23 lines
718 B
C
23 lines
718 B
C
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#ifndef GARAGE
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#define GARAGE
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enum garage_type_e {
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GARAGE_NONE, // 非车库模式
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GARAGE_OUT_LEFT,
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GARAGE_OUT_RIGHT, // 出库，陀螺仪转过45°，即出库完毕
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GARAGE_FOUND_LEFT,
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GARAGE_FOUND_RIGHT, // 发现车库，即斑马线+单侧L角点(未使用)
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GARAGE_IN_LEFT,
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GARAGE_IN_RIGHT, // 进库，发现车库后判断第几次，从而决定是否进库
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GARAGE_PASS_LEFT,
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GARAGE_PASS_RIGHT, // 不进库，发现车库后判断第几次，从而决定是否进库
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GARAGE_STOP // 进库完毕，停车
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};
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extern enum garage_type_e garage_type;
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float calculate_vector_angle(float x1, float y1, float x2, float y2);\
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void CheckGarage(void);
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void RunGarage(void);
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#endif /* COMMON_H_ */
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