searchline.h.svn-base

AVR单片机下

/*                ****ROBOCON 2009 | BUPT TEAM*******
 * ------------------------------------------------------------------------
 * FileName   : searchline.h
 * Version    : 1.1
 * Brief      : search line algorithm
 * Code by    : Leaf
 * Date       : Mon Mar 30 23:53:29 2009
 * Note       :
 *
 *
 * ------------------------------------------------------------------------
 */


#ifndef SEARCHLINE_H_INCLUDED
#define SEARCHLINE_H_INCLUDED

#include "includes.h"
#include <avr/pgmspace.h>

/*+Parameters Check*/
#ifndef SPD_MAX
#define SPD_MAX 2000
# error  SPD_MAX_Not_Defined
#endif

#ifndef SPD_MIN
#define SPD_MIN 1000
# error  SPD_MIN_Not_Defined
#endif
/*-Parameters Check*/
typedef INT8     OffsetType;
typedef struct{
	INT8    kp;
	INT8    ki;
	INT8    kd;
	SPEED_T adjustmentDiv;
}PIDParam;

extern SpeedPair searchline(UINT8 sens, const SpeedPair *curSpeed);
extern void      searchlineReset(void);

extern void      searchlineSetKp(INT8 k);
extern void      searchlineSetKi(INT8 k);
extern void      searchlineSetKd(INT8 k);
extern void      searchlineSetAdjustmentDiv(SPEED_T div);
extern void      searchlineSetPID(const PIDParam *p);
extern void      searchlineSetMax(SPEED_T maxSpeed);
extern void      searchlineSetMin(SPEED_T minSpeed);
extern SPEED_T   searchlineGetAdjustmentDiv(void);
extern SPEED_T   searchlineGetMax(void);
extern SPEED_T   searchlineGetMin(void);
extern INT8      searchlineGetKp(void);
extern INT8      searchlineGetKi(void);
extern INT8      searchlineGetKd(void);
extern INT16     searchlineGetSumOffset(void);
extern void      searchlineClearSumOffset(void);
#endif