A const &inverse() {
if (step < 2) {
V_type W = fortran_view(a);
_step1(W);
_step2(W);
}
return a;
}
/* the manual robot and the auto robot separate */
void sonic_pw1(void)
{
SONICx_ENABLE(0x03);
SPEED_STOP;
msg("sonic pole part ,go?");
_step1();
SPEED_STOP;
msg("go on adjust ?");
/* adjust to handover position */
pole_sonic(0x03);
SONICx_DISABLE(0x03);
}
void sys_sonic(void)
{
rt_uint32_t key_value;
while(1)
{
LCD_Clear();
LCD_SetXY(0,0); LCD_WriteString("====pole_test====");
LCD_SetXY(0, 1); LCD_WriteString("1.step1");
LCD_SetXY(0, 2); LCD_WriteString("2.xypid");
LCD_SetXY(0, 3); LCD_WriteString("3.pw1");
LCD_SetXY(0, 4); LCD_WriteString("4.dis");
LCD_SetXY(10, 1); LCD_WriteString("5.sd save");
LCD_SetXY(10, 2); LCD_WriteString("6.");
LCD_SetXY(10, 3); LCD_WriteString("7.");
LCD_SetXY(10, 4); LCD_WriteString("8.");
if(rt_mb_recv(&Mb_Key, &key_value, RT_WAITING_NO) == RT_EOK)
{
switch(key_value)
{
case key1: _step1(); break;
case key2: pw1_pid(); break;
case key3: sonic_pw1(); break;
case key4:
Input_DoubleValue(&std_fdis, "f dis");
Input_DoubleValue(&std_sdis, "s dis");
case key5:
{
int _sonicx = 0 ;
Input_IntValue(&_sonicx, "_sonicx");
sonic_SDsave(_sonicx, "sonic_data", 500);
}
break;
case keyback: return;
}
}
Delay_ms(10);
}
}
ViewType const & inverse() { if (step<2) { V_type W = fortran_view(V); _step1(W); _step2(W);} return V;}
VT det() { V_type W = fortran_view(V); _step1(W); _compute_det(W); return _det;}
value_type det() {
V_type W = fortran_view(a);
_step1(W);
_compute_det(W);
return _det;
}
