mpu_defb.h

scara机器人的一种简单的实现方法

#include "graphics.h"
#include "process.h"
#include "conio.h"
#include "math.h"
#include "stdio.h"
#include "stdlib.h"
#include "dos.h"


#define TRUE   0
#define FALSE  1
#define CLOCKWISE         0
#define COUNTER_CLOCKWISE 1
#define QUADRANT_1  0
#define QUADRANT_2  1
#define QUADRANT_3  2
#define QUADRANT_4  4
#define Initial_state_treatment		0
#define Move_to_initial_position        1
#define Turn_angle__alignment 		2
#define Angle_ditect    		3
#define Position_ditect		     	4
#define Change_bolt			5
#define Bolt_Insertion			6
#define Bolt_alignment			7
#define Turn_bolt    			8
#define Move_back_to_initial_position   9
#define Func_A                          65   // straight ditector
#define Func_B                          66   // slope ditector
#define Func_C                          67   // get data
#define Func_D                          68   // speed up cp
#define Func_E                          69   // slow down cp
#define Func_F                          70   // reset

struct point{
  float x;
  float y;
  float z;
  float r;
};

struct three_data{
  int   d[3];
};

struct six_data{
  int   d[6];
};

struct print_ch{
  char  ch[4];
};

FILE *fp;
struct read_data {
  int d;
  int flag;
};

struct turn_data {
  float ratio;
  float angle;
  int   direction;
  int   flag;
};