\hypertarget{structt___i_s_rs_shared_struct}{\section{t\-\_\-\-I\-S\-Rs\-Shared\-Struct Struct Reference}
\label{structt___i_s_rs_shared_struct}\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
}


{\ttfamily \#include $<$Defines.\-h$>$}

\subsection*{Data Fields}
\begin{DoxyCompactItemize}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a3c8ec56bbc10b1e44b1f346cdcd2e92b}{U\-A\-R\-T\-Rx\-Index}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_addae30b6174fc815ef9a663bf80f6b8a}{Timer0\-Prescaler}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a21f376d0a2724a17417142a38d9b18c4}{U\-A\-R\-T\-Watchdog}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a86557282cb11653f72b107051e9952d0}{Buffer\-Odo\-L}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_ae8213465d04cf535fe7d3970f9e0d85b}{Buffer\-Odo\-R}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a21acb7f5b6f115fa1762e275a62ee7c1}{Buffer\-Speed\-L}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a6a165054fa5effe5ef080e721ae91dfa}{Buffer\-Speed\-R}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_ab3cb10480ffe19bdbcd204e7df78d495}{Mom\-Speed\-R}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a60c23e67b9f120460d739865365312dd}{Mom\-Speed\-L}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_ac2cb9390aeab310ef3d0bf8d931e242a}{Enable\-Sp\-Reg\-R}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_af11c031d7971d4e2c4c1e9fd67676f2d}{Enable\-Sp\-Reg\-L}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a268efd4e4676d9a547cda96018ca7a1d}{Enable\-Wall\-Following}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_af09a804c949861761f88da789ecb0e71}{Actual\-R\-P\-M\-L}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_adee92b4c248fcc9b9d5eb690be1081da}{Actual\-R\-P\-M\-R}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a843c3fc233cb1afb83e5c6a57679183c}{Reg\-Integrator\-R}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a9403950e83383b0b5bd26373371852b2}{Reg\-Integrator\-L}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a4ac79b19e4144a21ddcd0875fb8601c5}{S\-R\-F08\-\_\-\-Distance\-Front}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a99f630ffec33eac520b305760aead7c5}{S\-R\-F08\-\_\-\-Distance\-Rear}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a802e9e4b48b020cca36c75fed3911746}{y0\-\_\-des}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a92504dd334c4394d2c6fec1612f5b04e}{V\-\_\-des}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a2c877b7666bb34a364b4f0eb084d88a7}{Ky}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a5476adb7072d8ad6e4b3740c9b378726}{Kfi}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a6a0096b00b82f8d0811cb94b6ce76254}{X}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_aa2e55be7eef803b0852e39f62de92bbf}{Y}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a087117d499094b0972b971af94f1982b}{Phi}
\item 
volatile uint8\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_ac304fa1ca4cf69ac03d9ccdfe1c5b107}{Enable\-Position\-Regulator}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a4e0a1bafc955ae38e818f8de0a7c104f}{Xdes}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a1644a7f02c9e98721f0e35b2ab17fc29}{Ydes}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a64ebd1e5a73181177856095e4af633d6}{Total\-Impulses\-R}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a39bb6e27eab0a6f3c73ea929d83c850b}{Total\-Impulses\-L}
\item 
volatile int16\-\_\-t \hyperlink{structt___i_s_rs_shared_struct_a99530c6368e6049727be17620a68cff2}{Regulate\-Angle\-Only}
\end{DoxyCompactItemize}


\subsection{Detailed Description}
I\-S\-Rs shared variables structure 

Definition at line 220 of file Defines.\-h.



\subsection{Field Documentation}
\hypertarget{structt___i_s_rs_shared_struct_af09a804c949861761f88da789ecb0e71}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Actual\-R\-P\-M\-L@{Actual\-R\-P\-M\-L}}
\index{Actual\-R\-P\-M\-L@{Actual\-R\-P\-M\-L}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Actual\-R\-P\-M\-L}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Actual\-R\-P\-M\-L}}\label{structt___i_s_rs_shared_struct_af09a804c949861761f88da789ecb0e71}
Actual R\-P\-M of left wheel (impulses per 50 ms). 

Definition at line 229 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_adee92b4c248fcc9b9d5eb690be1081da}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Actual\-R\-P\-M\-R@{Actual\-R\-P\-M\-R}}
\index{Actual\-R\-P\-M\-R@{Actual\-R\-P\-M\-R}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Actual\-R\-P\-M\-R}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Actual\-R\-P\-M\-R}}\label{structt___i_s_rs_shared_struct_adee92b4c248fcc9b9d5eb690be1081da}
Actual R\-P\-M of right wheel (impulses per 50 ms). 

Definition at line 229 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a86557282cb11653f72b107051e9952d0}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Buffer\-Odo\-L@{Buffer\-Odo\-L}}
\index{Buffer\-Odo\-L@{Buffer\-Odo\-L}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Buffer\-Odo\-L}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Buffer\-Odo\-L}}\label{structt___i_s_rs_shared_struct_a86557282cb11653f72b107051e9952d0}
Counts impulses from left wheel speed sensor for calculation of odometry. 

Definition at line 224 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_ae8213465d04cf535fe7d3970f9e0d85b}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Buffer\-Odo\-R@{Buffer\-Odo\-R}}
\index{Buffer\-Odo\-R@{Buffer\-Odo\-R}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Buffer\-Odo\-R}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Buffer\-Odo\-R}}\label{structt___i_s_rs_shared_struct_ae8213465d04cf535fe7d3970f9e0d85b}
Counts impulses from right wheel speed sensor for calculation of odometry. 

Definition at line 224 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a21acb7f5b6f115fa1762e275a62ee7c1}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Buffer\-Speed\-L@{Buffer\-Speed\-L}}
\index{Buffer\-Speed\-L@{Buffer\-Speed\-L}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Buffer\-Speed\-L}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Buffer\-Speed\-L}}\label{structt___i_s_rs_shared_struct_a21acb7f5b6f115fa1762e275a62ee7c1}
Counts impulses from left wheel speed sensor for calculation of current wheel speed. 

Definition at line 225 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a6a165054fa5effe5ef080e721ae91dfa}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Buffer\-Speed\-R@{Buffer\-Speed\-R}}
\index{Buffer\-Speed\-R@{Buffer\-Speed\-R}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Buffer\-Speed\-R}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Buffer\-Speed\-R}}\label{structt___i_s_rs_shared_struct_a6a165054fa5effe5ef080e721ae91dfa}
Counts impulses from right wheel speed sensor for calculation of current wheel speed. 

Definition at line 225 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_ac304fa1ca4cf69ac03d9ccdfe1c5b107}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Enable\-Position\-Regulator@{Enable\-Position\-Regulator}}
\index{Enable\-Position\-Regulator@{Enable\-Position\-Regulator}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Enable\-Position\-Regulator}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t Enable\-Position\-Regulator}}\label{structt___i_s_rs_shared_struct_ac304fa1ca4cf69ac03d9ccdfe1c5b107}
Determines whether position regulator is enabled. 

Definition at line 235 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_af11c031d7971d4e2c4c1e9fd67676f2d}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Enable\-Sp\-Reg\-L@{Enable\-Sp\-Reg\-L}}
\index{Enable\-Sp\-Reg\-L@{Enable\-Sp\-Reg\-L}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Enable\-Sp\-Reg\-L}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t Enable\-Sp\-Reg\-L}}\label{structt___i_s_rs_shared_struct_af11c031d7971d4e2c4c1e9fd67676f2d}
Determines whether speed regulator of the motor is enabled. 

Definition at line 227 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_ac2cb9390aeab310ef3d0bf8d931e242a}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Enable\-Sp\-Reg\-R@{Enable\-Sp\-Reg\-R}}
\index{Enable\-Sp\-Reg\-R@{Enable\-Sp\-Reg\-R}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Enable\-Sp\-Reg\-R}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t Enable\-Sp\-Reg\-R}}\label{structt___i_s_rs_shared_struct_ac2cb9390aeab310ef3d0bf8d931e242a}
Determines whether speed regulator of the motor is enabled. 

Definition at line 227 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a268efd4e4676d9a547cda96018ca7a1d}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Enable\-Wall\-Following@{Enable\-Wall\-Following}}
\index{Enable\-Wall\-Following@{Enable\-Wall\-Following}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Enable\-Wall\-Following}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t Enable\-Wall\-Following}}\label{structt___i_s_rs_shared_struct_a268efd4e4676d9a547cda96018ca7a1d}
Determines whether wall-\/following is enabled. 

Definition at line 228 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a5476adb7072d8ad6e4b3740c9b378726}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Kfi@{Kfi}}
\index{Kfi@{Kfi}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Kfi}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Kfi}}\label{structt___i_s_rs_shared_struct_a5476adb7072d8ad6e4b3740c9b378726}
angular speed loop gain. 

Definition at line 233 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a2c877b7666bb34a364b4f0eb084d88a7}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Ky@{Ky}}
\index{Ky@{Ky}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Ky}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Ky}}\label{structt___i_s_rs_shared_struct_a2c877b7666bb34a364b4f0eb084d88a7}
Position loop gain. 

Definition at line 233 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a60c23e67b9f120460d739865365312dd}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Mom\-Speed\-L@{Mom\-Speed\-L}}
\index{Mom\-Speed\-L@{Mom\-Speed\-L}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Mom\-Speed\-L}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t Mom\-Speed\-L}}\label{structt___i_s_rs_shared_struct_a60c23e67b9f120460d739865365312dd}
Desired momentum (speed) of the motor. 

Definition at line 226 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_ab3cb10480ffe19bdbcd204e7df78d495}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Mom\-Speed\-R@{Mom\-Speed\-R}}
\index{Mom\-Speed\-R@{Mom\-Speed\-R}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Mom\-Speed\-R}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t Mom\-Speed\-R}}\label{structt___i_s_rs_shared_struct_ab3cb10480ffe19bdbcd204e7df78d495}
Desired momentum (speed) of the motor. 

Definition at line 226 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a087117d499094b0972b971af94f1982b}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Phi@{Phi}}
\index{Phi@{Phi}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Phi}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Phi}}\label{structt___i_s_rs_shared_struct_a087117d499094b0972b971af94f1982b}
Odometry Phi \mbox{[}m\-Rad\mbox{]}. 

Definition at line 234 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a9403950e83383b0b5bd26373371852b2}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Reg\-Integrator\-L@{Reg\-Integrator\-L}}
\index{Reg\-Integrator\-L@{Reg\-Integrator\-L}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Reg\-Integrator\-L}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Reg\-Integrator\-L}}\label{structt___i_s_rs_shared_struct_a9403950e83383b0b5bd26373371852b2}
Left integrator value. 

Definition at line 230 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a843c3fc233cb1afb83e5c6a57679183c}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Reg\-Integrator\-R@{Reg\-Integrator\-R}}
\index{Reg\-Integrator\-R@{Reg\-Integrator\-R}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Reg\-Integrator\-R}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Reg\-Integrator\-R}}\label{structt___i_s_rs_shared_struct_a843c3fc233cb1afb83e5c6a57679183c}
Right integrator value. 

Definition at line 230 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a99530c6368e6049727be17620a68cff2}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Regulate\-Angle\-Only@{Regulate\-Angle\-Only}}
\index{Regulate\-Angle\-Only@{Regulate\-Angle\-Only}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Regulate\-Angle\-Only}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Regulate\-Angle\-Only}}\label{structt___i_s_rs_shared_struct_a99530c6368e6049727be17620a68cff2}
If != 0, position regulator regulates only angle specified by this variable's value. 

Definition at line 238 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a4ac79b19e4144a21ddcd0875fb8601c5}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!S\-R\-F08\-\_\-\-Distance\-Front@{S\-R\-F08\-\_\-\-Distance\-Front}}
\index{S\-R\-F08\-\_\-\-Distance\-Front@{S\-R\-F08\-\_\-\-Distance\-Front}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{S\-R\-F08\-\_\-\-Distance\-Front}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t S\-R\-F08\-\_\-\-Distance\-Front}}\label{structt___i_s_rs_shared_struct_a4ac79b19e4144a21ddcd0875fb8601c5}
Distance measured by front S\-R\-F08 sensor. 

Definition at line 231 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a99f630ffec33eac520b305760aead7c5}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!S\-R\-F08\-\_\-\-Distance\-Rear@{S\-R\-F08\-\_\-\-Distance\-Rear}}
\index{S\-R\-F08\-\_\-\-Distance\-Rear@{S\-R\-F08\-\_\-\-Distance\-Rear}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{S\-R\-F08\-\_\-\-Distance\-Rear}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t S\-R\-F08\-\_\-\-Distance\-Rear}}\label{structt___i_s_rs_shared_struct_a99f630ffec33eac520b305760aead7c5}
Distance measured by rear S\-R\-F08 sensor. 

Definition at line 231 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_addae30b6174fc815ef9a663bf80f6b8a}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Timer0\-Prescaler@{Timer0\-Prescaler}}
\index{Timer0\-Prescaler@{Timer0\-Prescaler}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Timer0\-Prescaler}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t Timer0\-Prescaler}}\label{structt___i_s_rs_shared_struct_addae30b6174fc815ef9a663bf80f6b8a}
Software prescaler for T\-I\-M\-E\-R0. 

Definition at line 222 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a39bb6e27eab0a6f3c73ea929d83c850b}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Total\-Impulses\-L@{Total\-Impulses\-L}}
\index{Total\-Impulses\-L@{Total\-Impulses\-L}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Total\-Impulses\-L}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Total\-Impulses\-L}}\label{structt___i_s_rs_shared_struct_a39bb6e27eab0a6f3c73ea929d83c850b}
Total number of impulses captured by left encoder. 

Definition at line 237 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a64ebd1e5a73181177856095e4af633d6}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Total\-Impulses\-R@{Total\-Impulses\-R}}
\index{Total\-Impulses\-R@{Total\-Impulses\-R}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Total\-Impulses\-R}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Total\-Impulses\-R}}\label{structt___i_s_rs_shared_struct_a64ebd1e5a73181177856095e4af633d6}
Total number of impulses captured by right encoder. 

Definition at line 237 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a3c8ec56bbc10b1e44b1f346cdcd2e92b}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!U\-A\-R\-T\-Rx\-Index@{U\-A\-R\-T\-Rx\-Index}}
\index{U\-A\-R\-T\-Rx\-Index@{U\-A\-R\-T\-Rx\-Index}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{U\-A\-R\-T\-Rx\-Index}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t U\-A\-R\-T\-Rx\-Index}}\label{structt___i_s_rs_shared_struct_a3c8ec56bbc10b1e44b1f346cdcd2e92b}
Index in U\-A\-R\-T\-Received\-Data\mbox{[}\mbox{]} array. 

Definition at line 222 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a21f376d0a2724a17417142a38d9b18c4}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!U\-A\-R\-T\-Watchdog@{U\-A\-R\-T\-Watchdog}}
\index{U\-A\-R\-T\-Watchdog@{U\-A\-R\-T\-Watchdog}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{U\-A\-R\-T\-Watchdog}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t U\-A\-R\-T\-Watchdog}}\label{structt___i_s_rs_shared_struct_a21f376d0a2724a17417142a38d9b18c4}
U\-A\-R\-T watchdog counter. 

Definition at line 223 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a92504dd334c4394d2c6fec1612f5b04e}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!V\-\_\-des@{V\-\_\-des}}
\index{V\-\_\-des@{V\-\_\-des}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{V\-\_\-des}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t V\-\_\-des}}\label{structt___i_s_rs_shared_struct_a92504dd334c4394d2c6fec1612f5b04e}
Desired speed (cm/s). 

Definition at line 232 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a6a0096b00b82f8d0811cb94b6ce76254}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!X@{X}}
\index{X@{X}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{X}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t X}}\label{structt___i_s_rs_shared_struct_a6a0096b00b82f8d0811cb94b6ce76254}
Odometry X \mbox{[}mm\mbox{]}. 

Definition at line 234 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a4e0a1bafc955ae38e818f8de0a7c104f}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Xdes@{Xdes}}
\index{Xdes@{Xdes}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Xdes}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Xdes}}\label{structt___i_s_rs_shared_struct_a4e0a1bafc955ae38e818f8de0a7c104f}
Desired X coordinate for the position regulator \mbox{[}mm\mbox{]}. 

Definition at line 236 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_aa2e55be7eef803b0852e39f62de92bbf}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Y@{Y}}
\index{Y@{Y}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Y}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Y}}\label{structt___i_s_rs_shared_struct_aa2e55be7eef803b0852e39f62de92bbf}
Odometry Y \mbox{[}mm\mbox{]}. 

Definition at line 234 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a802e9e4b48b020cca36c75fed3911746}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!y0\-\_\-des@{y0\-\_\-des}}
\index{y0\-\_\-des@{y0\-\_\-des}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{y0\-\_\-des}]{\setlength{\rightskip}{0pt plus 5cm}volatile uint8\-\_\-t y0\-\_\-des}}\label{structt___i_s_rs_shared_struct_a802e9e4b48b020cca36c75fed3911746}
Desired value of y0 (distance from the tracked wall). 

Definition at line 232 of file Defines.\-h.

\hypertarget{structt___i_s_rs_shared_struct_a1644a7f02c9e98721f0e35b2ab17fc29}{\index{t\-\_\-\-I\-S\-Rs\-Shared\-Struct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}!Ydes@{Ydes}}
\index{Ydes@{Ydes}!t_ISRsSharedStruct@{t\-\_\-\-I\-S\-Rs\-Shared\-Struct}}
\subsubsection[{Ydes}]{\setlength{\rightskip}{0pt plus 5cm}volatile int16\-\_\-t Ydes}}\label{structt___i_s_rs_shared_struct_a1644a7f02c9e98721f0e35b2ab17fc29}
Desired Y coordinate for the position regulator \mbox{[}mm\mbox{]}. 

Definition at line 236 of file Defines.\-h.



The documentation for this struct was generated from the following file\-:\begin{DoxyCompactItemize}
\item 
C\-:/\-Users/\-Ondra/\-Desktop/\-Wheelchair Control M\-C\-U/\hyperlink{_defines_8h}{Defines.\-h}\end{DoxyCompactItemize}
