Proxim RangeLAN2 7920 Manuel d'utilisateur télécharger pdf (Page 57)

float DIFF; /* Difference between CTS and AVGCSE */

long i; /* counter for delay */

int j; /* counter for nav loop*/

int n; /* subscript for variables */

int WPHEAD;

double WPLATDEG; /* Waypoint position degrees of Latitude */

double WPLATMIN; /* Waypoint position minutes of Latitude */

double WPLONGDEG; /* Waypoint position degrees of Longitude */

double WPLONGMIN; /* Waypoint position degrees of Longitude */

double HDGMAG; /* Compass heading*/

double HDGTRU; /* Combination of HDGMAG + VAR + DEV*/

const double DEV = 4; /* Deviation for current location*/

const double VAR = 0; /* Variation due to motors*/

double SOG; /* Speed over ground of robot*/

double Speed; /* Dummy variable for SOG*/

double COG; /* GPS course over ground of robot*/

longword ip;

int status;

int count;

float TurnTime; /*Proportional control for major turns*/

//MOTOR CONTROL VARIABLES

char MotorBuffer[512];

char DMotor[31];

const int channel0 = 0;

const int channel1 = 1;

float Motor_Speed;

float LMotor_Speed;

float RMotor_Speed;

int Motor_Desig;

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Proxim RangeLAN2 7920 Manuel d'utilisateur Page 57