QRcode.h
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#ifndef __QRCODE_H
#define __QRCODE_H
#include "bsp.h"
typedef struct
{
float setSpeed;
float encodeSpeed;
int voltage;
short enable;
float speedSlope;
int initStep;
}KincoStructInfo;
typedef struct
{
float palstance;
float angle;
float angleCompensation;
}IMUdata;
typedef struct
{
u8 initState;//速度模式初始化步骤
float setSpeed;//目标速度
float setPos;//设置目标位置
float encodePos;//反馈实际位置
u8 runState;//举升运动状态
int liftState;//-1原点 1最高点 0过程中
u16 errorState[4];//报警状态
}LifterStructInfo;
extern LifterStructInfo Lifter1;
typedef struct
{
u8 initState;
float setSpeed;
float encodeSpeed;
float encodeAngle;//旋转角度
int voltage;
short enable;
u8 runState;//旋转运动状态
int rotateState;
int turnAngle;
u16 errorState[4];//报警状态
}RotateStructInfo;
extern RotateStructInfo Rotate1;
typedef struct
{
u8 startFlag;
float setSpeed;
float encodeSpeed;
int voltage;
short enable;
float speedSlope;
int initStep;
float angleNum;
int encodeAngleNum;
float compensationCoefficient;
}TongYiStructInfo;
extern TongYiStructInfo TongyiStruct1,TongyiStruct2,TongyiStruct3,TongyiStruct4,TongyiStruct5;
extern IMUdata IMU;
extern void pathUpdate(u8 *CurrentID);
extern void getPosAngleOffset(float *PosOffset,float *Theta);
extern KincoStructInfo KincoStruct1,KincoStruct2;
extern void QRcodeNavigation();
#endif