Elisa3
|
#include "constants.h"
Variables | |
volatile unsigned char | currentAdChannel = 0 |
unsigned char | currentProx = 0 |
unsigned char | currentMotLeftChannel = 0 |
unsigned char | currentMotRightChannel = 0 |
unsigned char | rightMotorPhase = 0 |
unsigned char | leftMotorPhase = 0 |
volatile unsigned int | proximityValue [24] = {0} |
int | proximityResult [12] = {0} |
signed int | proximityOffset [12] = {0} |
unsigned long | proximitySum [12] = {0} |
unsigned char | adcSaveDataTo = 0 |
unsigned char | adcSamplingState = 0 |
unsigned char | rightChannelPhase = 0 |
unsigned char | leftChannelPhase = 0 |
unsigned int | batteryLevel = 0 |
unsigned char | measBattery = 0 |
unsigned char | proxUpdated = 0 |
int | proximityResultLinear [8] = {0} |
float | rightMotSteps = 0 |
float | leftMotSteps = 0 |
float | rightMotStepsOld = 0 |
float | leftMotStepsOld = 0 |
unsigned int | left_current_avg = 0 |
unsigned int | right_current_avg = 0 |
unsigned int | last_left_current = 0 |
unsigned int | last_right_current = 0 |
signed int | pwm_right_desired_to_control = 0 |
signed int | pwm_left_desired_to_control = 0 |
unsigned int | left_vel_sum = 0 |
unsigned int | right_vel_sum = 0 |
signed int | last_left_vel = 0 |
signed int | last_right_vel = 0 |
signed int | pwm_right = 0 |
signed int | pwm_left = 0 |
signed int | pwm_right_desired = 0 |
signed int | pwm_left_desired = 0 |
signed int | pwm_intermediate_right_desired = 0 |
signed int | pwm_intermediate_left_desired = 0 |
signed int | k_ff_speed_control_left = INIT_KFF |
signed int | k_ff_speed_control_right = INIT_KFF |
signed long int | pwm_right_speed_controller = 0 |
signed long int | pwm_left_speed_controller = 0 |
signed int | delta_left_speed_current |
signed int | delta_right_speed_current |
signed int | delta_left_speed_prev |
signed int | delta_right_speed_prev |
signed int | delta_left_speed_sum = 0 |
signed int | delta_right_speed_sum = 0 |
unsigned char | compute_left_vel = 1 |
unsigned char | compute_right_vel = 1 |
signed int | pwm_right_working = 0 |
signed int | pwm_left_working = 0 |
unsigned char | firstSampleRight = 1 |
unsigned char | firstSampleLeft = 1 |
unsigned int | dataLED [3] |
signed int | speedl = 0 |
signed int | speedr = 0 |
unsigned char | rfData [PAYLOAD_SIZE] |
unsigned char | ackPayload [16] |
unsigned char | packetId = 3 |
unsigned int | rfAddress = 0 |
unsigned char | rfFlags = 0 |
unsigned char | spiCommError = 0 |
unsigned char | rfDebugMode = 0 |
unsigned char | rfDebugCounter = 0 |
unsigned char | pwm_red = 255 |
unsigned char | pwm_green = 255 |
unsigned char | pwm_blue = 255 |
unsigned char | blinkState = 0 |
unsigned char | rgbState = 0 |
unsigned char | peripheralChoice = 5 |
unsigned char | choosePeripheral = 1 |
unsigned char | sendAdcValues = 0 |
unsigned char | commError = 0 |
unsigned int | byteCount = 0 |
unsigned char | uartBuff [UART_BUFF_SIZE] = {0} |
unsigned char | nextByteIndex = 0 |
unsigned char | currByteIndex = 0 |
unsigned char | chooseMenu = 1 |
unsigned char | menuChoice = 0 |
unsigned char | addressReceived = 0 |
unsigned char | menuState = 0 |
unsigned char | getDataNow = 0 |
unsigned char | irCommand = 0 |
unsigned char | command_received = 0 |
unsigned char | colorState = 0 |
unsigned char | irEnabled = 1 |
unsigned char | checkGlitch = 1 |
unsigned char | behaviorState = 0 |
unsigned char | accelAddress = MMA7455L_ADDR |
unsigned char | useAccel = USE_MMAX7455L |
signed int | accX = 0 |
signed int | accY = 0 |
signed int | accZ = 0 |
signed int | accOffsetX = 0 |
signed int | accOffsetY = 0 |
signed int | accOffsetZ = 0 |
signed int | accOffsetXSum = 0 |
signed int | accOffsetYSum = 0 |
signed int | accOffsetZSum = 0 |
signed int | currentAngle = 0 |
unsigned char | currPosition = HORIZONTAL_POS |
unsigned int | timesInSamePos = 0 |
unsigned char | robotPosition = 1 |
signed char | accBuff [6] = {0} |
uint32_t | clockTick = 0 |
unsigned char | currentSelector = 0 |
signed int | calibrationCycle = 0 |
unsigned char | startCalibration |
unsigned char | hardwareRevision = HW_REV_3_0 |
unsigned char | demoState = 0 |
unsigned char | lineFound = 0 |
unsigned char | outOfLine = 0 |
unsigned char | chargeContact = 0 |
unsigned long int | demoStartTime = 0 |
unsigned long int | demoStartTime2 = 0 |
unsigned long int | demoEndTime = 0 |
unsigned char | currentOsccal |
unsigned long long int | speedStepCounter = 0 |
unsigned char | speedStep = 4 |
unsigned char | softAccEnabled = 0 |
unsigned char | calibrationWritten = 0 |
unsigned char | greenLedState = 0 |
unsigned char | rgbLedState = 0 |
unsigned char | obstacleAvoidanceEnabled = 0 |
unsigned char | cliffAvoidanceEnabled = 0 |
unsigned char | cliffDetectedFlag = 0 |
float | theta = 0.0 |
float | lastTheta = 0.0 |
float | xPos = 0.0 |
float | yPos = 0.0 |
float | deltaDist = 0.0 |
float | thetaOld = 0.0 |
float | xPosOld = 0.0 |
float | yPosOld = 0.0 |
float | deltaDistOld = 0.0 |
float | leftDist = 0 |
float | rightDist = 0 |
float | leftDistPrev = 0 |
float | rightDistPrev = 0 |
unsigned char | computeOdometry = 0 |
float | thetaAcc = 0.0 |
unsigned char | calibState |
unsigned char | calibVelIndex |
unsigned char | calibWheel |
signed int | tempVel |
signed int | calibration [CALIBRATION_SAMPLES][8] |
unsigned long int | timeoutOdometry |
unsigned long | timeOdometry |
unsigned char | calibrateOdomFlag |
signed long int | leftSpeedSumOdom = 0 |
signed long int | rightSpeedSumOdom = 0 |
unsigned int | leftSumCount = 0 |
unsigned int | rightSumCount = 0 |
signed int | avgLeftSpeed = 0 |
signed int | avgRightSpeed = 0 |
signed int | speedLeftFromEnc = 0 |
signed int | speedRightFromEnc = 0 |
uint32_t | timeLeftOdom = 0 |
uint32_t | timeRightOdom = 0 |
unsigned char | irCommEnabled = IRCOMM_MODE_SENSORS_SAMPLING |
unsigned char | irCommEnabledNext = IRCOMM_MODE_SENSORS_SAMPLING |
unsigned char | irCommMode = IRCOMM_MODE_SENSORS_SAMPLING |
volatile unsigned char | irCommState = 0 |
unsigned int | irCommTempValue = 0 |
volatile unsigned char | irCommSendValues = 0 |
unsigned long int | irCommTickCounter = 0 |
unsigned long int | irCommTickCounter2 = 0 |
unsigned char | irCommTickCounterUpdate = 0 |
signed char | irCommLastSensor = -1 |
signed int | irCommLastData = 0 |
signed int | angleDeg = 0 |
signed int | angleError = 0 |
unsigned char | angleDegEncode = 0 |
unsigned char | irCommRobotId = 0 |
unsigned char | irCommRobotsNum = 0 |
unsigned char | irCommLedToggle = 0 |
unsigned char | irCommMsgCount = 0 |
signed int | irCommMaxSensorSignalTemp [IRCOMM_SAMPLING_WINDOW *2] |
unsigned char | irCommMaxSensorSignalIndexTemp = 0 |
signed int | irCommMaxSensorSignalFiltTemp [IRCOMM_SAMPLING_WINDOW *2] |
unsigned char | irCommMaxSensorSignalFiltIndexTemp = 0 |
signed int | irCommRxMaxSensorTemp [2] |
unsigned char | irCommRxMaxSensorIndexTemp = 0 |
signed int | irCommRxMaxDiffTemp [2] |
unsigned char | irCommRxMaxDiffIndexTemp = 0 |
signed int | irCommProxMeanTemp [2] |
unsigned char | irCommProxMeanIndexTemp = 0 |
unsigned char | irCommSwitchCountTemp [2] |
unsigned char | irCommSwitchCountIndexTemp = 0 |
unsigned int | irCommMaxSensorValueCurrTemp [2] |
unsigned char | irCommMaxSensorValueCurrIndexTemp = 0 |
unsigned int | irCommMinSensorValueCurrTemp [2] |
unsigned char | irCommMinSensorValueCurrIndexTemp = 0 |
unsigned char | irCommShiftCountTemp [2] |
unsigned char | irCommShiftCountIndexTemp = 0 |
unsigned char | irCommShiftCountFinalTemp [2] |
unsigned char | irCommShiftCountFinalIndexTemp = 0 |
unsigned int | irCommStartDiffTemp [2] |
unsigned char | irCommStartDiffIndexTemp = 0 |
unsigned char | irCommComputeShiftTemp [2] |
unsigned char | irCommComputeShiftIndexTemp = 0 |
unsigned char | irCommRxPeakHighToLowTemp [2] |
unsigned char | irCommRxPeakHighToLowIndexTemp = 0 |
unsigned char | irCommRxStartPeakDurationTemp [2] |
unsigned char | irCommRxStartPeakDurationIndexTemp = 0 |
unsigned char | irCommRxStartBitDetectedTemp [2] |
unsigned char | irCommRxStartBitDetectedIndexTemp = 0 |
unsigned char | irCommStateTemp [14] |
unsigned char | irCommStateIndexTemp = 0 |
unsigned char | irCommSyncStateTemp [2] |
unsigned char | irCommSyncStateIndexTemp = 0 |
signed int | irCommBitsSignalTemp [IRCOMM_SAMPLING_WINDOW *10] |
unsigned char | irCommBitsSignalIndexTemp = 0 |
unsigned char | irCommRxBitReceivedTemp [10] |
unsigned char | irCommRxBitReceivedIndexTemp = 0 |
unsigned char | irCommRxPrevDataReceived = 0 |
unsigned char | irCommAdcRxState = 0 |
unsigned char | irCommRxWindowSamples = 0 |
unsigned int | irCommMaxSensorValueBuff1 [8] |
unsigned int | irCommMaxSensorValueBuff2 [8] |
unsigned int * | irCommMaxSensorValueAdc |
unsigned int * | irCommMaxSensorValueCurr |
unsigned int | irCommMinSensorValueBuff1 [8] |
unsigned int | irCommMinSensorValueBuff2 [8] |
unsigned int * | irCommMinSensorValueAdc |
unsigned int * | irCommMinSensorValueCurr |
unsigned int | irCommProxValuesBuff1 [8 *IRCOMM_SAMPLING_WINDOW] |
unsigned int | irCommProxValuesBuff2 [8 *IRCOMM_SAMPLING_WINDOW] |
unsigned int * | irCommProxValuesAdc |
unsigned int * | irCommProxValuesCurr |
unsigned int * | irCommTempPointer |
unsigned char | irCommRxCrc = 0 |
signed int | irCommMaxSensorSignal [IRCOMM_SAMPLING_WINDOW] |
signed long int | irCommProxSum = 0 |
signed int | irCommTempMax = 0 |
signed int | irCommTempMin = 0 |
unsigned char | irCommShiftCount = 0 |
unsigned char | irCommComputeShift = 0 |
signed int | irCommProxMean = 0 |
signed char | irCommSignalState = 0 |
unsigned char | irCommSwitchCount = 0 |
unsigned char | irCommRxBitCount = 0 |
unsigned char | irCommRxCrcError = 0 |
unsigned char | irCommRxByte = 0 |
unsigned char | irCommSecondBitSkipped = 0 |
unsigned char | irCommShiftCounter = 0 |
unsigned char | irCommRxBitReceived [10] |
unsigned char | irCommRxByteExpected = 0 |
unsigned char | irCommRxSequenceCount = 0 |
unsigned char | irCommRxLastDataReceived = 0 |
unsigned char | irCommRxDataAvailable = 0 |
signed char | irCommRxReceivingSensor = -1 |
unsigned char | irCommRxBitSkipped = 0 |
unsigned char | irCommRxStartBitDetected = 0 |
unsigned char | irCommRxPeakHighToLow = 0 |
unsigned char | irCommRxStartPeakDuration = 0 |
signed int | irCommRxMaxDiff = 0 |
signed int | irCommRxMaxSensor = 0 |
unsigned char | irCommRxNumReceivingSensors = 0 |
unsigned char | irCommAdcTxState = 0 |
unsigned char | irCommTxByte = 0 |
unsigned char | irCommTxByteEnqueued = 0 |
unsigned long int | irCommTxLastTransmissionTime = 0 |
unsigned char | irCommTxBitToTransmit [12] |
unsigned char | irCommTxCrc = 0 |
unsigned char | irCommTxBitCount = 0 |
unsigned char | irCommTxPulseState = 0 |
unsigned int | irCommTxDuration = 0 |
unsigned char | irCommTxSwitchCount = 0 |
unsigned char | irCommTxSwitchCounter = 0 |
unsigned char | irCommTxDurationCycle = 0 |
unsigned char | irCommTxSensorMask = 0 |
unsigned char | irCommTxSensorGroup = 0 |
signed char accBuff[6] = {0} |
unsigned char accelAddress = MMA7455L_ADDR |
signed int accOffsetX = 0 |
signed int accOffsetXSum = 0 |
signed int accOffsetY = 0 |
signed int accOffsetYSum = 0 |
signed int accOffsetZ = 0 |
signed int accOffsetZSum = 0 |
signed int accX = 0 |
signed int accY = 0 |
signed int accZ = 0 |
unsigned char ackPayload[16] |
unsigned char adcSamplingState = 0 |
unsigned char adcSaveDataTo = 0 |
unsigned char addressReceived = 0 |
signed int angleDeg = 0 |
unsigned char angleDegEncode = 0 |
signed int angleError = 0 |
signed int avgLeftSpeed = 0 |
signed int avgRightSpeed = 0 |
unsigned int batteryLevel = 0 |
unsigned char behaviorState = 0 |
unsigned char blinkState = 0 |
unsigned int byteCount = 0 |
unsigned char calibrateOdomFlag |
signed int calibration[CALIBRATION_SAMPLES][8] |
signed int calibrationCycle = 0 |
unsigned char calibrationWritten = 0 |
unsigned char calibState |
unsigned char calibVelIndex |
unsigned char calibWheel |
unsigned char chargeContact = 0 |
unsigned char checkGlitch = 1 |
unsigned char chooseMenu = 1 |
unsigned char choosePeripheral = 1 |
unsigned char cliffAvoidanceEnabled = 0 |
unsigned char cliffDetectedFlag = 0 |
uint32_t clockTick = 0 |
unsigned char colorState = 0 |
unsigned char command_received = 0 |
unsigned char commError = 0 |
unsigned char compute_left_vel = 1 |
unsigned char compute_right_vel = 1 |
unsigned char computeOdometry = 0 |
unsigned char currByteIndex = 0 |
volatile unsigned char currentAdChannel = 0 |
signed int currentAngle = 0 |
unsigned char currentMotLeftChannel = 0 |
unsigned char currentMotRightChannel = 0 |
unsigned char currentOsccal |
unsigned char currentProx = 0 |
unsigned char currentSelector = 0 |
unsigned char currPosition = HORIZONTAL_POS |
unsigned int dataLED[3] |
signed int delta_left_speed_current |
signed int delta_left_speed_prev |
signed int delta_left_speed_sum = 0 |
signed int delta_right_speed_current |
signed int delta_right_speed_prev |
signed int delta_right_speed_sum = 0 |
float deltaDist = 0.0 |
float deltaDistOld = 0.0 |
unsigned long int demoEndTime = 0 |
unsigned long int demoStartTime = 0 |
unsigned long int demoStartTime2 = 0 |
unsigned char demoState = 0 |
unsigned char firstSampleLeft = 1 |
unsigned char firstSampleRight = 1 |
unsigned char getDataNow = 0 |
unsigned char greenLedState = 0 |
unsigned char hardwareRevision = HW_REV_3_0 |
unsigned char irCommAdcRxState = 0 |
unsigned char irCommAdcTxState = 0 |
unsigned char irCommand = 0 |
unsigned char irCommBitsSignalIndexTemp = 0 |
signed int irCommBitsSignalTemp[IRCOMM_SAMPLING_WINDOW *10] |
unsigned char irCommComputeShift = 0 |
unsigned char irCommComputeShiftIndexTemp = 0 |
unsigned char irCommComputeShiftTemp[2] |
unsigned char irCommEnabled = IRCOMM_MODE_SENSORS_SAMPLING |
unsigned char irCommEnabledNext = IRCOMM_MODE_SENSORS_SAMPLING |
signed int irCommLastData = 0 |
signed char irCommLastSensor = -1 |
unsigned char irCommLedToggle = 0 |
signed int irCommMaxSensorSignal[IRCOMM_SAMPLING_WINDOW] |
unsigned char irCommMaxSensorSignalFiltIndexTemp = 0 |
signed int irCommMaxSensorSignalFiltTemp[IRCOMM_SAMPLING_WINDOW *2] |
unsigned char irCommMaxSensorSignalIndexTemp = 0 |
signed int irCommMaxSensorSignalTemp[IRCOMM_SAMPLING_WINDOW *2] |
unsigned int* irCommMaxSensorValueAdc |
unsigned int irCommMaxSensorValueBuff1[8] |
unsigned int irCommMaxSensorValueBuff2[8] |
unsigned int* irCommMaxSensorValueCurr |
unsigned char irCommMaxSensorValueCurrIndexTemp = 0 |
unsigned int irCommMaxSensorValueCurrTemp[2] |
unsigned int* irCommMinSensorValueAdc |
unsigned int irCommMinSensorValueBuff1[8] |
unsigned int irCommMinSensorValueBuff2[8] |
unsigned int* irCommMinSensorValueCurr |
unsigned char irCommMinSensorValueCurrIndexTemp = 0 |
unsigned int irCommMinSensorValueCurrTemp[2] |
unsigned char irCommMode = IRCOMM_MODE_SENSORS_SAMPLING |
unsigned char irCommMsgCount = 0 |
signed int irCommProxMean = 0 |
unsigned char irCommProxMeanIndexTemp = 0 |
signed int irCommProxMeanTemp[2] |
signed long int irCommProxSum = 0 |
unsigned int* irCommProxValuesAdc |
unsigned int irCommProxValuesBuff1[8 *IRCOMM_SAMPLING_WINDOW] |
unsigned int irCommProxValuesBuff2[8 *IRCOMM_SAMPLING_WINDOW] |
unsigned int* irCommProxValuesCurr |
unsigned char irCommRobotId = 0 |
unsigned char irCommRobotsNum = 0 |
unsigned char irCommRxBitCount = 0 |
unsigned char irCommRxBitReceived[10] |
unsigned char irCommRxBitReceivedIndexTemp = 0 |
unsigned char irCommRxBitReceivedTemp[10] |
unsigned char irCommRxBitSkipped = 0 |
unsigned char irCommRxByte = 0 |
unsigned char irCommRxByteExpected = 0 |
unsigned char irCommRxCrc = 0 |
unsigned char irCommRxCrcError = 0 |
unsigned char irCommRxDataAvailable = 0 |
unsigned char irCommRxLastDataReceived = 0 |
signed int irCommRxMaxDiff = 0 |
unsigned char irCommRxMaxDiffIndexTemp = 0 |
signed int irCommRxMaxDiffTemp[2] |
signed int irCommRxMaxSensor = 0 |
unsigned char irCommRxMaxSensorIndexTemp = 0 |
signed int irCommRxMaxSensorTemp[2] |
unsigned char irCommRxNumReceivingSensors = 0 |
unsigned char irCommRxPeakHighToLow = 0 |
unsigned char irCommRxPeakHighToLowIndexTemp = 0 |
unsigned char irCommRxPeakHighToLowTemp[2] |
unsigned char irCommRxPrevDataReceived = 0 |
signed char irCommRxReceivingSensor = -1 |
unsigned char irCommRxSequenceCount = 0 |
unsigned char irCommRxStartBitDetected = 0 |
unsigned char irCommRxStartBitDetectedIndexTemp = 0 |
unsigned char irCommRxStartBitDetectedTemp[2] |
unsigned char irCommRxStartPeakDuration = 0 |
unsigned char irCommRxStartPeakDurationIndexTemp = 0 |
unsigned char irCommRxStartPeakDurationTemp[2] |
unsigned char irCommRxWindowSamples = 0 |
unsigned char irCommSecondBitSkipped = 0 |
volatile unsigned char irCommSendValues = 0 |
unsigned char irCommShiftCount = 0 |
unsigned char irCommShiftCounter = 0 |
unsigned char irCommShiftCountFinalIndexTemp = 0 |
unsigned char irCommShiftCountFinalTemp[2] |
unsigned char irCommShiftCountIndexTemp = 0 |
unsigned char irCommShiftCountTemp[2] |
signed char irCommSignalState = 0 |
unsigned char irCommStartDiffIndexTemp = 0 |
unsigned int irCommStartDiffTemp[2] |
volatile unsigned char irCommState = 0 |
unsigned char irCommStateIndexTemp = 0 |
unsigned char irCommStateTemp[14] |
unsigned char irCommSwitchCount = 0 |
unsigned char irCommSwitchCountIndexTemp = 0 |
unsigned char irCommSwitchCountTemp[2] |
unsigned char irCommSyncStateIndexTemp = 0 |
unsigned char irCommSyncStateTemp[2] |
signed int irCommTempMax = 0 |
signed int irCommTempMin = 0 |
unsigned int* irCommTempPointer |
unsigned int irCommTempValue = 0 |
unsigned long int irCommTickCounter = 0 |
unsigned long int irCommTickCounter2 = 0 |
unsigned char irCommTickCounterUpdate = 0 |
unsigned char irCommTxBitCount = 0 |
unsigned char irCommTxBitToTransmit[12] |
unsigned char irCommTxByte = 0 |
unsigned char irCommTxByteEnqueued = 0 |
unsigned char irCommTxCrc = 0 |
unsigned int irCommTxDuration = 0 |
unsigned char irCommTxDurationCycle = 0 |
unsigned long int irCommTxLastTransmissionTime = 0 |
unsigned char irCommTxPulseState = 0 |
unsigned char irCommTxSensorGroup = 0 |
unsigned char irCommTxSensorMask = 0 |
unsigned char irCommTxSwitchCount = 0 |
unsigned char irCommTxSwitchCounter = 0 |
unsigned char irEnabled = 1 |
signed int k_ff_speed_control_left = INIT_KFF |
signed int k_ff_speed_control_right = INIT_KFF |
unsigned int last_left_current = 0 |
signed int last_left_vel = 0 |
unsigned int last_right_current = 0 |
signed int last_right_vel = 0 |
float lastTheta = 0.0 |
unsigned int left_current_avg = 0 |
unsigned int left_vel_sum = 0 |
unsigned char leftChannelPhase = 0 |
float leftDist = 0 |
float leftDistPrev = 0 |
unsigned char leftMotorPhase = 0 |
float leftMotSteps = 0 |
float leftMotStepsOld = 0 |
signed long int leftSpeedSumOdom = 0 |
unsigned int leftSumCount = 0 |
unsigned char lineFound = 0 |
unsigned char measBattery = 0 |
unsigned char menuChoice = 0 |
unsigned char menuState = 0 |
unsigned char nextByteIndex = 0 |
unsigned char obstacleAvoidanceEnabled = 0 |
unsigned char outOfLine = 0 |
unsigned char packetId = 3 |
unsigned char peripheralChoice = 5 |
signed int proximityOffset[12] = {0} |
int proximityResult[12] = {0} |
int proximityResultLinear[8] = {0} |
unsigned long proximitySum[12] = {0} |
volatile unsigned int proximityValue[24] = {0} |
unsigned char proxUpdated = 0 |
unsigned char pwm_blue = 255 |
unsigned char pwm_green = 255 |
signed int pwm_intermediate_left_desired = 0 |
signed int pwm_intermediate_right_desired = 0 |
signed int pwm_left = 0 |
signed int pwm_left_desired = 0 |
signed int pwm_left_desired_to_control = 0 |
signed long int pwm_left_speed_controller = 0 |
signed int pwm_left_working = 0 |
unsigned char pwm_red = 255 |
signed int pwm_right = 0 |
signed int pwm_right_desired = 0 |
signed int pwm_right_desired_to_control = 0 |
signed long int pwm_right_speed_controller = 0 |
signed int pwm_right_working = 0 |
unsigned int rfAddress = 0 |
unsigned char rfData[PAYLOAD_SIZE] |
unsigned char rfDebugCounter = 0 |
unsigned char rfDebugMode = 0 |
unsigned char rfFlags = 0 |
unsigned char rgbLedState = 0 |
unsigned char rgbState = 0 |
unsigned int right_current_avg = 0 |
unsigned int right_vel_sum = 0 |
unsigned char rightChannelPhase = 0 |
float rightDist = 0 |
float rightDistPrev = 0 |
unsigned char rightMotorPhase = 0 |
float rightMotSteps = 0 |
float rightMotStepsOld = 0 |
signed long int rightSpeedSumOdom = 0 |
unsigned int rightSumCount = 0 |
unsigned char robotPosition = 1 |
unsigned char sendAdcValues = 0 |
unsigned char softAccEnabled = 0 |
signed int speedl = 0 |
signed int speedLeftFromEnc = 0 |
signed int speedr = 0 |
signed int speedRightFromEnc = 0 |
unsigned char speedStep = 4 |
unsigned long long int speedStepCounter = 0 |
unsigned char spiCommError = 0 |
unsigned char startCalibration |
signed int tempVel |
float theta = 0.0 |
float thetaAcc = 0.0 |
float thetaOld = 0.0 |
uint32_t timeLeftOdom = 0 |
unsigned long timeOdometry |
unsigned long int timeoutOdometry |
uint32_t timeRightOdom = 0 |
unsigned int timesInSamePos = 0 |
unsigned char uartBuff[UART_BUFF_SIZE] = {0} |
unsigned char useAccel = USE_MMAX7455L |
float xPos = 0.0 |
float xPosOld = 0.0 |
float yPos = 0.0 |
float yPosOld = 0.0 |