62 lines
1.7 KiB
C
62 lines
1.7 KiB
C
#ifndef _DNMSLAVE_H_
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#define _DNMSLAVE_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef struct CAM_stServCtrlCamera
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{
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MTH_tdxReal m_xHorizontalAngle;
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MTH_tdxReal m_xVerticalAngle;
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MTH_tdxReal m_xDistance;
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} CAM_tdstServCtrlCamera;
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#define CAM_M_xGetServCtrlCameraHorizontal(_p_stServCtrlCamera) ((_p_stServCtrlCamera)->m_xHorizontalAngle)
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#define CAM_M_xGetServCtrlCameraVertical(_p_stServCtrlCamera) ((_p_stServCtrlCamera)->m_xVerticalAngle)
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#define CAM_M_xGetServCtrlCameraDistance(_p_stServCtrlCamera) ((_p_stServCtrlCamera)->m_xDistance)
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#define CAM_M_vSetServCtrlCameraHorizontal(_p_stServCtrlCamera,xVal) ((_p_stServCtrlCamera)->m_xHorizontalAngle = xVal)
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#define CAM_M_vSetServCtrlCameraVertical(_p_stServCtrlCamera,xVal) ((_p_stServCtrlCamera)->m_xVerticalAngle = xVal)
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#define CAm_M_vSetServCtrlCameraDistance(_p_stServCtrlCamera,xVal) ((_p_stServCtrlCamera)->m_xDistance = xVal)
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/*
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*=====================================================================================================
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* general function for Servo Control
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*
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*=====================================================================================================
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*/
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MTH_tdxReal CAM_fn_xServoControlMechanics
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(
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MTH_tdxReal _xVal,
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MTH_tdxReal _xMax,
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MTH_tdxReal _xDT
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);
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/*
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*=====================================================================================================
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* Shifting's Servo Control
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*
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*=====================================================================================================
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*/
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void CAM_fn_vServShifting
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(
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DNM_tdstVector *_p_stShiftingResult,
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MTH_tdxReal _xSpeed,
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MTH_tdxReal _xDT,
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MTH_tdstVector *_p_stShifting
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);
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#ifdef __cplusplus
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}
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#endif
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#endif
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