proto.h

东芝机器人处理器代码,sh2有时间学习很好！

/*********************************************************************
 *  PHR-001 (PINO-class Humanoid Robot 001) Behavior Command Program
 *
 *       File Created: 28, Mar. 2001 by  F.Yamasaki
 *       Modified: 28, Jun. 2001     by  K.Endo
 *
 *  Copyright (C) 2001 Kitano Symbiotic Systems Project, 
 *  Japan Science and Technology Corp.
 *  
 *  This file is part of PHR-001.
 *  
 *  PHR-001 is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *  
 *  PHR-001 is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *  
 *  You should have received a copy of the GNU General Public License
 *  along with PHR-001; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *********************************************************************/
void init_param(void);
void initialdata(void);
void initialposition(void);
void swing_ch13(void);	/*摲懱忋  嵍塃怳傝(ch13)*/
void swing_ch14(void);	/*塃尐  忋壓怳傝(ch14)*/
void swing_ch15(void);	/*塃尐  嵍塃怳傝(ch15)*/
void swing_ch17(void);	/*塃旾  忋壓怳傝(ch17)*/
void swing_ch19(void);	/*嵍尐  忋壓怳傝(ch19)*/
void swing_ch20(void);	/*嵍尐  嵍塃忋壓怳傝(ch20)*/
void swing_ch22(void);	/*嵍旾  忋壓怳傝(ch22)*/
void swing_ch24(void);	/*庱  忋壓怳傝(ch24)*/
void swing_ch25(void);	/*庱  嵍塃怳傝(ch25)*/
void byebyeR(void);		/*塃庤僶僀僶僀*/
void byebyeL(void);		/*嵍庤僶僀僶僀*/
void liftupR(void);		/*塃庤嫇偘*/
void liftupL(void);		/*嵍庤嫇偘*/
void liftdownR(void);	/*塃庤壓偘*/
void liftdownL(void);	/*嵍庤壓偘*/
void HandshakeR(void);
void HandshakeL(void);
void receive_data(void);
void senddata(void);
void interrupt timer(void);
void cab(void);