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Merge pull request #34 from BlueAndi/HeadingFinder
Implemented HeadingFinder in ConvoyLeader Application
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,97 @@ | ||
| /* MIT License | ||
| * | ||
| * Copyright (c) 2023 Andreas Merkle <[email protected]> | ||
| * | ||
| * 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. | ||
| */ | ||
|
|
||
| /******************************************************************************* | ||
| DESCRIPTION | ||
| *******************************************************************************/ | ||
| /** | ||
| * @brief Channel structure definition for the SerialMuxProt. | ||
| * @author Gabryel Reyes <[email protected]> | ||
| * | ||
| * @addtogroup Application | ||
| * | ||
| * @{ | ||
| */ | ||
| #ifndef SERIAL_MUX_CHANNELS_H | ||
| #define SERIAL_MUX_CHANNELS_H | ||
|
|
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| /****************************************************************************** | ||
| * Compile Switches | ||
| *****************************************************************************/ | ||
|
|
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| /****************************************************************************** | ||
| * Includes | ||
| *****************************************************************************/ | ||
|
|
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| #include <Arduino.h> | ||
|
|
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| /****************************************************************************** | ||
| * Macros | ||
| *****************************************************************************/ | ||
|
|
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| /** Maximum number of SerialMuxProt Channels. */ | ||
| #define MAX_CHANNELS (10U) | ||
|
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| /** Name of Channel to send Odometry Data to. */ | ||
| #define ODOMETRY_CHANNEL_NAME "ODOMETRY" | ||
|
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| /** DLC of Odometry Channel */ | ||
| #define ODOMETRY_CHANNEL_DLC (sizeof(OdometryData)) | ||
|
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| /** Name of Channel to send Speedometer Data to. */ | ||
| #define SPEED_CHANNEL_NAME "SPEED" | ||
|
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| /** DLC of Speedometer Channel */ | ||
| #define SPEED_CHANNEL_DLC (sizeof(SpeedData)) | ||
|
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| /** Name of Channel to send Motor Speed Setpoints to. */ | ||
| #define SPEED_SETPOINT_CHANNEL_NAME "SPEED_SET" | ||
|
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| /** DLC of Speedometer Channel */ | ||
| #define SPEED_SETPOINT_CHANNEL_DLC (sizeof(SpeedData)) | ||
|
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| /****************************************************************************** | ||
| * Types and Classes | ||
| *****************************************************************************/ | ||
|
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| /** Struct of the "Odometry" channel payload. */ | ||
| typedef struct _OdometryData | ||
| { | ||
| int32_t xPos; /**< X position [mm]. */ | ||
| int32_t yPos; /**< Y position [mm]. */ | ||
| int32_t orientation; /**< Orientation [mrad]. */ | ||
| } __attribute__((packed)) OdometryData; | ||
|
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| /** Struct of the "Speed" channel payload. */ | ||
| typedef struct _SpeedData | ||
| { | ||
| int16_t left; /**< Left motor speed [steps/s]. */ | ||
| int16_t right; /**< Right motor speed [steps/s]. */ | ||
| } __attribute__((packed)) SpeedData; | ||
|
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| /****************************************************************************** | ||
| * Functions | ||
| *****************************************************************************/ | ||
|
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| #endif /* SERIAL_MUX_CHANNELS_H */ | ||
| /** @} */ |
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