forked from StopPointTeam/TaiChi
78 lines
1.8 KiB
C++
78 lines
1.8 KiB
C++
#ifndef ROUTETAICHI_H
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#define ROUTETAICHI_H
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#include <Arduino.h>
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//注释以关闭调试功能
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#define ROUTE_DEBUG
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#ifdef ROUTE_DEBUG
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#define NeoSerialDebug NeoSerial
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#endif
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//坐标点操作定义
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#define NORMAL_POINT 0 //普通点
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#define CATCH_POINT 1 //抓取点
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#define RELEASE_POINT 2 //释放点（使用机械臂）
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#define CARRY_POINT 3 //携带点（从底盘）
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#define GETOUT_POINT 4 //释放点（从底盘）
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#define GAIN_POINT 5 //增益点
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//坐标点数组定义
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#define X 0
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#define Y 1
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#define TYPE 2
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//更改路径选项
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#define JUMP_DEAD_ROAD 0
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//点结构
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struct Point
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{
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int8_t x;
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int8_t y;
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uint8_t type;
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Point* next;
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};
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class Route
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{
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public:
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Route();
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static Point GetPassedPoint(void);
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static Point GetNextPoint(void);
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static Point GetNextNextPoint(void);
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static void SetPassedPoinType(uint8_t type);
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static void SetNextPointType(uint8_t type);
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static void SetNextNextPointType(uint8_t type);
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static void UpdatePosition(void); //更新位置
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static void ChangeRoute(uint8_t choice); //更改路径
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private:
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static void SetPointX(Point* point, int8_t x); //设置点的 x 值
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static void SetPointY(Point* point, int8_t y); //设置点的 y 值
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static void SetPointType(Point* point, uint8_t type); //设置点的 type 值
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static void SetPointNext(Point* point, Point* next); //设置点的 next 值
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static Point* CreatePoint(int8_t x, int8_t y, uint8_t type); //新建点
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static void Connect(Point* point_a, Point* point_b); //连接 point_a point_b
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static Point* AddPoint(Point* front_point, int8_t x, int8_t y, uint8_t type, Point* next_point = NULL); //在 front_point 和 next_point 间插入新的点
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static void InitBaseRoute(void); //生成基本路径点链
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static Point* head_point; //头部点
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static Point* passed_point; //经过的点
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};
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#endif |