less than MAX. Constants must not be equal.

Parameters

crisp	is a crisp input
MIN	is threshold value for the crisp input
MAX	is another threshold value for the crisp input

Returns: fuzzy value

◆ NoiseReject()

int32_t NoiseReject ( int32_t x )

removes random noise from audio signal

Run noise reject filter
Rxx2 is 0 if uncorrelated (noise)
Rxx2 is 128 if correlated (signal)
Rxx2 is -128 if correlated (signal); this does not occur with sound

Parameters

x	input to filter

Returns: output of filter, (Rxx2*x)/128

◆ NoiseReject_Init()

void NoiseReject_Init ( void )

Initialization of noise reject filter.

Initialization of noise reject filter
compare audio signal with itself two samples ago
Rxx(2) = (1/N) sum{x(n)x(n-2)} in limit as N-> infinity
Approximate infinite sum with IIR filter
Rxx2 = (127*Rxx2 +x(n)x(n-2) )/128

K is the attack ratio (how fast it responds)
M is the scale
t0 = x(n)/32
t1 = x(n-1)/32
t2 = x(n-2)/32
Parameters

none

Returns
none

◆ not()

fuz_t not ( fuz_t u1 )

Complement.

Fuzzy logic complement

Parameters

u1	is a fuzzy variable having values from 0(false) to 255(true)

Returns: 255-u1

◆ Odometry_Get()

void Odometry_Get	(	int32_t *	x,
		int32_t *	y,
		int32_t *	theta
	)

Get the current robot position.

Parameters

x	is pointer to store x position of the robot (units of 0.0001cm)
y	is pointer to store y position of the robot (units of 0.0001cm)
theta	is pointer to store angle (or direction) of the robot (units of 2*pi/16384 radians)

Returns: none

Note: Assumes Odometry_Init() has been called at least once; Typically Odometry_Update() is being called periodically (so LCount and RCount are less than 30)

◆ Odometry_GetAngle()

int32_t Odometry_GetAngle ( void )

Get theta angle.

Fetch value of the current theta angle of the robot

Parameters

none

Returns: position units of 2*pi/16384 radians

◆ Odometry_GetX()

int32_t Odometry_GetX ( void )

Get X position.

Fetch value of the current X position of the robot

Parameters

none

Returns: position in units of 0.0001cm

◆ Odometry_GetY()

int32_t Odometry_GetY ( void )

Get y position.

Fetch value of the current y position of the robot

Parameters

none

Returns: position in units of 0.0001cm

◆ Odometry_Init()

void Odometry_Init	(	int32_t	initx,
		int32_t	inity,
		int32_t	initTheta
	)

Initialize odometry module.

Initialize odometry module by specifying the initial position/angle of the robot. Angles range from (-pi to +pi) signified by -8192 to +8191.

Parameters

initx	initial x position of the robot (units of 0.0001cm)
inity	initial y position of the robot (units of 0.0001cm)
initTheta	initial angle of the robot (units of 2*pi/16384 radians)

Returns: none

◆ Odometry_SetPower()

void Odometry_SetPower	(	uint32_t	fast,
		uint32_t	slow
	)

Set power levels.

Specifies two power levels to use during odometry task, and PWM levels must be between 0 to 14,998. Obviously, the power level must be high enough to move robot

Parameters

fast	PWM level for moving forward
slow	PWM level for turning

Returns: none

◆ Odometry_Update()

void Odometry_Update	(	int32_t	LCount,
		int32_t	RCount
	)

Compute new position/angle of the robot.

Inputs are wheel tachometer counts (n counts/rotation), and outputs are private global variable of new position/angle

Parameters

LCount	number of left wheel tachometer counts from the last update
RCount	number of right wheel tachometer counts from the last update

Returns: none

◆ or()

fuz_t or	(	fuz_t	u1,
		fuz_t	u2
	)

Fuzzy or.

Fuzzy logic or

Parameters

u1	is a fuzzy variable
u2	is a fuzzy variable

Returns: maximum of u1 u2

◆ or3()

fuz_t or3	(	fuz_t	u1,
		fuz_t	u2,
		fuz_t	u3
	)

Fuzzy or.

Fuzzy logic or

Parameters

u1	is a fuzzy variable
u2	is a fuzzy variable
u3	is a fuzzy variable

Returns: maximum of u1 u2 u3

◆ sin540()

int32_t sin540 ( int32_t theta )

binary fixed-point sin

binary fixed-point sin****************
e.g., 359.3degrees (2pi radians) theta=539 sin540(539) = -763 (-0.0116)
e.g., 270 degrees (3pi/4 radians) theta=405 sin540(405) = -65536 (-1)
e.g., 180 degrees (pi radians) theta=270 sin540(270) = 0 (0)
e.g., 90 degrees (pi/2 radians) theta=135 sin540(135) = 65536 (+1)
e.g., 45 degrees (pi/4 radians) theta= 67 sin540(67) = 46071 (sqrt(2)/2)
e.g., 0 degrees (0 radians) theta= 0 sin540(0) = 0 (0)

Parameters

theta 0 to 539, angle is in units 2*pi/540 = 0.011635528 radians (0 to 2pi)

Returns: -65536 to +65536, fixed point resolution 1/65536

◆ SoftLeftUntilTh()

uint32_t SoftLeftUntilTh ( int32_t desiredTh )

Soft Left Until Theta.

Odometry command to soft left until theta goal has been reached. This routine will run until goal is met.

Parameters

desiredTh desired theta position in units of 2*pi/16384 radians

Returns: 0 for success, nonzero is failure (crash=bump sensor or 0xFF=going wrong way)

◆ SoftLeftUntilThStart()

void SoftLeftUntilThStart ( int32_t thedesiredTh )

start going Forward Until Y

Odometry command to soft left until theta goal has been reached. This routine will start the command, but return immediately

Parameters

thedesiredTh desired theta position in units of 2*pi/16384 radians

Returns: none

◆ StopUntilBumperTouched()

void StopUntilBumperTouched ( void )

Stop and wait until bumper touched.

Stop and wait until bumper touched

Parameters

none

Returns: none

Note: uses bump.c

◆ umin32()

uint32_t umin32	(	uint32_t	u1,
		uint32_t	u2
	)

minimum

32-bit unsigned minimum

Parameters

u1	is a 32-bit unsigned number
u2	is a 32-bit unsigned number

Returns: minimum of u1 u2

◆ UpdatePosition()

void UpdatePosition ( void )

update position

Take wheel counts and update position

Parameters

none

Returns: none

Note: Must be called periodically so wheel counts are 5 to 20. If both wheel counts are routinely below 5, update less frequently. If either wheel count is routinely above 20, update more frequently.

◆ WaitUntilBumperTouched()

void WaitUntilBumperTouched ( void )

Wait until bumper touched.

Wait until bumper touched

Parameters

none

Returns: none

Note: uses bump.c

Data Structures

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ OdometryCommand

◆ RobotState

Function Documentation

◆ and()

◆ and3()

◆ CenterFuzzification()

◆ CheckGoal()

◆ cos540()

◆ DFT()

◆ DFT_Init()

◆ Display()

◆ fft()

◆ fixed_cos()

◆ fixed_cos2()

◆ fixed_sin()

◆ fixed_sin2()

◆ ForwardUntilCrash()

◆ ForwardUntilThStatus()

◆ ForwardUntilX()

◆ ForwardUntilXStart()

◆ ForwardUntilXStatus()

◆ ForwardUntilY()

◆ ForwardUntilYStart()

◆ ForwardUntilYStatus()

◆ FuzzyChar()

◆ ifft()

◆ LeftRightFuzzification()

◆ Mag1()

◆ Mag2()

◆ MaxFuzzification()

◆ Median()

◆ Median3()

◆ Median5()

◆ median5()

◆ Median7()

◆ min32()

◆ MinFuzzification()

◆ NoiseReject()

◆ NoiseReject_Init()

◆ not()

◆ Odometry_Get()

◆ Odometry_GetAngle()

◆ Odometry_GetX()

◆ Odometry_GetY()

◆ Odometry_Init()

◆ Odometry_SetPower()

◆ Odometry_Update()

◆ or()

◆ or3()

◆ sin540()

◆ SoftLeftUntilTh()

◆ SoftLeftUntilThStart()

◆ StopUntilBumperTouched()

◆ umin32()

◆ UpdatePosition()

◆ WaitUntilBumperTouched()