35 lines
904 B
C
35 lines
904 B
C
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#pragma once
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#include <Arduino.h>
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#ifdef STATUS_VECTOR_CPP
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#define sv_extr
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#else
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#define sv_extr extern
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#endif
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#define dim 20
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#define CURRENT_DATA_READ (datas[(currentSVIndex-1) % dim])
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#define CURRENT_DATA_WRITE (datas[(currentSVIndex) % dim])
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#define CURRENT_INPUT_READ (inputs[(currentSVIndex-1) % dim])
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#define CURRENT_INPUT_WRITE (inputs[(currentSVIndex) % dim])
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typedef struct input{
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int IMUAngle, USfr, USsx, USdx, USrr, BT;
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byte ballByte, cameraByte, lineByte;
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bool SW_DX, SW_SX;
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}input;
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typedef struct data{
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int IMUAngle, ballAngle, ballDistance, cameraAngle, cameraDistance,
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speed, tilt, dir, USfr, USsx, USdx, USrr, lineOutDir, matePos, role;
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byte xb, yb, xy, yy, lineSeen, lineActive;
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bool mate, ATKgoal, DEFgoal;
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}data;
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sv_extr input inputs[dim];
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sv_extr data datas[dim];
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sv_extr int currentSVIndex;
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void initStatusVector();
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void updateStatusVector();
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