estimator.htm

来自「一些关于机器人开发的开源项目」· HTM 代码 · 共 49 行

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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!-- saved from url=(0085)http://www.openservo.com/viewcvs/OpenServo/AVR_OpenServo/estimator.h?root=cvs&view=co -->
<HTML><HEAD>
<META http-equiv=Content-Type content="text/html; charset=gb2312">
<META content="MSHTML 6.00.2900.3020" name=GENERATOR></HEAD>
<BODY><PRE>/*
    Copyright (c) 2006 Stefan Engelke

    Permission is hereby granted, free of charge, to any
    person obtaining a copy of this software and associated
    documentation files (the "Software"), to deal in the Software
    without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense,
    and/or sell copies of the Software, and to permit persons to
    whom the Software is furnished to do so, subject to the
    following conditions:

    The above copyright notice and this permission notice shall
    be included in all copies or substantial portions of the Software.

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY
    KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
    WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
    PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS
    OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
    OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
    OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
	
	$Id: estimator.h,v 1.2 2006/02/13 01:14:40 Stefan Exp $
*/

#ifndef _OS_ESTIMATOR_H_
#define _OS_ESTIMATOR_H_ 1

// Initialize the state estimator module.
void estimator_init(void);

// Initialize the state estimation related register values.
void estimator_registers_defaults(void);

// Take the 10-bit position as input and estimates the velocity
// The last PWM signal is taken from the registers and the
// calculated velocity is written back to the registers
void estimate_velocity(int16_t position);

#endif // _OS_ESTIMATOR_H_
</PRE></BODY></HTML>

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