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nibo2_fork#01
nibo2_copro.h
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nibo2_fork_01/nibo2_copro.h [read only]
////////////////////////////////////////////////////////////////////////// // // NIBO2 COPRO KOMMUNIKATION über SPI // // Beschreibung siehe nibo2_pwm_leds.h // // Die Kommunikation entspricht der originalen Bibliotheksfunktion für // den CoPro mit der Initializer2 Firmware // ////////////////////////////////////////////////////////////////////////// // // BSD License see "license.h" #include "BSD_license.h" // #ifndef _NIBO2_COPRO_H_ #define _NIBO2_COPRO_H_ // #include "nibo2_global.h" // Nibo2 Global Header #include "nibo2_copro_cmd.h" // Definition der Kommandos // #define SPI_BUF_SIZE 27 extern uint8_t spi_frame_cnt; //extern uint8_t spi_tx_buf[SPI_BUF_SIZE]; //extern uint8_t spi_rx_buf[SPI_BUF_SIZE]; extern int8_t speed_l; extern int8_t speed_r; extern int16_t ticks_l; extern int16_t ticks_r; extern int16_t offset_l; extern int16_t offset_r; extern int16_t current_l; extern int16_t current_r; extern uint16_t distance; extern uint8_t ir_mode; extern uint8_t ir_distance[5]; extern uint8_t ir_count; extern uint16_t ir_cmd; extern uint8_t ir_sensors[3]; extern uint8_t ir_sensors_F[3]; extern uint8_t ir_sensors_S[3]; //uint8_t spi_callback(uint8_t rx_size); uint8_t spi_restart(uint8_t size); void copro_update(); void copro_stop(); void copro_setPWM(int16_t left, int16_t right); void copro_setSpeed(int8_t left, int8_t right); void copro_setTargetAbs(int16_t left, int16_t right, int8_t speed); void copro_setTargetRel(int16_t left, int16_t right, int8_t speed); void copro_setPID(int8_t ki, int8_t kp, int8_t kd); void copro_setOdometer(int16_t left, int16_t right); void copro_ir_stop(); void copro_ir_start(); void copro_ir_send(uint16_t code); void ir_sensors_update(); void ir_sensors_show(); void copro_init(); #endif //_NIBO2_COPRO_H_
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