odometry.h

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/* This example accompanies the book
   "Embedded Systems: Introduction to Robotics,
   Jonathan W. Valvano, ISBN: 9781074544300, copyright (c) 2019
 For more information about my classes, my research, and my books, see
 http://users.ece.utexas.edu/~valvano/
 
Simplified BSD License (FreeBSD License)
Copyright (c) 2019, Jonathan Valvano, All rights reserved.
 
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
 
1. Redistributions of source code must retain the above copyright notice,
   this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
The views and conclusions contained in the software and documentation are
those of the authors and should not be interpreted as representing official
policies, either expressed or implied, of the FreeBSD Project.
*/
#ifndef _ODOMETRY_H_
#define _ODOMETRY_H_
#include <stdint.h>
#define N 360     
#define D 70000   
#define W 140000  
#define C 219910  
#define PI 8192   
#define TWOPI (2*PI) 
#define NORTH 4096   
#define EAST  0      
#define SOUTH -4096  
#define WEST -8192   
#define XYTOLERANCE 10000      
#define THETATOLERANCE (4096/90)  
void Odometry_Init(int32_t initx, int32_t inity, int32_t initTheta);
 
void Odometry_Update(int32_t LCount, int32_t RCount);
 
void Odometry_SetPower(uint32_t fast, uint32_t slow);
 
int32_t Odometry_GetX(void);
 
int32_t Odometry_GetY(void);
 
int32_t Odometry_GetAngle(void);
 
 
void Odometry_Get(int32_t *x, int32_t *y, int32_t *theta);
 
 
enum RobotState{
  ISSTOPPED, 
  GOFORWARD, 
  HARDRIGHT, 
  HARDLEFT,  
  SOFTRIGHT, 
  SOFTLEFT   
};
 
 
 
void UpdatePosition(void);
 
void Display(void);
 
void WaitUntilBumperTouched(void);
 
void StopUntilBumperTouched(void);
 
uint32_t ForwardUntilCrash(void);
 
uint32_t ForwardUntilX(int32_t desiredX);
 
uint32_t ForwardUntilY(int32_t desiredY);
 
uint32_t SoftLeftUntilTh(int32_t desiredTh);
 
 
void ForwardUntilXStart(int32_t thedesiredX);
 
uint32_t ForwardUntilXStatus(void);
void ForwardUntilYStart(int32_t thedesiredY);
 
uint32_t ForwardUntilYStatus(void);
 
void SoftLeftUntilThStart(int32_t thedesiredTh);
 
uint32_t  ForwardUntilThStatus(void);
 
enum OdometryCommand{
  STOP,       
  FORWARDTOX, 
  FORWARDTOY, 
  LEFTTOTH,   
  RIGHTTOTH   
};
 
uint32_t CheckGoal(void);
#endif