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55 lines
1.2 KiB
C
55 lines
1.2 KiB
C
#ifndef COMM_CALLBACKS_HPP
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#define COMM_CALLBACKS_HPP
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// Déclarations des fonctions appelées depuis le C
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void Comm_GetPos(float& x, float& y, float& t);
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void Comm_SetPos(float x, float y, float t);
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void Comm_GetSpeed(float& vx, float& vy, float& omega);
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bool Comm_GetPID(char *pid_name, float &p, float &i, float &d, float &v_min, float &v_max);
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bool Comm_SetPID(char *pid_name, float p, float i, float d, float out_min, float out_max);
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void Comm_StartOdometry(bool start);
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void Comm_AddWaypoint(int id, int type, float x, float y, float t);
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float Comm_GetDistance(int sensorId);
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void Comm_SetPWM(float left, float right);
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void Comm_GetPWM(float &left, float &right);
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void Comm_SetPublishFrequency(uint32_t frequencyPublish = 20);
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void Comm_GetPublishFrequency(uint32_t &frequencyPublish);
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float Comm_GetPreciseAngle();
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float Comm_GetPrecisePos();
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float Comm_GetPrecisePosFinal();
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void Comm_SetPreciseAngle(float d);
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void Comm_SetPrecisePos(float d);
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void Comm_SetPrecisePosFinal(float d);
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float Comm_GetNotMoveTime();
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void Comm_SetNotMoveTime(float time);
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#ifdef __cplusplus
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}
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#endif
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#endif // COMM_CALLBACKS_HPP
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