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PropWare
3.0.0.229
C++ objects and CMake build system for Parallax Propeller
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3 void interpolation_table_setup();
6 volatile char abd_str[128];
10 #ifdef test_t_interval
11 volatile int rec_t[8000 / 4];
15 volatile int abd_record;
18 void drive_com(
int arrayLcnt,
int arrayRcnt,
19 int centerL,
int centerR,
20 short *pwAddrL,
short *pwAddrR,
21 short *spdAddrL,
short *spdAddrR);
23 void abd_encoders(
void *par);
25 void interpolation_table_setup();
29 void set_drive_speed(
int left,
int right);
30 void interpolate2(
int *ltmp,
int *rtmp);
32 void abd_sample(
void);
36 volatile unsigned int _servoPulseReps;
38 volatile int abd_zeroDelay;
40 volatile int abd_intTabSetup;
58 static volatile int trimctr;
59 static volatile int dca, trimticks;
61 static volatile int kp[6];
63 static volatile int ridx;
70 static volatile int pcount;
71 static volatile unsigned int _sprOld;
77 static volatile int phs[2];
79 static volatile int phsr[2];
84 volatile int abd_blockGoto;
87 volatile int abd_trimF[2];
88 volatile int abd_trimB[2];
90 volatile int abd_trimticksF;
91 volatile int abd_trimticksB;
93 volatile int abd_speedOld[2];
94 volatile int abd_stopCtr[2];
96 volatile int abd_stopPulseReps[2];
98 volatile int abd_ticks[2];
100 volatile int abd_speedT[2];
102 volatile int abd_speed[2];
105 volatile int abd_ticksi[2];
108 volatile int abd_ticksf[2];
111 volatile int abd_gotoFlag[2];
113 volatile int abd_rampStep[3];
114 volatile int abd_speedLimit[4];
116 volatile int abd_ticksGuard[2];
119 volatile int abd_dc[2];
122 volatile int abd_dca[2];
125 volatile int abd_ed[2];
128 volatile int abd_p[2];
131 volatile int abd_i[2];
134 volatile int abd_ea[2];
138 volatile int abd_sPin[2];
141 volatile int abd_ePin[2];
144 volatile int abd_elCnt[2];
145 volatile int abd_cntrIdx[2];
149 static volatile int cntrVal[2];
150 static volatile int ti[2];
151 static volatile int state[2];
153 static volatile int ssi[2];
154 static volatile int drive[2];
156 static volatile int speedPrev[2];
157 volatile int abd_nudgeCtr[2];
158 volatile int abd_nudgeInc[2];
159 volatile int abd_distError[2];
161 volatile int sign[2];
162 volatile int abd_dist[2];
164 volatile int abd_ditherA[2];
165 volatile int abd_ditherAa[2];
166 volatile int abd_ditherAd[2];
167 volatile int abd_ditherAp[2];
169 volatile int abd_ditherV[2];
170 volatile int abd_ditherVa[2];
171 volatile int abd_ditherVd[2];
172 volatile int abd_ditherVp[2];
174 volatile int abd_speedi[2];
175 volatile int abd_speedd[2];
176 volatile int abd_dvFlag[2];
180 void interpolation_table_setup(
void);
182 volatile int abd_sPinL, abd_sPinR;
183 volatile int abd_ePinL, abd_ePinR;
185 volatile int abd_intTabSetup;
195 unsigned char pinInfo[8] = {
's',
'p',
'L', 12,
' ',
'R', 13,
' '};
196 pinInfo[3] = (
char) servoPinLeft;
197 pinInfo[6] = (
char) servoPinRight;
215 unsigned char pinInfo[8] = {
'e',
'p',
'L', 14,
' ',
'R', 15,
' '};
216 pinInfo[3] = (
char) encPinLeft;
217 pinInfo[6] = (
char) encPinRight;
229 void drive_pins(
int servoPinLeft,
int servoPinRight,
int encPinLeft,
int encPinRight)
void drive_encoderPins(int encPinLeft, int encPinRight)
Set encoder pins to values other than the default P14 for left encoder and P15 for right encoder....
#define _ActivityBot_EE_Start_
ActivityBot EEPROM calibration data start address.
void drive_pins(int left, int right)
Set up left and right wheel servo pin connections.
void drive_servoPins(int servoPinLeft, int servoPinRight)
Set servo pins to values other than the default P12 for left servo and P13 for right servo....
This library takes care of encoder monitoring and servo signaling, and provides a simple set of funct...