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https://github.com/RobotechLille/cdf2018-principal
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35 lines
469 B
C
35 lines
469 B
C
/*
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* Fonctions de calcul de la position du robot
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*/
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#ifndef __POSITION_H_
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#define __POSITION_H_
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#include "CF.h"
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#include <pthread.h>
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struct __attribute__ ((packed)) position {
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float x;
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float y;
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float o;
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};
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struct position actuel;
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struct F2CI_CODERs deltaCoders;
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// Debug
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unsigned int nbCalcPos;
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long lCodTot, rCodTot;
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//
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pthread_mutex_t posPolling;
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pthread_t tPosition;
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// Fonctions
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void configurePosition();
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void deconfigurePosition();
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#endif
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