convert.h

hoap2 robot source code

#ifndef __CONVERT_H__
#define __CONVERT_H__

#define RLEG_JOINT1 1
#define RLEG_JOINT2 2
#define RLEG_JOINT3 3
#define RLEG_JOINT4 4
#define RLEG_JOINT5 5
#define RLEG_JOINT6 6

#define RARM_JOINT1 7
#define RARM_JOINT2 8
#define RARM_JOINT3 9
#define RARM_JOINT4 10 

#define LLEG_JOINT1 11
#define LLEG_JOINT2 12
#define LLEG_JOINT3 13
#define LLEG_JOINT4 14
#define LLEG_JOINT5 15
#define LLEG_JOINT6 16

#define LARM_JOINT1 17 
#define LARM_JOINT2 18
#define LARM_JOINT3 19
#define LARM_JOINT4 29

#define S 0
#define PLS 1
#define R 2

double convert(double xx);

int DegToPulse(double deg, int parts);
int RadToPulse(double rad, int parts);
double PulseToDeg(int pulse, int parts);
double PulseToRad(int pulse, int parts);

#endif /*__CONVERT_H_*/