rgv-kinco/applications/nav/cargo.h

/*
 * cargo.h
 *
 *  Created on: 2018��6��23��
 *      Author: Eric
 */

#ifndef __CARGO_H_
#define __CARGO_H_
#include "env.h"
#include "hardware.h"
#include "cargo.h"
#include "stdint.h"

/**
 * @brief ��ʼ�������ʼ��״̬
 * @param
 * @retval
 */
void Cargo_Init(void);
/**
 * @brief �ж��Ƿ��л���
 * @param
 * @retval
 */
uint8_t Cargo_Process(void);
uint8_t Cargo_PickupQianYi(void);
uint8_t Cargo_ReleaseQianYi(void);
uint8_t QianYi(void);
uint8_t QianYiManual(void);
uint8_t HouYiManual(void);
uint8_t QianYiStop(void);
uint8_t HouYi(void);
uint8_t ChuansongMotor(uint8_t lr,uint8_t speed);
uint8_t ChuansongStop(void);
uint8_t Cargo_PickupChuansong(void);
uint8_t Cargo_ReleaseChuansong(void);
uint8_t Cargo_ManualReleaseChuansong(void);
/**
 * @brief ��ȡ������
 * @param
 * @retval 1 ������ɣ�0 ���ڴ���2�����ִ���
 */
typedef uint8_t (*Cargo_Function_t)(void);
extern Cargo_Function_t Cargo_ToHomePos;
extern Cargo_Function_t Cargo_Pickup;
extern Cargo_Function_t Cargo_Release;

#define CARGO_IS_IN_FONT !I.Npn1
#define CARGO_IS_IN_REAR !I.Npn2

#define QY_STATUS_BOTTOM_REAR  	0
#define QY_STATUS_BOTTOM_FRONT 	1
#define QY_STATUS_TOP_REAR		2
#define QY_STATUS_TOP_FRONT		3
#define QY_STATUS_MANUAL_QIANYI	4
#define QY_STATUS_MANUAL_HOUYI	5
#define QY_STATUS_STOP	        6

#define l 0
#define r 1
extern bool CargoReleaseFlag;
#endif /* __CARGO_H_ */