com_data.h

scara机器人的一种简单的实现方法

#define STEP_MOVEMENT        1
#define CONTINUOUS_MOVEMENT  2
#define PAUSE                3
#define STOP                 4
#define QUIT       5
#define UP         0
#define DOWN       1
#define LEFT       0
#define RIGHT      1
#define TRUE       0
#define FALSE      1

struct move_point {
  float x;
  float y;
  float z;
  float dx;
  float dy;
  float an;
};

float pi=3.1415927;
float scan_factor = 10.;

float  l1=400;
float  l2=250;
float  ceta=0.204;
float  eta=0.9;
float  a0=0.2;
float  R=0.64;
float  thetac=19.5;

float  x0=530.;
float  y0=160.;
float  z0=0.;
float  error_rou=3.;
float  error_gama=17.;
float  error_alpha, error_beta;
float  D=8.;
float  D1=7.;
float  ID;
float  H0=7.5;
float  H=2.;
float  phy1, phy2;
float  real_d[6], det_d[6];
float  drawing_center_x = 255;
float  drawing_center_y = 310;
float  drawing_center_z = 180;
float  max_x = 43;
float  min_x = 37;
float  max_y = 200;
float  min_y = 0;